public override IActivity Tick( Actor self )
{
if( IsCanceled || target.Destroyed || !target.IsInWorld) return NextActivity;
var mobile = self.Trait<Mobile>();
var ps1 = new PathSearch( self.World, mobile.Info )
{
checkForBlocked = true,
heuristic = location => 0,
inReverse = true
};
foreach( var cell in target.Trait<IOccupySpace>().OccupiedCells() )
{
ps1.AddInitialCell( cell.First );
if( ( mobile.toCell - cell.First ).LengthSquared <= 2 )
return NextActivity;
}
ps1.heuristic = PathSearch.DefaultEstimator( mobile.toCell );
var ps2 = PathSearch.FromPoint( self.World, mobile.Info, mobile.toCell, target.Location, true );
var ret = self.World.WorldActor.Trait<PathFinder>().FindBidiPath( ps1, ps2 );
if( ret.Count > 0 )
ret.RemoveAt( 0 );
return Util.SequenceActivities( mobile.MoveTo( () => ret ), this );
}
public override Activity Tick( Actor self )
{
if( IsCanceled || !target.IsValid) return NextActivity;
var mobile = self.Trait<Mobile>();
var ps1 = new PathSearch( self.World, mobile.Info, self.Owner )
{
checkForBlocked = true,
heuristic = location => 0,
inReverse = true
};
foreach( var cell in Util.AdjacentCells(target) )
if (cell == self.Location)
return NextActivity;
else
ps1.AddInitialCell( cell );
ps1.heuristic = PathSearch.DefaultEstimator( mobile.toCell );
var ps2 = PathSearch.FromPoint( self.World, mobile.Info, self.Owner, mobile.toCell, Util.CellContaining(target.CenterLocation), true );
var ret = self.World.WorldActor.Trait<PathFinder>().FindBidiPath( ps1, ps2 );
return Util.SequenceActivities( mobile.MoveTo( () => ret ), this );
}
public static PathSearch FromPoint( World world, MobileInfo mi, int2 from, int2 target, bool checkForBlocked )
{
var search = new PathSearch(world, mi) {
heuristic = DefaultEstimator( target ),
checkForBlocked = checkForBlocked };
search.AddInitialCell( from );
return search;
}
const int MaxPathAge = 50; /* x 40ms ticks */
public List <CPos> FindUnitPath(CPos from, CPos target, Actor self)
{
using (new PerfSample("Pathfinder"))
{
var cached = CachedPaths.FirstOrDefault(p => p.from == from && p.to == target && p.actor == self);
if (cached != null)
{
Log.Write("debug", "Actor {0} asked for a path from {1} tick(s) ago", self.ActorID, world.WorldTick - cached.tick);
if (world.WorldTick - cached.tick > MaxPathAge)
{
CachedPaths.Remove(cached);
}
return(new List <CPos>(cached.result));
}
var mi = self.Info.Traits.Get <MobileInfo>();
// If a water-land transition is required, bail early
var domainIndex = self.World.WorldActor.TraitOrDefault <DomainIndex>();
if (domainIndex != null)
{
var passable = mi.GetMovementClass(world.TileSet);
if (!domainIndex.IsPassable(from, target, (uint)passable))
{
return(emptyPath);
}
}
var pb = FindBidiPath(
PathSearch.FromPoint(world, mi, self, target, from, true),
PathSearch.FromPoint(world, mi, self, from, target, true).Reverse()
);
CheckSanePath2(pb, from, target);
CachedPaths.RemoveAll(p => world.WorldTick - p.tick > MaxPathAge);
CachedPaths.Add(new CachedPath {
from = from, to = target, actor = self, result = pb, tick = world.WorldTick
});
return(new List <CPos>(pb));
}
}
public List <CPos> FindUnitPathToRange(CPos src, SubCell srcSub, WPos target, WRange range, Actor self)
{
using (new PerfSample("Pathfinder"))
{
var mi = self.Info.Traits.Get <MobileInfo>();
var targetCell = self.World.Map.CellContaining(target);
var rangeSquared = range.Range * range.Range;
// Correct for SubCell offset
target -= MobileInfo.SubCellOffsets[srcSub];
// Select only the tiles that are within range from the requested SubCell
// This assumes that the SubCell does not change during the path traversal
var tilesInRange = world.Map.FindTilesInCircle(targetCell, range.Range / 1024 + 1)
.Where(t => (world.Map.CenterOfCell(t) - target).LengthSquared <= rangeSquared &&
mi.CanEnterCell(self.World, self, t, null, true, true));
// See if there is any cell within range that does not involve a cross-domain request
// Really, we only need to check the circle perimeter, but it's not clear that would be a performance win
var domainIndex = self.World.WorldActor.TraitOrDefault <DomainIndex>();
if (domainIndex != null)
{
var passable = mi.GetMovementClass(world.TileSet);
tilesInRange = new List <CPos>(tilesInRange.Where(t => domainIndex.IsPassable(src, t, (uint)passable)));
if (!tilesInRange.Any())
{
return(emptyPath);
}
}
var path = FindBidiPath(
PathSearch.FromPoints(world, mi, self, tilesInRange, src, true),
PathSearch.FromPoint(world, mi, self, src, targetCell, true).Reverse()
);
return(path);
}
}
public static PathSearch FromPoints(World world, MobileInfo mi, IEnumerable<int2> froms, int2 target, bool checkForBlocked)
{
var search = new PathSearch(world, mi)
{
heuristic = DefaultEstimator(target),
checkForBlocked = checkForBlocked
};
foreach( var sl in froms )
search.AddInitialCell( sl );
return search;
}
public static PathSearch Search( World world, MobileInfo mi, bool checkForBlocked )
{
var search = new PathSearch(world, mi) {
checkForBlocked = checkForBlocked };
return search;
}
void UpdateInnerPath(Actor self)
{
var targetCells = Util.AdjacentCells(target);
var searchCells = new List<CPos>();
var loc = self.Location;
foreach (var cell in targetCells)
if (mobile.CanEnterCell(cell) && (domainIndex == null || domainIndex.IsPassable(loc, cell, movementClass)))
searchCells.Add(cell);
if (searchCells.Any())
{
var ps1 = new PathSearch(self.World, mobile.Info, self)
{
checkForBlocked = true,
heuristic = location => 0,
inReverse = true
};
foreach (var cell in searchCells)
ps1.AddInitialCell(cell);
ps1.heuristic = PathSearch.DefaultEstimator(mobile.toCell);
var ps2 = PathSearch.FromPoint(self.World, mobile.Info, self, mobile.toCell, targetPosition, true);
var ret = pathFinder.FindBidiPath(ps1, ps2);
inner = mobile.MoveTo(() => ret);
}
}
