1080 lines
43 KiB
C++
1080 lines
43 KiB
C++
// 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 "randomgen.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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using Shared::Util::RandomGen;
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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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int PathFinder::pathFindNodesAbsoluteMax = 900;
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int PathFinder::pathFindNodesMax = 2000;
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const int PathFinder::pathFindRefresh = 10;
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const int PathFinder::pathFindBailoutRadius = 20;
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const int PathFinder::pathFindExtendRefreshForNodeCount = 25;
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const int PathFinder::pathFindExtendRefreshNodeCount = 40;
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PathFinder::PathFinder() {
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for(int i = 0; i < GameConstants::maxPlayers; ++i) {
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factions.push_back(FactionState());
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}
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map=NULL;
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}
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PathFinder::PathFinder(const Map *map) {
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for(int i = 0; i < GameConstants::maxPlayers; ++i) {
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factions.push_back(FactionState());
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}
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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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PathFinder::pathFindNodesMax = Config::getInstance().getInt("MaxPathfinderNodeCount",intToStr(PathFinder::pathFindNodesMax).c_str());
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for(int i = 0; i < GameConstants::maxPlayers; ++i) {
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factions[i].nodePool.resize(pathFindNodesAbsoluteMax);
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factions[i].useMaxNodeCount = PathFinder::pathFindNodesMax;
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}
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this->map= map;
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}
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PathFinder::~PathFinder() {
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for(int i = 0; i < GameConstants::maxPlayers; ++i) {
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factions[i].nodePool.clear();
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}
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map=NULL;
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}
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void PathFinder::clearUnitPrecache(Unit *unit) {
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factions[unit->getFactionIndex()].precachedTravelState[unit->getId()] = tsImpossible;
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factions[unit->getFactionIndex()].precachedPath[unit->getId()].clear();
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}
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void PathFinder::removeUnitPrecache(Unit *unit) {
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if(factions.size() > unit->getFactionIndex()) {
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if(factions[unit->getFactionIndex()].precachedTravelState.find(unit->getId()) != factions[unit->getFactionIndex()].precachedTravelState.end()) {
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factions[unit->getFactionIndex()].precachedTravelState.erase(unit->getId());
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}
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if(factions[unit->getFactionIndex()].precachedPath.find(unit->getId()) != factions[unit->getFactionIndex()].precachedPath.end()) {
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factions[unit->getFactionIndex()].precachedPath.erase(unit->getId());
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}
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}
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}
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TravelState PathFinder::findPath(Unit *unit, const Vec2i &finalPos, bool *wasStuck, int frameIndex) {
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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(frameIndex >= 0) {
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clearUnitPrecache(unit);
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}
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
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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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if(finalPos == unit->getPos()) {
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if(frameIndex < 0) {
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//if arrived
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unit->setCurrSkill(scStop);
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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: 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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return tsArrived;
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}
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UnitPathInterface *path= unit->getPath();
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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(frameIndex < 0);
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if(map->canMove(unit, unit->getPos(), pos)) {
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if(frameIndex < 0) {
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unit->setTargetPos(pos);
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}
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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)) {
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if(frameIndex < 0) {
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advPath->pop();
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unit->setTargetPos(pos);
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}
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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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if(path->isStuck() == true && unit->getLastStuckPos() == finalPos &&
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unit->isLastStuckFrameWithinCurrentFrameTolerance() == true) {
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//printf("$$$$ Unit STILL BLOCKED for [%d - %s]\n",unit->getId(),unit->getFullName().c_str());
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return tsBlocked;
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}
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TravelState ts = tsImpossible;
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//route cache miss
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int maxNodeCount=-1;
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if(unit->getUsePathfinderExtendedMaxNodes() == true) {
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const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
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if(showConsoleDebugInfo || SystemFlags::VERBOSE_MODE_ENABLED) {
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printf("\n\n\n\n### Continued call to AStar with LARGE maxnodes for unit [%d - %s]\n\n",unit->getId(),unit->getFullName().c_str());
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}
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maxNodeCount= PathFinder::pathFindNodesAbsoluteMax;
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}
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ts = aStar(unit, finalPos, false, frameIndex, maxNodeCount);
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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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// 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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//printf("$$$$ Unit START BAILOUT ATTEMPT for [%d - %s]\n",unit->getId(),unit->getFullName().c_str());
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
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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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bool useBailoutRadius = Config::getInstance().getBool("EnableBailoutPathfinding","true");
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if(useBailoutRadius == true) {
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//!!!
