// Inverts GetMoveActions. So, returns the list of move actions whose target is the current voxel.
// Very, very slow.
public IEnumerable <MoveAction> GetInverseMoveActions(MoveState currentstate, List <GameComponent> teleportObjects)
{
if (Parent == null)
{
yield break;
}
if (Creature == null)
{
yield break;
}
var current = currentstate.Voxel;
if (Can(MoveType.Teleport))
{
foreach (var obj in teleportObjects)
{
if ((obj.Position - current.WorldPosition).LengthSquared() > 2)
{
continue;
}
for (int dx = -TeleportDistance; dx <= TeleportDistance; dx++)
{
for (int dz = -TeleportDistance; dz <= TeleportDistance; dz++)
{
for (int dy = -TeleportDistance; dy <= TeleportDistance; dy++)
{
if (dx * dx + dy * dy + dz * dz > TeleportDistanceSquared)
{
continue;
}
VoxelHandle teleportNeighbor = new VoxelHandle(Parent.World.ChunkManager, current.Coordinate + new GlobalVoxelOffset(dx, dy, dz));
var adjacent = VoxelHelpers.GetNeighbor(teleportNeighbor, new GlobalVoxelOffset(0, -1, 0));
if (teleportNeighbor.IsValid && teleportNeighbor.IsEmpty && adjacent.IsValid && adjacent.IsEmpty)
{
yield return(new MoveAction()
{
InteractObject = obj,
Diff = new Vector3(dx, dx, dz),
SourceVoxel = teleportNeighbor,
DestinationState = currentstate,
MoveType = MoveType.Teleport,
CostMultiplier = 1.0f
});
}
}
}
}
}
}
var storage = new MoveActionTempStorage();
foreach (var v in VoxelHelpers.EnumerateCube(current.Coordinate)
.Select(n => new VoxelHandle(current.Chunk.Manager, n))
.Where(h => h.IsValid))
{
foreach (var a in GetMoveActions(new MoveState()
{
Voxel = v
}, teleportObjects, storage).Where(a => a.DestinationState == currentstate))
{
yield return(a);
}
if (!Can(MoveType.RideVehicle))
{
continue;
}
// Now that dwarfs can ride vehicles, the inverse of the move actions becomes extremely complicated. We must now
// iterate through all rails intersecting every neighbor and see if we can find a connection from that rail to this one.
// Further, we must iterate through the entire rail network and enumerate all possible directions in and out of that rail.
// Yay!
// Actually - why not just not bother with rails when inverse pathing, since it should only be invoked when forward pathing fails anyway?
// Also NOT hacking in inverse elevators!
/*
* var bodies = new HashSet<GameComponent>();
* OctTree.EnumerateItems(v.GetBoundingBox(), bodies);
*
* var rails = bodies.OfType<Rail.RailEntity>().Where(r => r.Active);
* foreach (var rail in rails)
* {
* if (rail.GetContainingVoxel() != v)
* continue;
*
* foreach (var neighborRail in rail.NeighborRails.Select(neighbor => Creature.Manager.FindComponent(neighbor.NeighborID) as Rail.RailEntity))
* {
* var actions = GetMoveActions(new MoveState()
* {
* Voxel = v,
* VehicleType = VehicleTypes.Rail,
* Rail = rail,
* PrevRail = neighborRail
* }, OctTree, teleportObjects, storage);
* foreach (var a in actions.Where(a => a.DestinationState == currentstate))
* {
* yield return a;
* }
* }
*
* foreach (var a in GetMoveActions(new MoveState() { Voxel = v, VehicleType = VehicleTypes.Rail, Rail = rail, PrevRail = null }, OctTree, teleportObjects, storage).Where(a => a.DestinationState == currentstate))
* yield return a;
* }
*/
}
}
/// <summary> gets the list of actions that the creature can take from a given voxel. </summary>
public IEnumerable <MoveAction> GetMoveActions(MoveState state, List <GameComponent> teleportObjects, MoveActionTempStorage Storage)
{
if (Parent == null)
{
yield break;
}
if (!state.Voxel.IsValid)
{
yield break;
}
if (Creature == null)
{
yield break;
}
if (Storage == null)
