305 lines
7.3 KiB
C#
Executable File
305 lines
7.3 KiB
C#
Executable File
#region Copyright & License Information
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/*
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* Copyright 2007-2011 The OpenRA Developers (see AUTHORS)
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* This file is part of OpenRA, which is free software. It is made
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* available to you under the terms of the GNU General Public License
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* as published by the Free Software Foundation. For more information,
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* see COPYING.
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*/
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#endregion
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using OpenRA.Primitives;
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namespace OpenRA.Mods.RA.Move
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{
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public sealed class PathSearch : IDisposable
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{
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World world;
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public CellInfo[,] cellInfo;
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public PriorityQueue<PathDistance> queue;
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public Func<CPos, int> heuristic;
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Func<CPos, int> customCost;
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Func<CPos, bool> customBlock;
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public bool checkForBlocked;
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public Actor ignoreBuilding;
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public bool inReverse;
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public HashSet<CPos> considered;
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public int maxCost;
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Pair<CVec, int>[] nextDirections;
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MobileInfo mobileInfo;
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Actor self;
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public Player owner { get { return self.Owner; } }
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public PathSearch(World world, MobileInfo mobileInfo, Actor self)
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{
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this.world = world;
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cellInfo = InitCellInfo();
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this.mobileInfo = mobileInfo;
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this.self = self;
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customCost = null;
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queue = new PriorityQueue<PathDistance>();
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considered = new HashSet<CPos>();
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maxCost = 0;
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nextDirections = CVec.directions.Select(d => new Pair<CVec, int>(d, 0)).ToArray();
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}
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public PathSearch InReverse()
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{
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inReverse = true;
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return this;
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}
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public PathSearch WithCustomBlocker(Func<CPos, bool> customBlock)
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{
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this.customBlock = customBlock;
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return this;
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}
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public PathSearch WithIgnoredBuilding(Actor b)
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{
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ignoreBuilding = b;
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return this;
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}
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public PathSearch WithHeuristic(Func<CPos, int> h)
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{
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heuristic = h;
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return this;
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}
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public PathSearch WithCustomCost(Func<CPos, int> w)
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{
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customCost = w;
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return this;
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}
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public PathSearch WithoutLaneBias()
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{
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LaneBias = 0;
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return this;
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}
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public PathSearch FromPoint(CPos from)
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{
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AddInitialCell(from);
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return this;
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}
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int LaneBias = 1;
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public CPos Expand(World world)
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{
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var p = queue.Pop();
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while (cellInfo[p.Location.X, p.Location.Y].Seen)
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if (queue.Empty)
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return p.Location;
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else
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p = queue.Pop();
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cellInfo[p.Location.X, p.Location.Y].Seen = true;
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var thisCost = mobileInfo.MovementCostForCell(world, p.Location);
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if (thisCost == int.MaxValue)
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return p.Location;
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if (customCost != null)
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{
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var c = customCost(p.Location);
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if (c == int.MaxValue)
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return p.Location;
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}
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// This current cell is ok; check all immediate directions:
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considered.Add(p.Location);
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for (var i = 0; i < nextDirections.Length; ++i)
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{
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var d = nextDirections[i].First;
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nextDirections[i].Second = int.MaxValue;
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var newHere = p.Location + d;
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// Is this direction flat-out unusable or already seen?
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if (!world.Map.IsInMap(newHere.X, newHere.Y))
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continue;
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if (cellInfo[newHere.X, newHere.Y].Seen)
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continue;
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// Now we may seriously consider this direction using heuristics:
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var costHere = mobileInfo.MovementCostForCell(world, newHere);
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if (costHere == int.MaxValue)
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continue;
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if (!mobileInfo.CanEnterCell(world, self, newHere, ignoreBuilding, checkForBlocked, false))
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continue;
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if (customBlock != null && customBlock(newHere))
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continue;
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var est = heuristic(newHere);
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if (est == int.MaxValue)
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continue;
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var cellCost = costHere;
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if (d.X * d.Y != 0) cellCost = (cellCost * 34) / 24;
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var userCost = 0;
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if (customCost != null)
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{
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userCost = customCost(newHere);
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cellCost += userCost;
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}
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// directional bonuses for smoother flow!