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bool unitImmediatelyBlocked = false;
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// First check if unit currently blocked all around them, if so don't try to pathfind
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const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
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const Vec2i unitPos = unit->getPos();
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int failureCount = 0;
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int cellCount = 0;
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for(int i = -1; i <= 1; ++i) {
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for(int j = -1; j <= 1; ++j) {
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Vec2i pos = unitPos + Vec2i(i, j);
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if(pos != unitPos) {
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bool canUnitMoveToCell = map->aproxCanMove(unit, unitPos, pos);
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if(canUnitMoveToCell == false) {
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failureCount++;
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}
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cellCount++;
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}
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}
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}
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unitImmediatelyBlocked = (failureCount == cellCount);
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//if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] **Check if dest blocked, distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld unitImmediatelyBlocked = %d, failureCount = %d\n",__FILE__,__FUNCTION__,__LINE__,unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),unitImmediatelyBlocked,failureCount);
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if(showConsoleDebugInfo && unitImmediatelyBlocked) {
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printf("**Check if src blocked [%d], unit [%d - %s] from [%s] to [%s] unitImmediatelyBlocked = %d, failureCount = %d [%d]\n",
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unitImmediatelyBlocked, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), unitImmediatelyBlocked,failureCount,cellCount);
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}
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// if(unitImmediatelyBlocked == false) {
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// // First check if final destination blocked
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// failureCount = 0;
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// cellCount = 0;
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//
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// for(int i = -1; i <= 1; ++i) {
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// for(int j = -1; j <= 1; ++j) {
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// Vec2i pos = finalPos + Vec2i(i, j);
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// if(pos != finalPos) {
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// bool canUnitMoveToCell = map->aproxCanMove(unit, pos, finalPos);
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// if(canUnitMoveToCell == false) {
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// failureCount++;
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// }
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// cellCount++;
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// }
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// }
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// }
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// unitImmediatelyBlocked = (failureCount == cellCount);
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//
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// if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] **Check if dest blocked, distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld unitImmediatelyBlocked = %d, failureCount = %d\n",__FILE__,__FUNCTION__,__LINE__,unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),unitImmediatelyBlocked,failureCount);
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// if(showConsoleDebugInfo && nodeLimitReached) {
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// printf("**Check if dest blocked [%d - %d], unit [%d - %s] from [%s] to [%s] distance %.2f took msecs: %lld unitImmediatelyBlocked = %d, failureCount = %d [%d]\n",
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// nodeLimitReached, inBailout, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),unitImmediatelyBlocked,failureCount,cellCount);
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// }
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// }
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//
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//!!!
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if(unitImmediatelyBlocked == false) {
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int tryRadius = factions[unit->getFactionIndex()].random.randRange(0,1);
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// Try to bail out up to PathFinder::pathFindBailoutRadius cells away
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if(tryRadius > 0) {
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for(int bailoutX = -PathFinder::pathFindBailoutRadius; bailoutX <= PathFinder::pathFindBailoutRadius && ts == tsBlocked; ++bailoutX) {
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for(int bailoutY = -PathFinder::pathFindBailoutRadius; bailoutY <= PathFinder::pathFindBailoutRadius && ts == tsBlocked; ++bailoutY) {