{
Storage = new MoveActionTempStorage();
}
GetNeighborhood(state.Voxel.Chunk.Manager, state.Voxel, Storage.Neighborhood);
bool inWater = (Storage.Neighborhood[1, 1, 1].IsValid && Storage.Neighborhood[1, 1, 1].LiquidLevel > WaterManager.inWaterThreshold);
bool standingOnGround = (Storage.Neighborhood[1, 0, 1].IsValid && !Storage.Neighborhood[1, 0, 1].IsEmpty);
bool topCovered = (Storage.Neighborhood[1, 2, 1].IsValid && !Storage.Neighborhood[1, 2, 1].IsEmpty);
bool hasNeighbors = HasNeighbors(Storage.Neighborhood);
bool isRiding = state.VehicleType != VehicleTypes.None;
var neighborHoodBounds = new BoundingBox(Storage.Neighborhood[0, 0, 0].GetBoundingBox().Min, Storage.Neighborhood[2, 2, 2].GetBoundingBox().Max);
Storage.NeighborObjects.Clear();
Parent.World.EnumerateIntersectingObjects(neighborHoodBounds, Storage.NeighborObjects);
if (Can(MoveType.Teleport))
{
foreach (var obj in teleportObjects)
{
if ((obj.Position - state.Voxel.WorldPosition).LengthSquared() < TeleportDistanceSquared)
{
yield return new MoveAction()
{
InteractObject = obj,
MoveType = MoveType.Teleport,
SourceVoxel = state.Voxel,
DestinationState = new MoveState()
{
Voxel = new VoxelHandle(state.Voxel.Chunk.Manager, GlobalVoxelCoordinate.FromVector3(obj.Position))
},
CostMultiplier = 1.0f
}
}
}
}
;
var successors = EnumerateSuccessors(state, state.Voxel, Storage, inWater, standingOnGround, topCovered, hasNeighbors);
// Now, validate each move action that the creature might take.
foreach (MoveAction v in successors)
{
#if DEBUG
if (!v.DestinationVoxel.IsValid)
{
throw new InvalidOperationException();
}
#endif
var n = v.DestinationVoxel.IsValid ? v.DestinationVoxel : Storage.Neighborhood[(int)v.Diff.X, (int)v.Diff.Y, (int)v.Diff.Z];
if (n.IsValid && (v.MoveType == MoveType.Dig || isRiding || n.IsEmpty || n.LiquidLevel > 0))
{
// Do one final check to see if there is an object blocking the motion.
bool blockedByObject = false;
if (state.VehicleType == VehicleTypes.None)
{
var objectsAtNeighbor = Storage.NeighborObjects.Where(o => o.GetBoundingBox().Intersects(n.GetBoundingBox()));
// If there is an object blocking the motion, determine if it can be passed through.
foreach (var body in objectsAtNeighbor)
{
var door = body as Door;
// ** Doors are in the octtree, pretty sure this was always pointless -- var door = body.GetRoot().EnumerateAll().OfType<Door>().FirstOrDefault();
// If there is an enemy door blocking movement, we can destroy it to get through.
if (door != null)
{
if (
Creature.World.Overworld.GetPolitics(door.TeamFaction.ParentFaction, Creature.Faction.ParentFaction)
.GetCurrentRelationship() ==
Relationship.Hateful)
{
if (Can(MoveType.DestroyObject))
{
yield return(new MoveAction
{
Diff = v.Diff,
MoveType = MoveType.DestroyObject,
InteractObject = door,
DestinationVoxel = n,
SourceState = state,
CostMultiplier = 1.0f // Todo: Multiply by toughness of object?
});
}
blockedByObject = true;
}
}
}
}
// If no object blocked us, we can move freely as normal.
if (!blockedByObject && n.LiquidType != LiquidType.Lava)
{
var newAction = v;
newAction.SourceState = state;
newAction.DestinationVoxel = n;
yield return(newAction);
}
}
}
}
private IEnumerable <MoveAction> EnumerateSuccessors(
MoveState state,
VoxelHandle voxel,
MoveActionTempStorage Storage,
bool inWater,
bool standingOnGround,
bool topCovered,
bool hasNeighbors)
{
bool isClimbing = false;
if (state.VehicleType == VehicleTypes.Rail)
{
if (Can(MoveType.ExitVehicle)) // Possibly redundant... If they can ride they should be able to exit right?
