/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
// Harvesters should respect an explicit harvest order instead of harvesting the current cell.
if (orderLocation == null)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
}
else
{
if (harv.CanHarvestCell(self, orderLocation.Value) && claimLayer.CanClaimCell(self, orderLocation.Value))
{
return(orderLocation);
}
orderLocation = null;
}
// Determine where to search from and how far to search:
var searchFromLoc = lastHarvestedCell ?? GetSearchFromLocation(self);
var searchRadius = lastHarvestedCell.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
// Find any harvestable resources:
List <CPos> path;
using (var search = PathSearch.Search(self.World, locomotorInfo, self, true, loc =>
domainIndex.IsPassable(self.Location, loc, locomotorInfo) && harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((loc - searchFromLoc).LengthSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
return(0);
})
.FromPoint(searchFromLoc)
.FromPoint(self.Location))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
public override bool Tick(Actor self)
{
if (harv.IsTraitDisabled)
{
Cancel(self, true);
}
if (IsCanceling || harv.IsFull)
{
return(true);
}
// Move towards the target cell
if (self.Location != targetCell)
{
foreach (var n in notifyHarvesterActions)
{
n.MovingToResources(self, targetCell);
}
QueueChild(move.MoveTo(targetCell, 0));
return(false);
}
if (!harv.CanHarvestCell(self, self.Location))
{
return(true);
}
// Turn to one of the harvestable facings
if (harvInfo.HarvestFacings != 0)
{
var current = facing.Facing;
var desired = body.QuantizeFacing(current, harvInfo.HarvestFacings);
if (desired != current)
{
QueueChild(new Turn(self, desired));
return(false);
}
}
var resource = resourceLayer.GetResource(self.Location);
if (resource.Type == null || resourceLayer.RemoveResource(resource.Type, self.Location) != 1)
{
return(true);
}
harv.AcceptResource(self, resource.Type);
foreach (var t in notifyHarvesterActions)
{
t.Harvested(self, resource.Type);
}
QueueChild(new Wait(harvInfo.BaleLoadDelay));
return(false);
}
CPos FindNextResource(Actor actor, Harvester harv)
{
var mobileInfo = actor.Info.TraitInfo <MobileInfo>();
var passable = (uint)mobileInfo.GetMovementClass(World.Map.Rules.TileSet);
Func <CPos, bool> isValidResource = cell =>
domainIndex.IsPassable(actor.Location, cell, mobileInfo, passable) &&
harv.CanHarvestCell(actor, cell) &&
claimLayer.CanClaimCell(actor, cell);
var path = pathfinder.FindPath(
PathSearch.Search(World, mobileInfo, actor, true, isValidResource)
.WithCustomCost(loc => World.FindActorsInCircle(World.Map.CenterOfCell(loc), Info.HarvesterEnemyAvoidanceRadius)
.Where(u => !u.IsDead && actor.Owner.Stances[u.Owner] == Stance.Enemy)
.Sum(u => Math.Max(WDist.Zero.Length, Info.HarvesterEnemyAvoidanceRadius.Length - (World.Map.CenterOfCell(loc) - u.CenterPosition).Length))).FromPoint(actor.Location));
if (path.Count == 0)
{
return(CPos.Zero);
}
return(path[0]);
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
// Determine where to search from and how far to search:
var searchFromLoc = GetSearchFromLocation(self);
var searchRadius = harv.LastOrderLocation.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
// Find any harvestable resources:
var passable = (uint)mobileInfo.GetMovementClass(self.World.Map.Rules.TileSet);
List <CPos> path;
using (var search = PathSearch.Search(self.World, mobileInfo, self, true, loc =>
domainIndex.IsPassable(self.Location, loc, mobileInfo, passable) && harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((avoidCell.HasValue && loc == avoidCell.Value) ||
(loc - self.Location).LengthSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
return(0);
})
.FromPoint(self.Location)
.FromPoint(searchFromLoc))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
// Harvesters should respect an explicit harvest order instead of harvesting the current cell.
if (orderLocation == null)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
}
else
{
if (harv.CanHarvestCell(self, orderLocation.Value) && claimLayer.CanClaimCell(self, orderLocation.Value))
{
return(orderLocation);
}
orderLocation = null;
}
// Determine where to search from and how far to search:
var procLoc = GetSearchFromProcLocation(self);
var searchFromLoc = lastHarvestedCell ?? procLoc ?? self.Location;
var searchRadius = lastHarvestedCell.HasValue ? harvInfo.SearchFromHarvesterRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
var map = self.World.Map;
var procPos = procLoc.HasValue ? (WPos?)map.CenterOfCell(procLoc.Value) : null;
var harvPos = self.CenterPosition;
// Find any harvestable resources:
List <CPos> path;
using (var search = PathSearch.Search(self.World, mobile.Locomotor, self, BlockedByActor.Stationary, loc =>
domainIndex.IsPassable(self.Location, loc, mobile.Locomotor) && harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((loc - searchFromLoc).LengthSquared > searchRadiusSquared)
{
return(PathGraph.PathCostForInvalidPath);
}
// Add a cost modifier to harvestable cells to prefer resources that are closer to the refinery.
// This reduces the tendency for harvesters to move in straight lines
if (procPos.HasValue && harvInfo.ResourceRefineryDirectionPenalty > 0 && harv.CanHarvestCell(self, loc))
{
var pos = map.CenterOfCell(loc);
// Calculate harv-cell-refinery angle (cosine rule)
var b = pos - procPos.Value;
if (b != WVec.Zero)
{
var c = pos - harvPos;
if (c != WVec.Zero)
{
var a = harvPos - procPos.Value;
var cosA = (int)(512 * (b.LengthSquared + c.LengthSquared - a.LengthSquared) / b.Length / c.Length);
// Cost modifier varies between 0 and ResourceRefineryDirectionPenalty
return(Math.Abs(harvInfo.ResourceRefineryDirectionPenalty / 2) + harvInfo.ResourceRefineryDirectionPenalty * cosA / 2048);
}
}
}
return(0);
})
.FromPoint(searchFromLoc)
.FromPoint(self.Location))
path = mobile.Pathfinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
public override Activity Tick(Actor self)
{
if (ChildActivity != null)
{
ChildActivity = ActivityUtils.RunActivityTick(self, ChildActivity);
if (ChildActivity != null)
{
return(this);
}
}
if (IsCanceling || harv.IsFull)
{
return(NextActivity);
}
// Move towards the target cell
if (self.Location != targetCell)
{
foreach (var n in self.TraitsImplementing <INotifyHarvesterAction>())
{
n.MovingToResources(self, targetCell, new FindAndDeliverResources(self));
}
self.SetTargetLine(Target.FromCell(self.World, targetCell), Color.Red, false);
QueueChild(self, move.MoveTo(targetCell, 2), true);
return(this);
}
if (!harv.CanHarvestCell(self, self.Location))
{
return(NextActivity);
}
// Turn to one of the harvestable facings
if (harvInfo.HarvestFacings != 0)
{
var current = facing.Facing;
var desired = body.QuantizeFacing(current, harvInfo.HarvestFacings);
if (desired != current)
{
QueueChild(self, new Turn(self, desired), true);
return(this);
}
}
var resource = resLayer.Harvest(self.Location);
if (resource == null)
{
return(NextActivity);
}
harv.AcceptResource(self, resource);
foreach (var t in self.TraitsImplementing <INotifyHarvesterAction>())
{
t.Harvested(self, resource);
}
QueueChild(self, new Wait(harvInfo.BaleLoadDelay), true);
return(this);
}