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const Vec2i newFinalPos = finalPos + Vec2i(bailoutX,bailoutY);
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bool canUnitMove = map->canMove(unit, unit->getPos(), newFinalPos);
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
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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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//printf("$$$$ Unit BAILOUT(1) ASTAR ATTEMPT for [%d - %s] newFinalPos = [%s]\n",unit->getId(),unit->getFullName().c_str(),newFinalPos.getString().c_str());
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ts= aStar(unit, newFinalPos, true, frameIndex);
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}
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}
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}
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}
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else {
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for(int bailoutX = PathFinder::pathFindBailoutRadius; bailoutX >= -PathFinder::pathFindBailoutRadius && ts == tsBlocked; --bailoutX) {
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for(int bailoutY = PathFinder::pathFindBailoutRadius; bailoutY >= -PathFinder::pathFindBailoutRadius && ts == tsBlocked; --bailoutY) {
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const Vec2i newFinalPos = finalPos + Vec2i(bailoutX,bailoutY);
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bool canUnitMove = map->canMove(unit, unit->getPos(), newFinalPos);
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if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
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char szBuf[4096]="";
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sprintf(szBuf,"[attempting to BAIL OUT] finalPos [%s] newFinalPos [%s] ts [%d] canUnitMove [%d]",
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finalPos.getString().c_str(),newFinalPos.getString().c_str(),ts,canUnitMove);
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unit->logSynchData(__FILE__,__LINE__,szBuf);
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}
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if(canUnitMove) {
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//printf("$$$$ Unit BAILOUT(1) ASTAR ATTEMPT for [%d - %s] newFinalPos = [%s]\n",unit->getId(),unit->getFullName().c_str(),newFinalPos.getString().c_str());
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ts= aStar(unit, newFinalPos, true, frameIndex);
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}
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}
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}
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}
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}
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}
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unit->setInBailOutAttempt(false);
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//printf("$$$$ Unit END BAILOUT ATTEMPT for [%d - %s] ts = %d\n",unit->getId(),unit->getFullName().c_str(),ts);
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if(ts == tsBlocked) {
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unit->setLastStuckFrameToCurrentFrame();
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unit->setLastStuckPos(finalPos);
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}
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}
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if(ts == tsArrived || ts == tsBlocked) {
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if(frameIndex < 0) {
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unit->setCurrSkill(scStop);
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}
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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;
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if(frameIndex < 0) {
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pos = basicPath->pop(frameIndex < 0);
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}
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else {
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pos = factions[unit->getFactionIndex()].precachedPath[unit->getId()][0];
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}
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if(map->canMove(unit, unit->getPos(), pos)) {
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if(frameIndex < 0) {
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unit->setTargetPos(pos);
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}
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}
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else {
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if(frameIndex < 0) {
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unit->setCurrSkill(scStop);
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}
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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)) {
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if(frameIndex < 0) {
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advPath->pop();
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unit->setTargetPos(pos);
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}
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}
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else {
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if(frameIndex < 0) {
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unit->setCurrSkill(scStop);
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}