{
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
VehicleType = VehicleTypes.None,
Voxel = state.Voxel
},
MoveType = MoveType.ExitVehicle,
Diff = new Vector3(1, 1, 1),
CostMultiplier = 1.0f
});
}
if (Can(MoveType.RideVehicle))
{
foreach (var neighbor in Rail.RailHelper.EnumerateForwardNetworkConnections(state.PrevRail, state.Rail))
{
var neighborRail = Creature.Manager.FindComponent(neighbor) as Rail.RailEntity;
if (neighborRail == null || !neighborRail.Active)
{
continue;
}
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
Voxel = neighborRail.GetContainingVoxel(),
Rail = neighborRail,
PrevRail = state.Rail,
VehicleType = VehicleTypes.Rail
},
MoveType = MoveType.RideVehicle,
CostMultiplier = 1.0f
});
}
}
yield break; // Nothing can be done without exiting the rails first.
}
if (CanClimb || Can(MoveType.RideVehicle))
{
//Climbing ladders and riding rails.
var bodies = Storage.NeighborObjects.Where(o => o.GetBoundingBox().Intersects(voxel.GetBoundingBox()));
// if the creature can climb objects and a ladder is in this voxel,
// then add a climb action.
if (CanClimb)
{
var ladder = bodies.FirstOrDefault(component => component.Tags.Contains("Climbable"));
if (ladder != null)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 2, 1),
MoveType = MoveType.Climb,
InteractObject = ladder,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 2, 1]
});
if (!standingOnGround)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 0, 1),
MoveType = MoveType.Climb,
InteractObject = ladder,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 2, 1]
});
}
standingOnGround = true;
}
}
if (Can(MoveType.RideVehicle))
{
var rails = bodies.OfType <Rail.RailEntity>().Where(r => r.Active);
if (rails.Count() > 0 && Can(MoveType.RideVehicle))
{
{
foreach (var rail in rails)
{
if (rail.GetContainingVoxel() != state.Voxel)
{
continue;
}
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
VehicleType = VehicleTypes.Rail,
Rail = rail,
Voxel = rail.GetContainingVoxel()
},
MoveType = MoveType.EnterVehicle,
Diff = new Vector3(1, 1, 1),
CostMultiplier = 1.0f
});
}
}
}
var elevators = bodies.OfType <Elevators.ElevatorShaft>().Where(r => r.Active && System.Math.Abs(r.Position.Y - voxel.Center.Y) < 0.5f);
foreach (var elevator in elevators)
{
foreach (var elevatorExit in Elevators.Helper.EnumerateExits(elevator.Shaft))
{
if (object.ReferenceEquals(elevator, elevatorExit.ShaftSegment))
{
continue; // Ignore exits from the segment we are entering at.
}
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
Voxel = elevatorExit.OntoVoxel,
VehicleType = VehicleTypes.None,
Tag = new Elevators.ElevatorMoveState
{
Entrance = elevator,
Exit = elevatorExit.ShaftSegment
}
},
MoveType = MoveType.RideElevator,
CostMultiplier = elevator.GetQueueSize() + 1.0f
});
}
}
}
}
// If the creature can fly and is not underwater, it can fly
// to any adjacent empty cell.
if (CanFly && !inWater)
{
for (int dx = 0; dx <= 2; dx++)
{
for (int dz = 0; dz <= 2; dz++)
{
for (int dy = 0; dy <= 2; dy++)
{
if (dx == 1 && dz == 1 && dy == 1)
{
continue;
}
if (Storage.Neighborhood[dx, dy, dz].IsValid && Storage.Neighborhood[dx, dy, dz].IsEmpty)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(dx, dy, dz),
MoveType = MoveType.Fly,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[dx, dy, dz]
});
}
}
}
}
}
// If the creature is not in water and is not standing on ground,
// it can fall one voxel downward in free space.
if (!inWater && !standingOnGround)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 0, 1),
MoveType = MoveType.Fall,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 0, 1]
});
}
// If the creature can climb walls and is not blocked by a voxl above.
if (CanClimbWalls && !topCovered)
{
// This monstrosity is unrolling an inner loop so that we don't have to allocate an array or
// enumerators.
