5a8f91aa21
Replaces the existing bi-directional search between points used by the pathfinder with a guided hierarchical search. The old search was a standard A* search with a heuristic of advancing in straight line towards the target. This heuristic performs well if a mostly direct path to the target exists, it performs poorly it the path has to navigate around blockages in the terrain. The hierarchical path finder maintains a simplified, abstract graph. When a path search is performed it uses this abstract graph to inform the heuristic. Instead of moving blindly towards the target, it will instead steer around major obstacles, almost as if it had been provided a map which ensures it can move in roughly the right direction. This allows it to explore less of the area overall, improving performance. When a path needs to steer around terrain on the map, the hierarchical path finder is able to greatly improve on the previous performance. When a path is able to proceed in a straight line, no performance benefit will be seen. If the path needs to steer around actors on the map instead of terrain (e.g. trees, buildings, units) then the same poor pathfinding performance as before will be observed.
258 lines
8.1 KiB
C#
258 lines
8.1 KiB
C#
#region Copyright & License Information
|
|
/*
|
|
* Copyright 2007-2022 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, either version 3 of
|
|
* the License, or (at your option) any later version. For more
|
|
* information, see COPYING.
|
|
*/
|
|
#endregion
|
|
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using OpenRA.Activities;
|
|
using OpenRA.Mods.Common.Pathfinder;
|
|
using OpenRA.Mods.Common.Traits;
|
|
using OpenRA.Traits;
|
|
|
|
namespace OpenRA.Mods.Common.Activities
|
|
{
|
|
public class FindAndDeliverResources : Activity
|
|
{
|
|
readonly Harvester harv;
|
|
readonly HarvesterInfo harvInfo;
|
|
readonly Mobile mobile;
|
|
readonly ResourceClaimLayer claimLayer;
|
|
|
|
Actor deliverActor;
|
|
CPos? orderLocation;
|
|
CPos? lastHarvestedCell;
|
|
bool hasDeliveredLoad;
|
|
bool hasHarvestedCell;
|
|
bool hasWaited;
|
|
|
|
public bool LastSearchFailed { get; private set; }
|
|
|
|
public FindAndDeliverResources(Actor self, Actor deliverActor = null)
|
|
{
|
|
harv = self.Trait<Harvester>();
|
|
harvInfo = self.Info.TraitInfo<HarvesterInfo>();
|
|
mobile = self.Trait<Mobile>();
|
|
claimLayer = self.World.WorldActor.Trait<ResourceClaimLayer>();
|
|
this.deliverActor = deliverActor;
|
|
}
|
|
|
|
public FindAndDeliverResources(Actor self, CPos orderLocation)
|
|
: this(self, null)
|
|
{
|
|
this.orderLocation = orderLocation;
|
|
}
|
|
|
|
protected override void OnFirstRun(Actor self)
|
|
{
|
|
// If an explicit "harvest" order is given, direct the harvester to the ordered location instead of
|
|
// the previous harvested cell for the initial search.
|
|
if (orderLocation != null)
|
|
{
|
|
lastHarvestedCell = orderLocation;
|
|
|
|
// If two "harvest" orders are issued consecutively, we deliver the load first if needed.
|
|
// We have to make sure the actual "harvest" order is not skipped if a third order is queued,
|
|
// so we keep deliveredLoad false.
|
|
if (harv.IsFull)
|
|
QueueChild(new DeliverResources(self));
|
|
}
|
|
|
|
// If an explicit "deliver" order is given, the harvester goes immediately to the refinery.
|
|
if (deliverActor != null)
|
|
{
|
|
QueueChild(new DeliverResources(self, deliverActor));
|
|
hasDeliveredLoad = true;
|
|
deliverActor = null;
|
|
}
|
|
}
|
|
|
|
public override bool Tick(Actor self)
|
|
{
|
|
if (IsCanceling || harv.IsTraitDisabled)
|
|
return true;
|
|
|
|
if (NextActivity != null)
|
|
{
|
|
// Interrupt automated harvesting after clearing the first cell.
|
|
if (!harvInfo.QueueFullLoad && (hasHarvestedCell || LastSearchFailed))
|
|
return true;
|
|
|
|
// Interrupt automated harvesting after first complete harvest cycle.
|
|
if (hasDeliveredLoad || harv.IsFull)
|
|
return true;
|
|
}
|
|
|
|
// Are we full or have nothing more to gather? Deliver resources.
|
|
if (harv.IsFull || (!harv.IsEmpty && LastSearchFailed))
|
|
{
|
|
QueueChild(new DeliverResources(self));
|
|
hasDeliveredLoad = true;
|
|
return false;
|
|
}
|
|
|
|
// After a failed search, wait and sit still for a bit before searching again.
|
|
if (LastSearchFailed && !hasWaited)
|
|
{
|
|
QueueChild(new Wait(harv.Info.WaitDuration));
|
|
hasWaited = true;
|
|
return false;
|
|
}
|
|
|
|
hasWaited = false;
|
|
|
|
// Scan for resources. If no resources are found near the current field, search near the refinery
|
|
// instead. If that doesn't help, give up for now.
|
|
var closestHarvestableCell = ClosestHarvestablePos(self);
|
|
if (!closestHarvestableCell.HasValue)
|
|
{
|
|
if (lastHarvestedCell != null)
|
|
{
|
|
lastHarvestedCell = null; // Forces search from backup position.
|
|
closestHarvestableCell = ClosestHarvestablePos(self);
|
|
LastSearchFailed = !closestHarvestableCell.HasValue;
|
|
}
|
|
else
|
|
LastSearchFailed = true;
|
|
}
|
|
else
|
|
LastSearchFailed = false;
|
|
|
|
// If no harvestable position could be found and we are at the refinery, get out of the way
|
|
// of the refinery entrance.