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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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bool PathFinder::processNode(Unit *unit, Node *node,const Vec2i finalPos, int i, int j, bool &nodeLimitReached,int maxNodeCount) {
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bool result = false;
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Vec2i sucPos= node->pos + Vec2i(i, j);
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bool canUnitMoveToCell = map->aproxCanMove(unit, node->pos, sucPos);
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if(canUnitMoveToCell == true && openPos(sucPos, factions[unit->getFactionIndex()]) == false) {
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//if node is not open and canMove then generate another node
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Node *sucNode= newNode(factions[unit->getFactionIndex()],maxNodeCount);
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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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if(factions[unit->getFactionIndex()].openNodesList.find(sucNode->heuristic) == factions[unit->getFactionIndex()].openNodesList.end()) {
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factions[unit->getFactionIndex()].openNodesList[sucNode->heuristic].clear();
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}
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factions[unit->getFactionIndex()].openNodesList[sucNode->heuristic].push_back(sucNode);
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factions[unit->getFactionIndex()].openPosList[sucNode->pos] = true;
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result = 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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return result;
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}
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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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int frameIndex, int maxNodeCount) {
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Chrono chrono;
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if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled) 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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const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
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const bool tryLastPathCache = Config::getInstance().getBool("EnablePathfinderCache","false");
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if(maxNodeCount < 0) {
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maxNodeCount = factions[unit->getFactionIndex()].useMaxNodeCount;
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}
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UnitPathInterface *path= unit->getPath();
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factions[unit->getFactionIndex()].nodePoolCount= 0;
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factions[unit->getFactionIndex()].openNodesList.clear();
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factions[unit->getFactionIndex()].openPosList.clear();
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factions[unit->getFactionIndex()].closedNodesList.clear();
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TravelState ts = tsImpossible;
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if(frameIndex < 0) {
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if(factions[unit->getFactionIndex()].precachedTravelState.find(unit->getId()) != factions[unit->getFactionIndex()].precachedTravelState.end()) {
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if(factions[unit->getFactionIndex()].precachedTravelState[unit->getId()] == tsMoving) {
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bool canMoveToCells = true;
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|
|
|
Vec2i lastPos = unit->getPos();
|
|
for(int i=0; i < factions[unit->getFactionIndex()].precachedPath[unit->getId()].size(); i++) {
|
|
Vec2i nodePos = factions[unit->getFactionIndex()].precachedPath[unit->getId()][i];
|
|
if(map->isInside(nodePos) == false || map->isInsideSurface(map->toSurfCoords(nodePos)) == false) {
|
|
throw runtime_error("Pathfinder invalid node path position = " + nodePos.getString() + " i = " + intToStr(i));
|
|
}
|
|
|
|
if(i < pathFindRefresh ||
|
|
(factions[unit->getFactionIndex()].precachedPath[unit->getId()].size() >= pathFindExtendRefreshForNodeCount && i < pathFindExtendRefreshNodeCount)) {
|
|
if(map->aproxCanMove(unit, lastPos, nodePos) == false) {
|
|
canMoveToCells = false;
|
|
break;
|
|
}
|
|
lastPos = nodePos;
|
|
}
|
|
else {
|
|
break;
|
|
}
|
|
}
|
|
|
|
if(canMoveToCells == true) {
|
|
path->clear();
|
|
UnitPathBasic *basicPathFinder = dynamic_cast<UnitPathBasic *>(path);
|
|
|
|
for(int i=0; i < factions[unit->getFactionIndex()].precachedPath[unit->getId()].size(); i++) {
|
|
Vec2i nodePos = factions[unit->getFactionIndex()].precachedPath[unit->getId()][i];
|
|
if(map->isInside(nodePos) == false || map->isInsideSurface(map->toSurfCoords(nodePos)) == false) {
|
|
throw runtime_error("Pathfinder invalid node path position = " + nodePos.getString() + " i = " + intToStr(i));
|
|
}
|
|
|
|
if(i < pathFindRefresh ||
|
|
(factions[unit->getFactionIndex()].precachedPath[unit->getId()].size() >= pathFindExtendRefreshForNodeCount && i < pathFindExtendRefreshNodeCount)) {
|
|
path->add(nodePos);
|
|
}
|
|
//else if(tryLastPathCache == false) {
|
|
// break;
|
|
//}
|
|
|
|
//if(tryLastPathCache == true && basicPathFinder) {
|
|
if(basicPathFinder) {
|
|
basicPathFinder->addToLastPathCache(nodePos);
|
|
}
|
|