var wall = VoxelHandle.InvalidHandle;
var n211 = Storage.Neighborhood[2, 1, 1];
if (n211.IsValid && !n211.IsEmpty)
{
wall = n211;
}
else
{
var n011 = Storage.Neighborhood[0, 1, 1];
if (n011.IsValid && !n011.IsEmpty)
{
wall = n011;
}
else
{
var n112 = Storage.Neighborhood[1, 1, 2];
if (n112.IsValid && !n112.IsEmpty)
{
wall = n112;
}
else
{
var n110 = Storage.Neighborhood[1, 1, 0];
if (n110.IsValid && !n110.IsEmpty)
{
wall = n110;
}
}
}
}
if (wall.IsValid)
{
isClimbing = true;
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 2, 1),
MoveType = MoveType.ClimbWalls,
ActionVoxel = wall,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 2, 1]
});
if (!standingOnGround)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 0, 1),
MoveType = MoveType.ClimbWalls,
ActionVoxel = wall,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 0, 1]
});
}
}
}
// If the creature either can walk or is in water, add the
// eight-connected free neighbors around the voxel.
if ((CanWalk && standingOnGround) || (CanSwim && inWater))
{
// If the creature is in water, it can swim. Otherwise, it will walk.
var moveType = inWater ? MoveType.Swim : MoveType.Walk;
if (Storage.Neighborhood[0, 1, 1].IsValid && Storage.Neighborhood[0, 1, 1].IsEmpty)
{
// +- x
yield return(new MoveAction
{
SourceState = state,
DestinationVoxel = Storage.Neighborhood[0, 1, 1],
Diff = new Vector3(0, 1, 1),
MoveType = moveType,
CostMultiplier = 1.0f
});
}
if (Storage.Neighborhood[2, 1, 1].IsValid && Storage.Neighborhood[2, 1, 1].IsEmpty)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(2, 1, 1),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[2, 1, 1]
});
}
if (Storage.Neighborhood[1, 1, 0].IsValid && Storage.Neighborhood[1, 1, 0].IsEmpty)
{
// +- z
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 1, 0),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 1, 0]
});
}
if (Storage.Neighborhood[1, 1, 2].IsValid && Storage.Neighborhood[1, 1, 2].IsEmpty)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(1, 1, 2),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[1, 1, 2]
});
}
// Only bother worrying about 8-connected movement if there are
// no full neighbors around the voxel.
if (!hasNeighbors)
{
if (Storage.Neighborhood[2, 1, 2].IsValid && Storage.Neighborhood[2, 1, 2].IsEmpty)
{
// +x + z
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(2, 1, 2),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[2, 1, 2]
});
}
if (Storage.Neighborhood[2, 1, 0].IsValid && Storage.Neighborhood[2, 1, 0].IsEmpty)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(2, 1, 0),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[2, 1, 0]
});
}
if (Storage.Neighborhood[0, 1, 2].IsValid && Storage.Neighborhood[0, 1, 2].IsEmpty)
{
// -x -z
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(0, 1, 2),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[0, 1, 2]
});
}
if (Storage.Neighborhood[0, 1, 0].IsValid && Storage.Neighborhood[0, 1, 0].IsEmpty)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(0, 1, 0),
MoveType = moveType,
CostMultiplier = 1.0f,
DestinationVoxel = Storage.Neighborhood[0, 1, 0]
});
}
}
}
// If the creature's head is free, and it is standing on ground,
// or if it is in water, or if it is climbing, it can also jump
// to voxels that are 1 cell away and 1 cell up.
if (!topCovered && (standingOnGround || (CanSwim && inWater) || isClimbing))
{
for (int dx = 0; dx <= 2; dx++)
{
for (int dz = 0; dz <= 2; dz++)
{
if (dx == 1 && dz == 1)
{
continue;
}
if (Storage.Neighborhood[dx, 1, dz].IsValid && !Storage.Neighborhood[dx, 1, dz].IsEmpty)
{
yield return(new MoveAction
{
SourceState = state,
Diff = new Vector3(dx, 2, dz),
MoveType = MoveType.Jump,
DestinationVoxel = Storage.Neighborhood[dx, 2, dz],
CostMultiplier = 1.0f
});
}
}
}
}
/*
* if (CanDig)
* {
* // This loop is unrolled for speed. It gets the manhattan neighbors and tells the creature that it can mine
* // the surrounding rock to get through.