|
|
if (LastSearchFailed)
|
|
{
|
|
var lastproc = harv.LastLinkedProc ?? harv.LinkedProc;
|
|
if (lastproc != null && !lastproc.Disposed)
|
|
{
|
|
var deliveryLoc = lastproc.Location + lastproc.Trait<IAcceptResources>().DeliveryOffset;
|
|
if (self.Location == deliveryLoc && harv.IsEmpty)
|
|
{
|
|
var unblockCell = deliveryLoc + harv.Info.UnblockCell;
|
|
var moveTo = mobile.NearestMoveableCell(unblockCell, 1, 5);
|
|
QueueChild(mobile.MoveTo(moveTo, 1));
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
// If we get here, our search for resources was successful. Commence harvesting.
|
|
QueueChild(new HarvestResource(self, closestHarvestableCell.Value));
|
|
lastHarvestedCell = closestHarvestableCell.Value;
|
|
hasHarvestedCell = true;
|
|
return false;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Finds the closest harvestable pos between the current position of the harvester
|
|
/// and the last order location
|
|
/// </summary>
|
|
CPos? ClosestHarvestablePos(Actor self)
|
|
{
|
|
// Harvesters should respect an explicit harvest order instead of harvesting the current cell.
|
|
if (orderLocation == null)
|
|
{
|
|
if (harv.CanHarvestCell(self.Location) && claimLayer.CanClaimCell(self, self.Location))
|
|
return self.Location;
|
|
}
|
|
else
|
|
{
|
|
if (harv.CanHarvestCell(orderLocation.Value) && claimLayer.CanClaimCell(self, orderLocation.Value))
|
|
return orderLocation;
|
|
|
|
orderLocation = null;
|
|
}
|
|
|
|
// Determine where to search from and how far to search:
|
|
var procLoc = GetSearchFromProcLocation();
|
|
var searchFromLoc = lastHarvestedCell ?? procLoc ?? self.Location;
|
|
var searchRadius = lastHarvestedCell.HasValue ? harvInfo.SearchFromHarvesterRadius : harvInfo.SearchFromProcRadius;
|
|
|
|
var searchRadiusSquared = searchRadius * searchRadius;
|
|
|
|
var map = self.World.Map;
|
|
var procPos = procLoc.HasValue ? (WPos?)map.CenterOfCell(procLoc.Value) : null;
|
|
var harvPos = self.CenterPosition;
|
|
|
|
// Find any harvestable resources:
|
|
var path = mobile.PathFinder.FindPathToTargetCellByPredicate(
|
|
self,
|
|
new[] { searchFromLoc, self.Location },
|
|
loc =>
|
|
harv.CanHarvestCell(loc) &&
|
|
claimLayer.CanClaimCell(self, loc),
|
|
BlockedByActor.Stationary,
|
|
loc =>
|
|
{
|
|
if ((loc - searchFromLoc).LengthSquared > searchRadiusSquared)
|
|
return PathGraph.PathCostForInvalidPath;
|
|
|
|
// Add a cost modifier to harvestable cells to prefer resources that are closer to the refinery.
|
|
// This reduces the tendency for harvesters to move in straight lines
|
|
if (procPos.HasValue && harvInfo.ResourceRefineryDirectionPenalty > 0 && harv.CanHarvestCell(loc))
|
|
{
|
|
var pos = map.CenterOfCell(loc);
|
|
|
|
// Calculate harv-cell-refinery angle (cosine rule)
|
|
var b = pos - procPos.Value;
|
|
|
|
if (b != WVec.Zero)
|
|
{
|
|
var c = pos - harvPos;
|
|
if (c != WVec.Zero)
|
|
{
|
|
var a = harvPos - procPos.Value;
|
|
var cosA = (int)(512 * (b.LengthSquared + c.LengthSquared - a.LengthSquared) / b.Length / c.Length);
|
|
|
|
// Cost modifier varies between 0 and ResourceRefineryDirectionPenalty
|
|
return Math.Abs(harvInfo.ResourceRefineryDirectionPenalty / 2) + harvInfo.ResourceRefineryDirectionPenalty * cosA / 2048;
|
|
}
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
});
|
|
|
|
if (path.Count > 0)
|
|
return path[0];
|
|
|
|
return null;
|
|
}
|
|
|
|
public override IEnumerable<Target> GetTargets(Actor self)
|
|
{
|
|
yield return Target.FromCell(self.World, self.Location);
|
|
}
|
|
|
|
public override IEnumerable<TargetLineNode> TargetLineNodes(Actor self)
|
|
{
|
|
if (ChildActivity != null)
|
|
foreach (var n in ChildActivity.TargetLineNodes(self))
|
|
yield return n;
|
|
|
|
if (orderLocation != null)
|
|
yield return new TargetLineNode(Target.FromCell(self.World, orderLocation.Value), harvInfo.HarvestLineColor);
|
|
else if (deliverActor != null)
|
|
yield return new TargetLineNode(Target.FromActor(deliverActor), harvInfo.DeliverLineColor);
|
|
}
|
|
|
|
CPos? GetSearchFromProcLocation()
|
|
{
|
|
if (harv.LastLinkedProc != null && !harv.LastLinkedProc.IsDead && harv.LastLinkedProc.IsInWorld)
|
|
return harv.LastLinkedProc.Location + harv.LastLinkedProc.Trait<IAcceptResources>().DeliveryOffset;
|
|
|
|
if (harv.LinkedProc != null && !harv.LinkedProc.IsDead && harv.LinkedProc.IsInWorld)
|
|
return harv.LinkedProc.Location + harv.LinkedProc.Trait<IAcceptResources>().DeliveryOffset;
|
|
|
|
return null;
|
|
}
|
|
}
|
|
}
|