OpenRA/OpenRA.Mods.RA/Move/PathSearch.cs

#region Copyright & License Information
/*
 * Copyright 2007-2011 The OpenRA Developers (see AUTHORS)
 * This file is part of OpenRA, which is free software. It is made 
 * available to you under the terms of the GNU General Public License
 * as published by the Free Software Foundation. For more information,
 * see COPYING.
 */
#endregion

using System;
using System.Collections.Generic;
using OpenRA.FileFormats;
using OpenRA.Traits;

namespace OpenRA.Mods.RA.Move
{
	public class PathSearch : IDisposable
	{
		World world;
		public CellInfo[ , ] cellInfo;
		public PriorityQueue<PathDistance> queue;
		public Func<int2, int> heuristic;
		Func<int2, bool> customBlock;
		public bool checkForBlocked;
		public Actor ignoreBuilding;
		public bool inReverse;
		
		MobileInfo mobileInfo;
		UnitInfluence uim;
		
		public PathSearch(World world, MobileInfo mobileInfo)
		{
			this.world = world;
			uim = world.WorldActor.Trait<UnitInfluence>();
			cellInfo = InitCellInfo();
			this.mobileInfo = mobileInfo;
			queue = new PriorityQueue<PathDistance>();
		}

		public PathSearch InReverse()
		{
			inReverse = true;
			return this;
		}

		public PathSearch WithCustomBlocker(Func<int2, bool> customBlock)
		{
			this.customBlock = customBlock;
			return this;
		}

		public PathSearch WithIgnoredBuilding(Actor b)
		{
			ignoreBuilding = b;
			return this;
		}

		public PathSearch WithHeuristic(Func<int2, int> h)
		{
			heuristic = h;
			return this;
		}
		
		public PathSearch WithoutLaneBias()
		{
			LaneBias = 0;
			return this;
		}
		
		public PathSearch FromPoint(int2 from)
		{
			AddInitialCell( from );
			return this;
		}
		
		int LaneBias = 1;

		public int2 Expand( World world )
		{
			var p = queue.Pop();
			while (cellInfo[p.Location.X, p.Location.Y].Seen)
				if (queue.Empty)
					return p.Location;
				else
					p = queue.Pop();

			cellInfo[p.Location.X, p.Location.Y].Seen = true;
			
			var thisCost = mobileInfo.MovementCostForCell(world, p.Location);

			if (thisCost == int.MaxValue) 
				return p.Location;

			foreach( int2 d in directions )
			{
				int2 newHere = p.Location + d;

				if (!world.Map.IsInMap(newHere.X, newHere.Y)) continue;
				if( cellInfo[ newHere.X, newHere.Y ].Seen )
					continue;

				var costHere = mobileInfo.MovementCostForCell(world, newHere);
				
				if (costHere == int.MaxValue)
					continue;

				if (!mobileInfo.CanEnterCell(world, uim, newHere, ignoreBuilding, checkForBlocked))
					continue;
				
				if (customBlock != null && customBlock(newHere))
					continue;
				
				var est = heuristic( newHere );
				if( est == int.MaxValue )
					continue;

				int cellCost = costHere;
				if( d.X * d.Y != 0 ) cellCost = ( cellCost * 34 ) / 24;

				// directional bonuses for smoother flow!
				var ux = (newHere.X + (inReverse ? 1 : 0) & 1);
				var uy = (newHere.Y + (inReverse ? 1 : 0) & 1);

				if (ux == 0 && d.Y < 0) cellCost += LaneBias;
				else if (ux == 1 && d.Y > 0) cellCost += LaneBias;
				if (uy == 0 && d.X < 0) cellCost += LaneBias;
				else if (uy == 1 && d.X > 0) cellCost += LaneBias;

				int newCost = cellInfo[ p.Location.X, p.Location.Y ].MinCost + cellCost;

				if( newCost >= cellInfo[ newHere.X, newHere.Y ].MinCost )
					continue;

				cellInfo[ newHere.X, newHere.Y ].Path = p.Location;
				cellInfo[ newHere.X, newHere.Y ].MinCost = newCost;

				queue.Add( new PathDistance( newCost + est, newHere ) );
				
			}
			return p.Location;
		}

		static readonly int2[] directions =
		{
			new int2( -1, -1 ),
			new int2( -1,  0 ),
			new int2( -1,  1 ),
			new int2(  0, -1 ),
			new int2(  0,  1 ),
			new int2(  1, -1 ),
			new int2(  1,  0 ),
			new int2(  1,  1 ),
		};

		public void AddInitialCell( int2 location )
		{
			if (!world.Map.IsInMap(location.X, location.Y))
				return;

			cellInfo[ location.X, location.Y ] = new CellInfo( 0, location, false );
			queue.Add( new PathDistance( heuristic( location ), location ) );
		}
		
		public static PathSearch Search( World world, MobileInfo mi, bool checkForBlocked )
		{
			var search = new PathSearch(world, mi) {
				checkForBlocked = checkForBlocked };
			return search;
		}
		
		public static PathSearch FromPoint( World world, MobileInfo mi, int2 from, int2 target, bool checkForBlocked )
		{
			var search = new PathSearch(world, mi) {
				heuristic = DefaultEstimator( target ),
				checkForBlocked = checkForBlocked };

			search.AddInitialCell( from );
			return search;
		}

		public static PathSearch FromPoints(World world, MobileInfo mi, IEnumerable<int2> froms, int2 target, bool checkForBlocked)
		{
			var search = new PathSearch(world, mi)
			{
				heuristic = DefaultEstimator(target),
				checkForBlocked = checkForBlocked
			};

			foreach( var sl in froms )
				search.AddInitialCell( sl );

			return search;
		}

		static readonly Queue<CellInfo[,]> cellInfoPool = new Queue<CellInfo[,]>();

		static CellInfo[,] GetFromPool()
		{
			lock (cellInfoPool)
				return cellInfoPool.Dequeue();
		}

		static void PutBackIntoPool(CellInfo[,] ci)
		{
			lock (cellInfoPool)
				cellInfoPool.Enqueue(ci);
		}

		CellInfo[ , ] InitCellInfo()
		{
			CellInfo[,] result = null;
			while (cellInfoPool.Count > 0)
			{
				var cellInfo = GetFromPool();
				if (cellInfo.GetUpperBound(0) != world.Map.MapSize.X - 1 ||
					cellInfo.GetUpperBound(1) != world.Map.MapSize.Y - 1)
				{
                    Log.Write("debug", "Discarding old pooled CellInfo of wrong size.");
					continue;
				}

				result = cellInfo;
				break;
			}

			if (result == null)
				result  = new CellInfo[ world.Map.MapSize.X, world.Map.MapSize.Y ];

			for( int x = 0 ; x < world.Map.MapSize.X ; x++ )
				for( int y = 0 ; y < world.Map.MapSize.Y ; y++ )
					result[ x, y ] = new CellInfo( int.MaxValue, new int2( x, y ), false );

			return result;
		}

		public static Func<int2, int> DefaultEstimator( int2 destination )
		{
			return here =>
			{
				int2 d = ( here - destination ).Abs();
				int diag = Math.Min( d.X, d.Y );
				int straight = Math.Abs( d.X - d.Y );
				return (3400 * diag / 24) + (100 * straight);
			};
		}

		bool disposed;
		public void Dispose()
		{
			if (disposed)
				return;

			disposed = true;
			GC.SuppressFinalize(this);
			PutBackIntoPool(cellInfo);
			cellInfo = null;
		}

		~PathSearch() { Dispose(); }
	}
}