537 lines
17 KiB
C++
537 lines
17 KiB
C++
// ==============================================================
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// This file is part of Glest (www.glest.org)
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//
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// Copyright (C) 2001-2008 Martio Figueroa
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//
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// You can redistribute this code and/or modify it under
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// the terms of the GNU General Public License as published
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// by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version
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// ==============================================================
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#include "path_finder.h"
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#include <algorithm>
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#include <cassert>
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#include "config.h"
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#include "map.h"
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#include "unit.h"
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#include "unit_type.h"
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#include "platform_common.h"
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#include "command.h"
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#include "faction.h"
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#include "leak_dumper.h"
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using namespace std;
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using namespace Shared::Graphics;
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using namespace Shared::Util;
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using namespace Shared::PlatformCommon;
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namespace Glest{ namespace Game{
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// =====================================================
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// class PathFinder
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// =====================================================
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// ===================== PUBLIC ========================
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const int PathFinder::maxFreeSearchRadius= 10;
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//const int PathFinder::pathFindNodesMax= 400;
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const int PathFinder::pathFindNodesMax= 200;
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const int PathFinder::pathFindRefresh= 10;
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PathFinder::PathFinder() {
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nodePool.clear();
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//lookupCacheCanMove.clear();
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//moveLookupCacheApproxCanMove.clear();
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map=NULL;
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}
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PathFinder::PathFinder(const Map *map) {
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nodePool.clear();
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//lookupCacheCanMove.clear();
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//moveLookupCacheApproxCanMove.clear();
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map=NULL;
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init(map);
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}
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void PathFinder::init(const Map *map) {
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nodePool.resize(pathFindNodesMax);
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//lookupCacheCanMove.clear();
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//moveLookupCacheApproxCanMove.clear();
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this->map= map;
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}
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PathFinder::~PathFinder(){
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nodePool.clear();
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//lookupCacheCanMove.clear();
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//moveLookupCacheApproxCanMove.clear();
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map=NULL;
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}
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TravelState PathFinder::findPath(Unit *unit, const Vec2i &finalPos, bool *wasStuck,bool clearLookupCache) {
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if(map == NULL) {
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throw runtime_error("map == NULL");
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}
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if(clearLookupCache == true) {
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//lookupCacheCanMove.clear();
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//moveLookupCacheApproxCanMove.clear();
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}
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
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char szBuf[4096]="";
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sprintf(szBuf,"[findPath] unit->getPos() [%s] finalPos [%s]",
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unit->getPos().getString().c_str(),finalPos.getString().c_str());
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unit->logSynchData(__FILE__,__LINE__,szBuf);
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}
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//route cache
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UnitPathInterface *path= unit->getPath();
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if(finalPos == unit->getPos()) {
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//if arrived
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unit->setCurrSkill(scStop);
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if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
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string commandDesc = "none";
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Command *command= unit->getCurrCommand();
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if(command != NULL && command->getCommandType() != NULL) {
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commandDesc = command->getCommandType()->toString();
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}
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char szBuf[1024]="";
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sprintf(szBuf,"State: arrived#1 at pos: %s, command [%s]",finalPos.getString().c_str(),commandDesc.c_str());
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unit->setCurrentUnitTitle(szBuf);
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}
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//unit->getFaction()->addCachedPath(finalPos,unit);
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return tsArrived;
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}
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else {
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if(path->isEmpty() == false) {
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if(dynamic_cast<UnitPathBasic *>(path) != NULL) {
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//route cache
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UnitPathBasic *basicPath = dynamic_cast<UnitPathBasic *>(path);
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Vec2i pos= basicPath->pop();
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//if(map->canMove(unit, unit->getPos(), pos, &lookupCacheCanMove)) {
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if(map->canMove(unit, unit->getPos(), pos)) {
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unit->setTargetPos(pos);
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unit->addCurrentTargetPathTakenCell(finalPos,pos);
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return tsMoving;
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}
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}
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else if(dynamic_cast<UnitPath *>(path) != NULL) {