}
|
|
unit->setUsePathfinderExtendedMaxNodes(false);
|
|
return factions[unit->getFactionIndex()].precachedTravelState[unit->getId()];
|
|
}
|
|
else {
|
|
clearUnitPrecache(unit);
|
|
}
|
|
}
|
|
else if(factions[unit->getFactionIndex()].precachedTravelState[unit->getId()] == tsBlocked) {
|
|
path->incBlockCount();
|
|
unit->setUsePathfinderExtendedMaxNodes(false);
|
|
return factions[unit->getFactionIndex()].precachedTravelState[unit->getId()];
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
clearUnitPrecache(unit);
|
|
}
|
|
|
|
const Vec2i unitPos = unit->getPos();
|
|
const Vec2i finalPos= computeNearestFreePos(unit, targetPos);
|
|
|
|
float dist= unitPos.dist(finalPos);
|
|
factions[unit->getFactionIndex()].useMaxNodeCount = PathFinder::pathFindNodesMax;
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
// Check the previous path find cache for the unit to see if its good to
|
|
// use
|
|
if(showConsoleDebugInfo || tryLastPathCache) {
|
|
if(showConsoleDebugInfo && dist > 60) printf("Distance from [%d - %s] to destination is %.2f tryLastPathCache = %d\n",unit->getId(),unit->getFullName().c_str(), dist,tryLastPathCache);
|
|
|
|
if(tryLastPathCache == true && path != NULL) {
|
|
UnitPathBasic *basicPathFinder = dynamic_cast<UnitPathBasic *>(path);
|
|
if(basicPathFinder != NULL && basicPathFinder->getLastPathCacheQueueCount() > 0) {
|
|
vector<Vec2i> cachedPath= basicPathFinder->getLastPathCacheQueue();
|
|
for(int i = 0; i < cachedPath.size(); ++i) {
|
|
Vec2i &pos1 = cachedPath[i];
|
|
// Looking to find if the unit is in one of the cells in the cached path
|
|
if(unitPos == pos1) {
|
|
// Now see if we can re-use this path to get to the final destination
|
|
for(int j = i+1; j < cachedPath.size(); ++j) {
|
|
Vec2i &pos2 = cachedPath[j];
|
|
bool canUnitMoveToCell = map->aproxCanMove(unit, pos1, pos2);
|
|
if(canUnitMoveToCell == true) {
|
|
if(pos2 == finalPos) {
|
|
//on the way
|
|
ts= tsMoving;
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
//store path
|
|
if(frameIndex < 0) {
|
|
basicPathFinder->clear();
|
|
}
|
|
|
|
int pathCount=0;
|
|
for(int k=i+1; k <= j; k++) {
|
|
if(k >= cachedPath.size()) {
|
|
throw runtime_error("k >= cachedPath.size() k = " + intToStr(k) + " cachedPath.size() = " + intToStr(cachedPath.size()));
|
|
}
|
|
|
|
if(frameIndex >= 0) {
|
|
factions[unit->getFactionIndex()].precachedPath[unit->getId()].push_back(cachedPath[k]);
|
|
}
|
|
else {
|
|
if(pathCount < pathFindRefresh) {
|
|
basicPathFinder->add(cachedPath[k]);
|
|
}
|
|
basicPathFinder->addToLastPathCache(cachedPath[k]);
|
|
}
|
|
pathCount++;
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
|
|
char szBuf[4096]="";
|
|
sprintf(szBuf,"[Setting new path for unit] openNodesList.size() [%lu] openPosList.size() [%lu] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
|
|
factions[unit->getFactionIndex()].openNodesList.size(),factions[unit->getFactionIndex()].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
|
|
unit->logSynchData(__FILE__,__LINE__,szBuf);
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
|
|
string commandDesc = "none";
|
|
Command *command= unit->getCurrCommand();
|
|
if(command != NULL && command->getCommandType() != NULL) {
|
|
commandDesc = command->getCommandType()->toString();
|
|
}
|
|
|
|
char szBuf[1024]="";
|
|
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());
|
|
unit->setCurrentUnitTitle(szBuf);
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
unit->setUsePathfinderExtendedMaxNodes(false);
|
|
return ts;
|
|
}
|
|
else if(j - i > pathFindRefresh) {
|
|
//on the way
|
|
ts= tsMoving;
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
//store path
|
|
if(frameIndex < 0) {
|
|
basicPathFinder->clear();
|
|
}
|
|
|
|
int pathCount=0;
|
|
for(int k=i+1; k < cachedPath.size(); k++) {
|
|
if(k >= cachedPath.size()) {
|
|
throw runtime_error("#2 k >= cachedPath.size() k = " + intToStr(k) + " cachedPath.size() = " + intToStr(cachedPath.size()));
|
|
}
|
|
|
|
if(frameIndex >= 0) {
|
|
factions[unit->getFactionIndex()].precachedPath[unit->getId()].push_back(cachedPath[k]);
|
|
}
|
|
else {
|
|
if(pathCount < pathFindRefresh) {
|
|
basicPathFinder->add(cachedPath[k]);
|
|
}
|
|
basicPathFinder->addToLastPathCache(cachedPath[k]);
|
|
}
|
|
pathCount++;
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
|
|
char szBuf[4096]="";
|
|
sprintf(szBuf,"[Setting new path for unit] openNodesList.size() [%lu] openPosList.size() [%lu] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
|
|
factions[unit->getFactionIndex()].openNodesList.size(),factions[unit->getFactionIndex()].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
|
|
unit->logSynchData(__FILE__,__LINE__,szBuf);
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
|
|
string commandDesc = "none";
|
|
Command *command= unit->getCurrCommand();
|
|
if(command != NULL && command->getCommandType() != NULL) {
|
|
commandDesc = command->getCommandType()->toString();
|
|
}
|
|
|
|
char szBuf[1024]="";
|
|
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());
|
|
unit->setCurrentUnitTitle(szBuf);
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
unit->setUsePathfinderExtendedMaxNodes(false);
|
|
return ts;
|
|
}
|
|
}
|
|
|
|
pos1 = pos2;
|
|
}
|
|
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//path find algorithm
|
|
|
|
//a) push starting pos into openNodes
|
|
Node *firstNode= newNode(factions[unit->getFactionIndex()],maxNodeCount);
|
|
assert(firstNode != NULL);
|
|
if(firstNode == NULL) {
|
|
throw runtime_error("firstNode == NULL");
|
|
}
|
|
|
|
firstNode->next= NULL;
|
|
firstNode->prev= NULL;
|
|
firstNode->pos= unitPos;
|
|
firstNode->heuristic= heuristic(unitPos, finalPos);
|
|
firstNode->exploredCell= true;
|
|