* VoxelHandle neighbor = Storage.Neighborhood[0, 1, 1];
* if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
* {
* yield return (new MoveAction
* {
* SourceState = state,
* Diff = new Vector3(0, 1, 1),
* MoveType = MoveType.Dig,
* DestinationVoxel = neighbor,
* CostMultiplier = 1.0f
* });
* }
*
* neighbor = Storage.Neighborhood[2, 1, 1];
* if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
* {
* yield return (new MoveAction
* {
* SourceState = state,
* Diff = new Vector3(2, 1, 1),
* MoveType = MoveType.Dig,
* DestinationVoxel = neighbor,
* CostMultiplier = 1.0f
* });
* }
*
* neighbor = Storage.Neighborhood[1, 1, 2];
* if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
* {
* yield return (new MoveAction
* {
* SourceState = state,
* Diff = new Vector3(1, 1, 2),
* MoveType = MoveType.Dig,
* DestinationVoxel = neighbor,
* CostMultiplier = 1.0f
* });
* }
*
* neighbor = Storage.Neighborhood[1, 1, 0];
* if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
* {
* yield return (new MoveAction
* {
* SourceState = state,
* Diff = new Vector3(1, 1, 0),
* MoveType = MoveType.Dig,
* DestinationVoxel = neighbor,
* CostMultiplier = 1.0f
* });
* }
*
* neighbor = Storage.Neighborhood[1, 2, 1];
* if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
* {
* yield return (new MoveAction
* {
* SourceState = state,
* Diff = new Vector3(1, 2, 1),
* MoveType = MoveType.Dig,
* DestinationVoxel = neighbor,
* CostMultiplier = 1.0f
* });
* }
*
* neighbor = Storage.Neighborhood[1, 0, 1];
* if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
* {
* yield return (new MoveAction
* {
* SourceState = state,
* Diff = new Vector3(1, 0, 1),
* MoveType = MoveType.Dig,
* DestinationVoxel = neighbor,
* CostMultiplier = 1.0f
* });
* }
* }
*/
}
// Inverts GetMoveActions. So, returns the list of move actions whose target is the current voxel.
// Very, very slow.
public IEnumerable <MoveAction> GetInverseMoveActions(MoveState currentstate, OctTreeNode OctTree)
{
if (Parent == null)
{
yield break;
}
var creature = Creature;
if (creature == null)
{
yield break;
}
var current = currentstate.Voxel;
if (Can(MoveType.Teleport))
{
var teleportObjects = Parent.Faction.OwnedObjects.Where(obj => obj.Active && obj.Tags.Contains("Teleporter"));
foreach (var obj in teleportObjects)
{
if ((obj.Position - current.WorldPosition).LengthSquared() > 2)
{
continue;
}
for (int dx = -TeleportDistance; dx <= TeleportDistance; dx++)
{
for (int dz = -TeleportDistance; dz <= TeleportDistance; dz++)
{
for (int dy = -TeleportDistance; dy <= TeleportDistance; dy++)
{
if (dx * dx + dy * dy + dz * dz > TeleportDistanceSquared)
{
continue;
}
VoxelHandle teleportNeighbor = new VoxelHandle(Parent.World.ChunkManager.ChunkData, current.Coordinate + new GlobalVoxelOffset(dx, dy, dz));
if (teleportNeighbor.IsValid && teleportNeighbor.IsEmpty && !VoxelHelpers.GetNeighbor(teleportNeighbor, new GlobalVoxelOffset(0, -1, 0)).IsEmpty)
{
yield return(new MoveAction()
{
InteractObject = obj,
Diff = new Vector3(dx, dx, dz),
SourceVoxel = teleportNeighbor,
DestinationState = currentstate,
MoveType = MoveType.Teleport
});
}
}
}
}
}
}
foreach (var v in VoxelHelpers.EnumerateCube(current.Coordinate)
.Select(n => new VoxelHandle(current.Chunk.Manager.ChunkData, n))
.Where(h => h.IsValid))
{
foreach (var a in GetMoveActions(new MoveState()
{
Voxel = v
}, OctTree).Where(a => a.DestinationState == currentstate))
{
yield return(a);
}
if (!Can(MoveType.RideVehicle))
{
continue;
}
// Now that dwarfs can ride vehicles, the inverse of the move actions becomes extremely complicated. We must now
// iterate through all rails intersecting every neighbor and see if we can find a connection from that rail to this one.
// Further, we must iterate through the entire rail network and enumerate all possible directions in and out of that rail.