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UnitPath *advPath = dynamic_cast<UnitPath *>(path);
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//route cache
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Vec2i pos= advPath->peek();
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//if(map->canMove(unit, unit->getPos(), pos, &lookupCacheCanMove)) {
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if(map->canMove(unit, unit->getPos(), pos)) {
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advPath->pop();
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unit->setTargetPos(pos);
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return tsMoving;
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}
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}
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else {
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throw runtime_error("unsupported or missing path finder detected!");
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}
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}
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}
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TravelState ts = tsImpossible;
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//std::vector<Vec2i> cachedPath = unit->getFaction()->findCachedPath(finalPos, unit);
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//if(cachedPath.size() > 0) {
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// path->clear();
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// for(int i=0; i < cachedPath.size() && i < pathFindRefresh; ++i) {
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// path->add(cachedPath[i]);
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// }
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// ts = tsMoving;
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//}
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//else {
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//route cache miss
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ts = aStar(unit, finalPos, false);
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//}
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if(ts == tsBlocked) {
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//std::vector<Vec2i> cachedPath = unit->getFaction()->findCachedPath(finalPos, unit);
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//if(cachedPath.size() > 0) {
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// path->clear();
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//
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// for(int i=0; i < cachedPath.size() && i < pathFindRefresh; ++i) {
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// path->add(cachedPath[i]);
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// }
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// ts = tsMoving;
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// unit->addCurrentTargetPathTakenCell(Vec2i(-1),Vec2i(-1));
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//}
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}
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//post actions
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switch(ts) {
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case tsBlocked:
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case tsArrived:
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if(ts == tsArrived) {
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//unit->getFaction()->addCachedPath(finalPos,unit);
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}
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// The unit is stuck (not only blocked but unable to go anywhere for a while)
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// We will try to bail out of the immediate area
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if( ts == tsBlocked && unit->getInBailOutAttempt() == false &&
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path->isStuck() == true) {
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
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char szBuf[4096]="";
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sprintf(szBuf,"[attempting to BAIL OUT] finalPos [%s] ts [%d]",
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finalPos.getString().c_str(),ts);
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unit->logSynchData(__FILE__,__LINE__,szBuf);
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}
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if(wasStuck != NULL) {
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*wasStuck = true;
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}
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unit->setInBailOutAttempt(true);
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// Try to bail out up to 20 cells away
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for(int bailoutX = -20; bailoutX <= 20 && ts == tsBlocked; ++bailoutX) {
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for(int bailoutY = -20; bailoutY <= 20 && ts == tsBlocked; ++bailoutY) {
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const Vec2i newFinalPos = finalPos + Vec2i(bailoutX,bailoutY);
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//if(map->canMove(unit, unit->getPos(), newFinalPos, &lookupCacheCanMove)) {
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bool canUnitMove = map->canMove(unit, unit->getPos(), newFinalPos);
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
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char szBuf[4096]="";
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sprintf(szBuf,"[attempting to BAIL OUT] finalPos [%s] newFinalPos [%s] ts [%d] canUnitMove [%d]",
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finalPos.getString().c_str(),newFinalPos.getString().c_str(),ts,canUnitMove);
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unit->logSynchData(__FILE__,__LINE__,szBuf);
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}
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if(canUnitMove) {
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ts= aStar(unit, newFinalPos, true);
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}
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}
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}
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unit->setInBailOutAttempt(false);
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}
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if(ts == tsArrived || ts == tsBlocked) {
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unit->setCurrSkill(scStop);
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}
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break;
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case tsMoving:
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{
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if(dynamic_cast<UnitPathBasic *>(path) != NULL) {
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UnitPathBasic *basicPath = dynamic_cast<UnitPathBasic *>(path);
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Vec2i pos= basicPath->pop();
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//if(map->canMove(unit, unit->getPos(), pos, &lookupCacheCanMove)) {
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if(map->canMove(unit, unit->getPos(), pos)) {
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unit->setTargetPos(pos);
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unit->addCurrentTargetPathTakenCell(finalPos,pos);
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}
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else {
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unit->setCurrSkill(scStop);
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return tsBlocked;
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}
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}
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else if(dynamic_cast<UnitPath *>(path) != NULL) {
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UnitPath *advPath = dynamic_cast<UnitPath *>(path);
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Vec2i pos= advPath->peek();
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//if(map->canMove(unit, unit->getPos(), pos, &lookupCacheCanMove)) {
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if(map->canMove(unit, unit->getPos(), pos)) {
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advPath->pop();
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unit->setTargetPos(pos);
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}