if(factions[unit->getFactionIndex()].openNodesList.find(firstNode->heuristic) == factions[unit->getFactionIndex()].openNodesList.end()) {
|
|
factions[unit->getFactionIndex()].openNodesList[firstNode->heuristic].clear();
|
|
}
|
|
factions[unit->getFactionIndex()].openNodesList[firstNode->heuristic].push_back(firstNode);
|
|
factions[unit->getFactionIndex()].openPosList[firstNode->pos] = true;
|
|
|
|
//b) loop
|
|
bool pathFound = true;
|
|
bool nodeLimitReached = false;
|
|
Node *node = NULL;
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
// First check if unit currently blocked all around them, if so don't try to pathfind
|
|
if(inBailout == false && unitPos != finalPos) {
|
|
int failureCount = 0;
|
|
int cellCount = 0;
|
|
|
|
for(int i = -1; i <= 1; ++i) {
|
|
for(int j = -1; j <= 1; ++j) {
|
|
Vec2i pos = unitPos + Vec2i(i, j);
|
|
if(pos != unitPos) {
|
|
bool canUnitMoveToCell = map->aproxCanMove(unit, unitPos, pos);
|
|
if(canUnitMoveToCell == false) {
|
|
failureCount++;
|
|
}
|
|
cellCount++;
|
|
}
|
|
}
|
|
}
|
|
nodeLimitReached = (failureCount == cellCount);
|
|
pathFound = !nodeLimitReached;
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] **Check if dest blocked, distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d\n",__FILE__,__FUNCTION__,__LINE__,unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount);
|
|
if(showConsoleDebugInfo && nodeLimitReached) {
|
|
printf("**Check if src blocked [%d - %d], unit [%d - %s] from [%s] to [%s] distance %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d [%d]\n",
|
|
nodeLimitReached, inBailout, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount,cellCount);
|
|
}
|
|
|
|
if(nodeLimitReached == false) {
|
|
// First check if final destination blocked
|
|
failureCount = 0;
|
|
cellCount = 0;
|
|
|
|
for(int i = -1; i <= 1; ++i) {
|
|
for(int j = -1; j <= 1; ++j) {
|
|
Vec2i pos = finalPos + Vec2i(i, j);
|
|
if(pos != finalPos) {
|
|
bool canUnitMoveToCell = map->aproxCanMove(unit, pos, finalPos);
|
|
if(canUnitMoveToCell == false) {
|
|
failureCount++;
|
|
}
|
|
cellCount++;
|
|
}
|
|
}
|
|
}
|
|
nodeLimitReached = (failureCount == cellCount);
|
|
pathFound = !nodeLimitReached;
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] **Check if dest blocked, distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d\n",__FILE__,__FUNCTION__,__LINE__,unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount);
|
|
if(showConsoleDebugInfo && nodeLimitReached) {
|
|
printf("**Check if dest blocked [%d - %d], unit [%d - %s] from [%s] to [%s] distance %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d [%d]\n",
|
|
nodeLimitReached, inBailout, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount,cellCount);
|
|
}
|
|
}
|
|
}
|
|
//
|
|
|
|
// START
|
|
// Do the a-star base pathfind work if required
|
|
int whileLoopCount = 0;
|
|
if(nodeLimitReached == false) {
|
|
while(nodeLimitReached == false) {
|
|
whileLoopCount++;
|
|
|
|
//b1) is open nodes is empty => failed to find the path
|
|
if(factions[unit->getFactionIndex()].openNodesList.empty() == true) {
|
|
//printf("$$$$ Path for Unit [%d - %s] inBailout = %d BLOCKED\n",unit->getId(),unit->getFullName().c_str(),inBailout);
|
|
pathFound= false;
|
|
break;
|
|
}
|
|
|
|
//b2) get the minimum heuristic node
|
|
//Nodes::iterator it = minHeuristic();
|
|
node = minHeuristicFastLookup(factions[unit->getFactionIndex()]);
|
|
|
|
//b3) if minHeuristic is the finalNode, or the path is no more explored => path was found
|
|
if(node->pos == finalPos || node->exploredCell == false) {
|
|
pathFound= true;
|
|
break;
|
|
}
|
|
|
|
//printf("$$$$ Path for Unit [%d - %s] node [%s] whileLoopCount = %d nodePoolCount = %d inBailout = %d\n",unit->getId(),unit->getFullName().c_str(), node->pos.getString().c_str(), whileLoopCount,factions[unit->getFactionIndex()].nodePoolCount,inBailout);
|
|
|
|
//b4) move this node from closedNodes to openNodes
|
|
//add all succesors that are not in closedNodes or openNodes to openNodes
|
|
if(factions[unit->getFactionIndex()].closedNodesList.find(node->heuristic) == factions[unit->getFactionIndex()].closedNodesList.end()) {
|
|
factions[unit->getFactionIndex()].closedNodesList[node->heuristic].clear();
|
|
}
|
|
factions[unit->getFactionIndex()].closedNodesList[node->heuristic].push_back(node);
|
|
factions[unit->getFactionIndex()].openPosList[node->pos] = true;
|
|
|
|
int failureCount = 0;
|
|
int cellCount = 0;
|
|
|
|
int tryDirection = factions[unit->getFactionIndex()].random.randRange(0,3);
|
|
if(tryDirection == 3) {
|
|
for(int i = 1; i >= -1 && nodeLimitReached == false; --i) {
|
|
for(int j = -1; j <= 1 && nodeLimitReached == false; ++j) {
|
|
if(processNode(unit, node, finalPos, i, j, nodeLimitReached, maxNodeCount) == false) {
|
|
failureCount++;
|
|
}
|
|
cellCount++;
|
|
}
|
|
}
|
|
}
|
|
else if(tryDirection == 2) {
|
|
for(int i = -1; i <= 1 && nodeLimitReached == false; ++i) {
|
|
for(int j = 1; j >= -1 && nodeLimitReached == false; --j) {
|
|
if(processNode(unit, node, finalPos, i, j, nodeLimitReached, maxNodeCount) == false) {
|
|
failureCount++;
|
|
}
|
|
cellCount++;
|
|
}
|
|
}
|
|
}
|
|
else if(tryDirection == 1) {
|
|
for(int i = -1; i <= 1 && nodeLimitReached == false; ++i) {
|
|
for(int j = -1; j <= 1 && nodeLimitReached == false; ++j) {
|
|
if(processNode(unit, node, finalPos, i, j, nodeLimitReached, maxNodeCount) == false) {
|
|
failureCount++;
|
|
}
|
|
cellCount++;
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
for(int i = 1; i >= -1 && nodeLimitReached == false; --i) {
|
|
for(int j = 1; j >= -1 && nodeLimitReached == false; --j) {
|
|
if(processNode(unit, node, finalPos, i, j, nodeLimitReached, maxNodeCount) == false) {
|
|
failureCount++;
|
|
}
|
|
cellCount++;
|
|
}
|
|
}
|
|
}
|
|
} //while
|
|
|
|
// Now see if the unit is eligble for pathfind max nodes boost?