// Yay!
var bodies = new HashSet <Body>();
OctTree.EnumerateItems(v.GetBoundingBox(), bodies);
var rails = bodies.OfType <Rail.RailEntity>().Where(r => r.Active);
foreach (var rail in rails)
{
if (rail.GetContainingVoxel() != v)
{
continue;
}
/*
* if (!DwarfGame.IsMainThread)
* {
* for (int i = 0; i < 1; i++)
* {
* Drawer3D.DrawBox(rail.GetBoundingBox(), Color.Purple, 0.1f, false);
* System.Threading.Thread.Sleep(1);
* }
* }
*/
foreach (var neighborRail in rail.NeighborRails.Select(neighbor => creature.Manager.FindComponent(neighbor.NeighborID) as Rail.RailEntity))
{
var actions = GetMoveActions(new MoveState()
{
Voxel = v, VehicleState = new VehicleState()
{
Rail = rail, PrevRail = neighborRail
}
}, OctTree);
foreach (var a in actions.Where(a => a.DestinationState == currentstate))
{
yield return(a);
/*
* if (!DwarfGame.IsMainThread && a.MoveType == MoveType.RideVehicle)
* {
* for (int i = 0; i < 10; i++)
* {
* Drawer3D.DrawBox(rail.GetBoundingBox(), Color.Red, 0.1f, false);
* System.Threading.Thread.Sleep(1);
* }
* }
*/
}
}
foreach (var a in GetMoveActions(new MoveState()
{
Voxel = v, VehicleState = new VehicleState()
{
Rail = rail, PrevRail = null
}
}, OctTree).Where(a => a.DestinationState == currentstate))
{
yield return(a);
}
}
}
}
private IEnumerable <MoveAction> EnumerateSuccessors(MoveState state, VoxelHandle voxel, VoxelHandle[,,] neighborHood, bool inWater, bool standingOnGround, bool topCovered, bool hasNeighbors, bool isRiding, HashSet <Body> neighborObjects)
{
bool isClimbing = false;
if (CanClimb || Can(MoveType.RideVehicle))
{
//Climbing ladders.
var bodies = neighborObjects.Where(o => o.GetBoundingBox().Intersects(voxel.GetBoundingBox()));
if (!isRiding)
{
var ladder = bodies.FirstOrDefault(component => component.Tags.Contains("Climbable"));
// if the creature can climb objects and a ladder is in this voxel,
// then add a climb action.
if (ladder != null && CanClimb)
{
yield return(new MoveAction
{
Diff = new Vector3(1, 2, 1),
MoveType = MoveType.Climb,
InteractObject = ladder
});
if (!standingOnGround)
{
yield return(new MoveAction
{
Diff = new Vector3(1, 0, 1),
MoveType = MoveType.Climb,
InteractObject = ladder
});
}
standingOnGround = true;
}
}
if (!isRiding)
{
var rails = bodies.OfType <Rail.RailEntity>().Where(r => r.Active);
if (rails.Count() > 0 && Can(MoveType.RideVehicle))
{
{
foreach (var rail in rails)
{
if (rail.GetContainingVoxel() != state.Voxel)
{
continue;
}
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
VehicleState = new VehicleState()
{
Rail = rail
},
Voxel = rail.GetContainingVoxel()
},
MoveType = MoveType.EnterVehicle,
Diff = new Vector3(1, 1, 1)
});
}
}
}
}
if (Can(MoveType.ExitVehicle) && isRiding)
{
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
VehicleState = new VehicleState(),
Voxel = state.Voxel
},
MoveType = MoveType.ExitVehicle,
Diff = new Vector3(1, 1, 1)
});
}
if (Can(MoveType.RideVehicle) && isRiding)
{
foreach (var neighbor in Rail.RailHelper.EnumerateForwardNetworkConnections(state.VehicleState.PrevRail, state.VehicleState.Rail))
{
var neighborRail = Creature.Manager.FindComponent(neighbor) as Rail.RailEntity;
if (neighborRail == null || !neighborRail.Active)
{
continue;
}
yield return(new MoveAction()
{
SourceState = state,
DestinationState = new MoveState()
{
Voxel = neighborRail.GetContainingVoxel(),
VehicleState = new VehicleState()
{
Rail = neighborRail,
PrevRail = state.VehicleState.Rail
}
},
MoveType = MoveType.RideVehicle,
});
}
}
}
// If the creature can climb walls and is not blocked by a voxl above.
if (!isRiding && CanClimbWalls && !topCovered)
{
// This monstrosity is unrolling an inner loop so that we don't have to allocate an array or
// enumerators.