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else {
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unit->setCurrSkill(scStop);
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return tsBlocked;
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}
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}
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else {
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throw runtime_error("unsupported or missing path finder detected!");
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}
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}
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break;
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}
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return ts;
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}
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// ==================== PRIVATE ====================
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//route a unit using A* algorithm
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TravelState PathFinder::aStar(Unit *unit, const Vec2i &targetPos, bool inBailout) {
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Chrono chrono;
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chrono.start();
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if(map == NULL) {
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throw runtime_error("map == NULL");
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}
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nodePoolCount= 0;
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openNodesList.clear();
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openPosList.clear();
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closedNodesList.clear();
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const Vec2i finalPos= computeNearestFreePos(unit, targetPos);
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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//path find algorithm
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//a) push starting pos into openNodes
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Node *firstNode= newNode();
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assert(firstNode != NULL);
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if(firstNode == NULL) {
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throw runtime_error("firstNode == NULL");
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}
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firstNode->next= NULL;
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firstNode->prev= NULL;
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const Vec2i unitPos = unit->getPos();
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firstNode->pos= unitPos;
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firstNode->heuristic= heuristic(unitPos, finalPos);
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firstNode->exploredCell= true;
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openNodesList[firstNode->heuristic].push_back(firstNode);
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openPosList[firstNode->pos] = true;
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//b) loop
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bool pathFound = true;
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bool nodeLimitReached = false;
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Node *node = NULL;
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int64 lastPerfTick = 0;
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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int whileLoopCount = 0;
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while(nodeLimitReached == false) {
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whileLoopCount++;
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//b1) is open nodes is empty => failed to find the path
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if(openNodesList.empty() == true) {
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pathFound= false;
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break;
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}
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//b2) get the minimum heuristic node
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//Nodes::iterator it = minHeuristic();
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node = minHeuristicFastLookup();
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//b3) if minHeuristic is the finalNode, or the path is no more explored => path was found
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if(node->pos == finalPos || node->exploredCell == false) {
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pathFound= true;
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break;
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}
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//b4) move this node from closedNodes to openNodes
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//add all succesors that are not in closedNodes or openNodes to openNodes
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closedNodesList[node->heuristic].push_back(node);
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openPosList[node->pos] = true;
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for(int i = -1; i <= 1 && nodeLimitReached == false; ++i) {
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for(int j = -1; j <= 1 && nodeLimitReached == false; ++j) {
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Vec2i sucPos= node->pos + Vec2i(i, j);
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//bool canUnitMoveToCell = map->aproxCanMove(unit, node->pos, sucPos, &moveLookupCacheApproxCanMove);
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bool canUnitMoveToCell = map->aproxCanMove(unit, node->pos, sucPos);
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if(openPos(sucPos) == false && canUnitMoveToCell == true) {
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//if node is not open and canMove then generate another node
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Node *sucNode= newNode();
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if(sucNode != NULL) {
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sucNode->pos= sucPos;
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sucNode->heuristic= heuristic(sucNode->pos, finalPos);
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sucNode->prev= node;
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sucNode->next= NULL;
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sucNode->exploredCell= map->getSurfaceCell(Map::toSurfCoords(sucPos))->isExplored(unit->getTeam());
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openNodesList[sucNode->heuristic].push_back(sucNode);
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openPosList[sucNode->pos] = true;
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}
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else {
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nodeLimitReached= true;
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}
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}
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}
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}
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} //while
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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Node *lastNode= node;
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//if consumed all nodes find best node (to avoid strange behaviour)
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if(nodeLimitReached == true) {
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if(closedNodesList.size() > 0) {
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float bestHeuristic = closedNodesList.begin()->first;
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if(bestHeuristic < lastNode->heuristic) {
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lastNode= closedNodesList.begin()->second[0];
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}
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}
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}
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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//check results of path finding
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TravelState ts = tsImpossible;
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UnitPathInterface *path= unit->getPath();