|
|
if(nodeLimitReached == true && maxNodeCount != pathFindNodesAbsoluteMax) {
|
|
if(unit->isLastPathfindFailedFrameWithinCurrentFrameTolerance() == true) {
|
|
if(frameIndex < 0) {
|
|
unit->setLastPathfindFailedFrameToCurrentFrame();
|
|
unit->setLastPathfindFailedPos(finalPos);
|
|
}
|
|
|
|
if(showConsoleDebugInfo || SystemFlags::VERBOSE_MODE_ENABLED) {
|
|
printf("\n\n\n\n$$$ Calling AStar with LARGE maxnodes for unit [%d - %s]\n\n",unit->getId(),unit->getFullName().c_str());
|
|
}
|
|
|
|
return aStar(unit, targetPos, false, frameIndex, pathFindNodesAbsoluteMax);
|
|
}
|
|
}
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld nodeLimitReached = %d whileLoopCount = %d nodePoolCount = %d\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis(),nodeLimitReached,whileLoopCount,factions[unit->getFactionIndex()].nodePoolCount);
|
|
if(showConsoleDebugInfo && chrono.getMillis() > 2) {
|
|
printf("Distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld nodeLimitReached = %d whileLoopCount = %d nodePoolCount = %d\n",unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,whileLoopCount,factions[unit->getFactionIndex()].nodePoolCount);
|
|
}
|
|
|
|
Node *lastNode= node;
|
|
|
|
//if consumed all nodes find best node (to avoid strange behaviour)
|
|
if(nodeLimitReached == true) {
|
|
if(factions[unit->getFactionIndex()].closedNodesList.size() > 0) {
|
|
float bestHeuristic = factions[unit->getFactionIndex()].closedNodesList.begin()->first;
|
|
if(bestHeuristic < lastNode->heuristic) {
|
|
lastNode= factions[unit->getFactionIndex()].closedNodesList.begin()->second[0];
|
|
}
|
|
}
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
//check results of path finding
|
|
ts = tsImpossible;
|
|
if(pathFound == false || lastNode == firstNode) {
|
|
//blocked
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
|
|
string commandDesc = "none";
|
|
Command *command= unit->getCurrCommand();
|
|
if(command != NULL && command->getCommandType() != NULL) {
|
|
commandDesc = command->getCommandType()->toString();
|
|
}
|
|
|
|
std::pair<Vec2i,int> lastHarvest = unit->getLastHarvestResourceTarget();
|
|
|
|
char szBuf[1024]="";
|
|
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());
|
|
unit->setCurrentUnitTitle(szBuf);
|
|
}
|
|
|
|
if(frameIndex < 0) {
|
|
unit->setUsePathfinderExtendedMaxNodes(false);
|
|
}
|
|
|
|
ts= tsBlocked;
|
|
if(frameIndex < 0) {
|
|
path->incBlockCount();
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
|
|
char szBuf[4096]="";
|
|
sprintf(szBuf,"[path for unit BLOCKED] openNodesList.size() [%lu] openPosList.size() [%lu] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
|
|
factions[unit->getFactionIndex()].openNodesList.size(),factions[unit->getFactionIndex()].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
|
|
unit->logSynchData(__FILE__,__LINE__,szBuf);
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
}
|
|
else {
|
|
//on the way
|
|
ts= tsMoving;
|
|
|
|
//build next pointers
|
|
Node *currNode= lastNode;
|
|
while(currNode->prev != NULL) {
|
|
currNode->prev->next= currNode;
|
|
currNode= currNode->prev;
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
if(frameIndex < 0) {
|
|
if(maxNodeCount == pathFindNodesAbsoluteMax) {
|
|
unit->setUsePathfinderExtendedMaxNodes(true);
|
|
}
|
|
else {
|
|
unit->setUsePathfinderExtendedMaxNodes(false);
|
|
}
|
|
}
|
|
|
|
//store path
|
|
if(frameIndex < 0) {
|
|
path->clear();
|
|
}
|
|
|
|
UnitPathBasic *basicPathFinder = dynamic_cast<UnitPathBasic *>(path);
|
|
|
|
currNode= firstNode;
|
|
for(int i=0; currNode->next != NULL; currNode= currNode->next, i++) {
|
|
Vec2i nodePos = currNode->next->pos;
|
|
if(map->isInside(nodePos) == false || map->isInsideSurface(map->toSurfCoords(nodePos)) == false) {
|
|
throw runtime_error("Pathfinder invalid node path position = " + nodePos.getString() + " i = " + intToStr(i));
|
|
}
|
|
|
|
if(frameIndex >= 0) {
|
|
factions[unit->getFactionIndex()].precachedPath[unit->getId()].push_back(nodePos);
|
|
}
|
|
else {
|
|
if(i < pathFindRefresh ||
|
|
(whileLoopCount >= pathFindExtendRefreshForNodeCount && i < pathFindExtendRefreshNodeCount)) {
|
|
path->add(nodePos);
|
|
}
|
|
//else if(tryLastPathCache == false) {