var wall = VoxelHandle.InvalidHandle;
var n211 = neighborHood[2, 1, 1];
if (n211.IsValid && !n211.IsEmpty)
{
wall = n211;
}
else
{
var n011 = neighborHood[0, 1, 1];
if (n011.IsValid && !n011.IsEmpty)
{
wall = n011;
}
else
{
var n112 = neighborHood[1, 1, 2];
if (n112.IsValid && !n112.IsEmpty)
{
wall = n112;
}
else
{
var n110 = neighborHood[1, 1, 0];
if (n110.IsValid && !n110.IsEmpty)
{
wall = n110;
}
}
}
}
if (wall.IsValid)
{
isClimbing = true;
yield return(new MoveAction
{
Diff = new Vector3(1, 2, 1),
MoveType = MoveType.ClimbWalls,
ActionVoxel = wall
});
if (!standingOnGround)
{
yield return(new MoveAction
{
Diff = new Vector3(1, 0, 1),
MoveType = MoveType.ClimbWalls,
ActionVoxel = wall
});
}
}
}
// If the creature either can walk or is in water, add the
// eight-connected free neighbors around the voxel.
if (!isRiding && ((CanWalk && standingOnGround) || (CanSwim && inWater)))
{
// If the creature is in water, it can swim. Otherwise, it will walk.
var moveType = inWater ? MoveType.Swim : MoveType.Walk;
if (!neighborHood[0, 1, 1].IsValid || neighborHood[0, 1, 1].IsEmpty)
{
// +- x
yield return(new MoveAction
{
Diff = new Vector3(0, 1, 1),
MoveType = moveType
});
}
if (!neighborHood[2, 1, 1].IsValid || neighborHood[2, 1, 1].IsEmpty)
{
yield return(new MoveAction
{
Diff = new Vector3(2, 1, 1),
MoveType = moveType
});
}
if (!neighborHood[1, 1, 0].IsValid || neighborHood[1, 1, 0].IsEmpty)
{
// +- z
yield return(new MoveAction
{
Diff = new Vector3(1, 1, 0),
MoveType = moveType
});
}
if (!neighborHood[1, 1, 2].IsValid || neighborHood[1, 1, 2].IsEmpty)
{
yield return(new MoveAction
{
Diff = new Vector3(1, 1, 2),
MoveType = moveType
});
}
// Only bother worrying about 8-connected movement if there are
// no full neighbors around the voxel.
if (!hasNeighbors)
{
if (!neighborHood[2, 1, 2].IsValid || neighborHood[2, 1, 2].IsEmpty)
{
// +x + z
yield return(new MoveAction
{
Diff = new Vector3(2, 1, 2),
MoveType = moveType
});
}
if (!neighborHood[2, 1, 0].IsValid || neighborHood[2, 1, 0].IsEmpty)
{
yield return(new MoveAction
{
Diff = new Vector3(2, 1, 0),
MoveType = moveType
});
}
if (!neighborHood[0, 1, 2].IsValid || neighborHood[0, 1, 2].IsEmpty)
{
// -x -z
yield return(new MoveAction
{
Diff = new Vector3(0, 1, 2),
MoveType = moveType
});
}
if (!neighborHood[0, 1, 0].IsValid || neighborHood[0, 1, 0].IsEmpty)
{
yield return(new MoveAction
{
Diff = new Vector3(0, 1, 0),
MoveType = moveType
});
}
}
}
// If the creature's head is free, and it is standing on ground,
// or if it is in water, or if it is climbing, it can also jump
// to voxels that are 1 cell away and 1 cell up.
if (!isRiding && (!topCovered && (standingOnGround || (CanSwim && inWater) || isClimbing)))
{
for (int dx = 0; dx <= 2; dx++)
{
for (int dz = 0; dz <= 2; dz++)
{
if (dx == 1 && dz == 1)
{
continue;
}
if (neighborHood[dx, 1, dz].IsValid && !neighborHood[dx, 1, dz].IsEmpty)
{
yield return(new MoveAction
{
Diff = new Vector3(dx, 2, dz),
MoveType = MoveType.Jump
});
}
}
}
}
// If the creature is not in water and is not standing on ground,
// it can fall one voxel downward in free space.