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if(pathFound == false || lastNode == firstNode) {
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//blocked
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if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
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string commandDesc = "none";
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Command *command= unit->getCurrCommand();
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if(command != NULL && command->getCommandType() != NULL) {
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commandDesc = command->getCommandType()->toString();
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}
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std::pair<Vec2i,int> lastHarvest = unit->getLastHarvestResourceTarget();
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char szBuf[1024]="";
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sprintf(szBuf,"State: blocked, cmd [%s] pos: [%s], dest pos: [%s], lastHarvest = [%s - %d], reason A= %d, B= %d, C= %d, D= %d, E= %d, F = %d",commandDesc.c_str(),unit->getPos().getString().c_str(), targetPos.getString().c_str(),lastHarvest.first.getString().c_str(),lastHarvest.second, pathFound,(lastNode == firstNode),path->getBlockCount(), path->isBlocked(), nodeLimitReached,path->isStuck());
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unit->setCurrentUnitTitle(szBuf);
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}
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ts= tsBlocked;
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path->incBlockCount();
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
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char szBuf[4096]="";
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sprintf(szBuf,"[path for unit BLOCKED] openNodesList.size() [%ld] openPosList.size() [%ld] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
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openNodesList.size(),openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
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unit->logSynchData(__FILE__,__LINE__,szBuf);
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}
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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}
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else {
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//on the way
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ts= tsMoving;
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//build next pointers
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Node *currNode= lastNode;
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while(currNode->prev != NULL) {
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currNode->prev->next= currNode;
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currNode= currNode->prev;
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}
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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//store path
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path->clear();
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currNode= firstNode;
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for(int i=0; currNode->next != NULL && i < pathFindRefresh; currNode= currNode->next, i++) {
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path->add(currNode->next->pos);
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}
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
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char szBuf[4096]="";
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sprintf(szBuf,"[Setting new path for unit] openNodesList.size() [%ld] openPosList.size() [%ld] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
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openNodesList.size(),openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
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unit->logSynchData(__FILE__,__LINE__,szBuf);
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}
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if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
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string commandDesc = "none";
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Command *command= unit->getCurrCommand();
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if(command != NULL && command->getCommandType() != NULL) {
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commandDesc = command->getCommandType()->toString();
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}
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char szBuf[1024]="";
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sprintf(szBuf,"State: moving, cmd [%s] pos: %s dest pos: %s, Queue= %d",commandDesc.c_str(),unit->getPos().getString().c_str(), targetPos.getString().c_str(),path->getQueueCount());
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unit->setCurrentUnitTitle(szBuf);
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}
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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}
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openNodesList.clear();
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openPosList.clear();
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closedNodesList.clear();
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if(chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s] Line: %d took msecs: %lld --------------------------- [END OF METHOD] ---------------------------\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
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return ts;
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}
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PathFinder::Node *PathFinder::newNode() {
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if(nodePoolCount < pathFindNodesMax) {
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Node *node= &nodePool[nodePoolCount];
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nodePoolCount++;
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return node;
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}
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return NULL;
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}
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Vec2i PathFinder::computeNearestFreePos(const Unit *unit, const Vec2i &finalPos) {
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if(map == NULL) {
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throw runtime_error("map == NULL");
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}
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//unit data
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int size= unit->getType()->getSize();
|
|
Field field= unit->getCurrField();
|
|
int teamIndex= unit->getTeam();
|
|
|
|
//if finalPos is free return it
|
|
if(map->isAproxFreeCells(finalPos, size, field, teamIndex)) {
|
|
return finalPos;
|
|
}
|
|
|
|
//find nearest pos
|
|
Vec2i unitPos= unit->getPos();
|
|
Vec2i nearestPos= unitPos;
|
|
float nearestDist= unitPos.dist(finalPos);
|
|
for(int i= -maxFreeSearchRadius; i <= maxFreeSearchRadius; ++i) {
|
|
for(int j= -maxFreeSearchRadius; j <= maxFreeSearchRadius; ++j) {
|
|
Vec2i currPos= finalPos + Vec2i(i, j);
|
|
if(map->isAproxFreeCells(currPos, size, field, teamIndex)) {
|
|
float dist= currPos.dist(finalPos);
|
|
|
|
//if nearer from finalPos
|
|
if(dist < nearestDist){
|
|
nearestPos= currPos;
|
|
nearestDist= dist;
|
|
}
|
|
//if the distance is the same compare distance to unit
|
|
else if(dist == nearestDist){
|
|
if(currPos.dist(unitPos) < nearestPos.dist(unitPos)) {
|
|
nearestPos= currPos;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return nearestPos;
|
|
}
|
|
|
|
float PathFinder::heuristic(const Vec2i &pos, const Vec2i &finalPos) {
|
|
return pos.dist(finalPos);
|
|
}
|
|
|
|
PathFinder::Node * PathFinder::minHeuristicFastLookup() {
|
|
assert(openNodesList.empty() == false);
|
|
if(openNodesList.empty() == true) {
|
|
throw runtime_error("openNodesList.empty() == true");
|
|
}
|
|
|
|
Node *result = openNodesList.begin()->second[0];
|
|
openNodesList.begin()->second.erase(openNodesList.begin()->second.begin());
|
|
if(openNodesList.begin()->second.size() == 0) {
|
|
openNodesList.erase(openNodesList.begin());
|
|
}
|
|
return result;
|
|
}
|
|
|
|
bool PathFinder::openPos(const Vec2i &sucPos) {
|
|
if(openPosList.find(sucPos) == openPosList.end()) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
}} //end namespace
|