|
|
// break;
|
|
//}
|
|
|
|
//if(tryLastPathCache == true && basicPathFinder) {
|
|
if(basicPathFinder) {
|
|
basicPathFinder->addToLastPathCache(nodePos);
|
|
}
|
|
}
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
|
|
char szBuf[4096]="";
|
|
sprintf(szBuf,"[Setting new path for unit] openNodesList.size() [%lu] openPosList.size() [%lu] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
|
|
factions[unit->getFactionIndex()].openNodesList.size(),factions[unit->getFactionIndex()].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
|
|
unit->logSynchData(__FILE__,__LINE__,szBuf);
|
|
|
|
string pathToTake = "";
|
|
for(int i = 0; i < path->getQueueCount(); ++i) {
|
|
Vec2i &pos = path->getQueue()[i];
|
|
if(pathToTake != "") {
|
|
pathToTake += ", ";
|
|
}
|
|
pathToTake += pos.getString();
|
|
}
|
|
unit->logSynchData(__FILE__,__LINE__,szBuf);
|
|
sprintf(szBuf,"Path for unit to take = %s",pathToTake.c_str());
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
|
|
string commandDesc = "none";
|
|
Command *command= unit->getCurrCommand();
|
|
if(command != NULL && command->getCommandType() != NULL) {
|
|
commandDesc = command->getCommandType()->toString();
|
|
}
|
|
|
|
char szBuf[1024]="";
|
|
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());
|
|
unit->setCurrentUnitTitle(szBuf);
|
|
}
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
}
|
|
|
|
factions[unit->getFactionIndex()].openNodesList.clear();
|
|
factions[unit->getFactionIndex()].openPosList.clear();
|
|
factions[unit->getFactionIndex()].closedNodesList.clear();
|
|
|
|
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s] Line: %d took msecs: %lld --------------------------- [END OF METHOD] ---------------------------\n",__FILE__,__FUNCTION__,__LINE__,chrono.getMillis());
|
|
|
|
if(frameIndex >= 0) {
|
|
factions[unit->getFactionIndex()].precachedTravelState[unit->getId()] = ts;
|
|
}
|
|
else {
|
|
if(SystemFlags::VERBOSE_MODE_ENABLED && chrono.getMillis() >= 5) printf("In [%s::%s Line: %d] astar took [%lld] msecs, ts = %d.\n",__FILE__,__FUNCTION__,__LINE__,(long long int)chrono.getMillis(),ts);
|
|
}
|
|
|
|
//printf("$$$$ Path for Unit [%d - %s] return value = %d inBailout = %d\n",unit->getId(),unit->getFullName().c_str(),ts,inBailout);
|
|
|
|
return ts;
|
|
}
|
|
|
|
PathFinder::Node *PathFinder::newNode(FactionState &faction, int maxNodeCount) {
|
|
if( faction.nodePoolCount < faction.nodePool.size() &&
|
|
//faction.nodePoolCount < faction.useMaxNodeCount) {
|
|
faction.nodePoolCount < maxNodeCount) {
|
|
Node *node= &(faction.nodePool[faction.nodePoolCount]);
|
|
node->clear();
|
|
faction.nodePoolCount++;
|
|
return node;
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
void PathFinder::processNearestFreePos(const Vec2i &finalPos, int i, int j, int size, Field field, int teamIndex,Vec2i unitPos, Vec2i &nearestPos, float &nearestDist) {
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
Vec2i PathFinder::computeNearestFreePos(const Unit *unit, const Vec2i &finalPos) {
|
|
if(map == NULL) {
|
|
throw runtime_error("map == NULL");
|
|
}
|
|
|
|
//unit data
|
|
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) {
|
|
processNearestFreePos(finalPos, i, j, size, field, teamIndex, unitPos, nearestPos, nearestDist);
|
|
}
|
|
}
|
|
return nearestPos;
|
|
}
|
|
|
|
float PathFinder::heuristic(const Vec2i &pos, const Vec2i &finalPos) {
|
|
return pos.dist(finalPos);
|
|
}
|
|
|
|
PathFinder::Node * PathFinder::minHeuristicFastLookup(FactionState &faction) {
|
|
assert(faction.openNodesList.empty() == false);
|
|
if(faction.openNodesList.empty() == true) {
|
|
throw runtime_error("openNodesList.empty() == true");
|
|
}
|
|
|
|
Node *result = faction.openNodesList.begin()->second[0];
|
|
faction.openNodesList.begin()->second.erase(faction.openNodesList.begin()->second.begin());
|
|
if(faction.openNodesList.begin()->second.size() == 0) {
|
|
faction.openNodesList.erase(faction.openNodesList.begin());
|
|
}
|
|
return result;
|
|
}
|
|
|
|
bool PathFinder::openPos(const Vec2i &sucPos, FactionState &faction) {
|
|
if(faction.openPosList.find(sucPos) == faction.openPosList.end()) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
}} //end namespace
|