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if (LaneBias != 0)
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{
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var ux = (newHere.X + (inReverse ? 1 : 0) & 1);
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var uy = (newHere.Y + (inReverse ? 1 : 0) & 1);
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if (ux == 0 && d.Y < 0) cellCost += LaneBias;
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else if (ux == 1 && d.Y > 0) cellCost += LaneBias;
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if (uy == 0 && d.X < 0) cellCost += LaneBias;
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else if (uy == 1 && d.X > 0) cellCost += LaneBias;
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}
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var newCost = cellInfo[p.Location.X, p.Location.Y].MinCost + cellCost;
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// Cost is even higher; next direction:
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if (newCost > cellInfo[newHere.X, newHere.Y].MinCost)
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continue;
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cellInfo[newHere.X, newHere.Y].Path = p.Location;
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cellInfo[newHere.X, newHere.Y].MinCost = newCost;
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nextDirections[i].Second = newCost + est;
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queue.Add(new PathDistance(newCost + est, newHere));
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if (newCost > maxCost) maxCost = newCost;
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considered.Add(newHere);
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}
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// Sort to prefer the cheaper direction:
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//Array.Sort(nextDirections, (a, b) => a.Second.CompareTo(b.Second));
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return p.Location;
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}
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public void AddInitialCell(CPos location)
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{
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if (!world.Map.IsInMap(location.X, location.Y))
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return;
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cellInfo[location.X, location.Y] = new CellInfo(0, location, false);
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queue.Add(new PathDistance(heuristic(location), location));
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}
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public static PathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked)
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{
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var search = new PathSearch(world, mi, self)
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{
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checkForBlocked = checkForBlocked
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};
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return search;
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}
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public static PathSearch FromPoint(World world, MobileInfo mi, Actor self, CPos from, CPos target, bool checkForBlocked)
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{
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var search = new PathSearch(world, mi, self)
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{
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heuristic = DefaultEstimator(target),
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checkForBlocked = checkForBlocked
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};
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search.AddInitialCell(from);
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return search;
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}
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public static PathSearch FromPoints(World world, MobileInfo mi, Actor self, IEnumerable<CPos> froms, CPos target, bool checkForBlocked)
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{
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var search = new PathSearch(world, mi, self)
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{
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heuristic = DefaultEstimator(target),
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checkForBlocked = checkForBlocked
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};
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foreach (var sl in froms)
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search.AddInitialCell(sl);
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return search;
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}
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static readonly Queue<CellInfo[,]> cellInfoPool = new Queue<CellInfo[,]>();
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static CellInfo[,] GetFromPool()
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{
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lock (cellInfoPool)
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return cellInfoPool.Dequeue();
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}
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static void PutBackIntoPool(CellInfo[,] ci)
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{
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lock (cellInfoPool)
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cellInfoPool.Enqueue(ci);
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}
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CellInfo[,] InitCellInfo()
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{
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CellInfo[,] result = null;
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while (cellInfoPool.Count > 0)
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{
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var cellInfo = GetFromPool();
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if (cellInfo.GetUpperBound(0) != world.Map.MapSize.X - 1 ||
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cellInfo.GetUpperBound(1) != world.Map.MapSize.Y - 1)
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{
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Log.Write("debug", "Discarding old pooled CellInfo of wrong size.");
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continue;
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}
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result = cellInfo;
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break;
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}
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if (result == null)
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result = new CellInfo[world.Map.MapSize.X, world.Map.MapSize.Y];
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for (var x = 0; x < world.Map.MapSize.X; x++)
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for (var y = 0; y < world.Map.MapSize.Y; y++)
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result[ x, y ] = new CellInfo( int.MaxValue, new CPos( x, y ), false );
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return result;
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}
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public static Func<CPos, int> DefaultEstimator(CPos destination)
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{
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return here =>
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{
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var diag = Math.Min(Math.Abs(here.X - destination.X), Math.Abs(here.Y - destination.Y));
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var straight = (Math.Abs(here.X - destination.X) + Math.Abs(here.Y - destination.Y));
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var h = (3400 * diag / 24) + 100 * (straight - (2 * diag));
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h = (int)(h * 1.001);
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return h;
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};
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}
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bool disposed;
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public void Dispose()
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{
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if (disposed)
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return;
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disposed = true;
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PutBackIntoPool(cellInfo);
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cellInfo = null;
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GC.SuppressFinalize(this);
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}
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~PathSearch() { Dispose(); }
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}
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}
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