if (!isRiding && !inWater && !standingOnGround)
{
yield return(new MoveAction
{
Diff = new Vector3(1, 0, 1),
MoveType = MoveType.Fall
});
}
// If the creature can fly and is not underwater, it can fly
// to any adjacent empty cell.
if (!isRiding && CanFly && !inWater)
{
for (int dx = 0; dx <= 2; dx++)
{
for (int dz = 0; dz <= 2; dz++)
{
for (int dy = 0; dy <= 2; dy++)
{
if (dx == 1 && dz == 1 && dy == 1)
{
continue;
}
if (!neighborHood[dx, 1, dz].IsValid || neighborHood[dx, 1, dz].IsEmpty)
{
yield return(new MoveAction
{
Diff = new Vector3(dx, dy, dz),
MoveType = MoveType.Fly
});
}
}
}
}
}
if (!isRiding && CanDig)
{
// This loop is unrolled for speed. It gets the manhattan neighbors and tells the creature that it can mine
// the surrounding rock to get through.
int dx = -1;
int dy = 0;
int dz = 0;
VoxelHandle neighbor = neighborHood[dx + 1, dy + 1, dz + 1];
if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
{
yield return(new MoveAction
{
Diff = new Vector3(dx + 1, dy + 1, dz + 1),
MoveType = MoveType.Dig,
DestinationVoxel = neighbor,
});
}
dx = 1;
dy = 0;
dz = 0;
neighbor = neighborHood[dx + 1, dy + 1, dz + 1];
if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
{
yield return(new MoveAction
{
Diff = new Vector3(dx + 1, dy + 1, dz + 1),
MoveType = MoveType.Dig,
DestinationVoxel = neighbor,
});
}
dx = 0;
dy = 0;
dz = 1;
neighbor = neighborHood[dx + 1, dy + 1, dz + 1];
if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
{
yield return(new MoveAction
{
Diff = new Vector3(dx + 1, dy + 1, dz + 1),
MoveType = MoveType.Dig,
DestinationVoxel = neighbor,
});
}
dx = 0;
dy = 0;
dz = -1;
neighbor = neighborHood[dx + 1, dy + 1, dz + 1];
if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
{
yield return(new MoveAction
{
Diff = new Vector3(dx + 1, dy + 1, dz + 1),
MoveType = MoveType.Dig,
DestinationVoxel = neighbor,
});
}
dx = 0;
dy = 1;
dz = 0;
neighbor = neighborHood[dx + 1, dy + 1, dz + 1];
if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
{
yield return(new MoveAction
{
Diff = new Vector3(dx + 1, dy + 1, dz + 1),
MoveType = MoveType.Dig,
DestinationVoxel = neighbor,
});
}
dx = 0;
dy = -1;
dz = 0;
neighbor = neighborHood[dx + 1, dy + 1, dz + 1];
if (neighbor.IsValid && !neighbor.IsEmpty && (!IsDwarf || !neighbor.IsPlayerBuilt))
{
yield return(new MoveAction
{
Diff = new Vector3(dx + 1, dy + 1, dz + 1),
MoveType = MoveType.Dig,
DestinationVoxel = neighbor,
});
}
}
}
/// <summary> gets the list of actions that the creature can take from a given voxel. </summary>
public IEnumerable <MoveAction> GetMoveActions(MoveState state, OctTreeNode OctTree)
{
if (Parent == null)
{
yield break;
}
var voxel = state.Voxel;
if (!voxel.IsValid)
{
yield break;
}
var creature = Creature;
if (creature == null)
{
yield break;
}
var neighborHood = GetNeighborhood(voxel.Chunk.Manager.ChunkData, voxel);
bool inWater = (neighborHood[1, 1, 1].IsValid && neighborHood[1, 1, 1].LiquidLevel > WaterManager.inWaterThreshold);
bool standingOnGround = (neighborHood[1, 0, 1].IsValid && !neighborHood[1, 0, 1].IsEmpty);
bool topCovered = (neighborHood[1, 2, 1].IsValid && !neighborHood[1, 2, 1].IsEmpty);
bool hasNeighbors = HasNeighbors(neighborHood);
bool isRiding = state.VehicleState.IsRidingVehicle;
var neighborHoodBounds = new BoundingBox(neighborHood[0, 0, 0].GetBoundingBox().Min, neighborHood[2, 2, 2].GetBoundingBox().Max);
var neighborObjects = new HashSet <Body>();
OctTree.EnumerateItems(neighborHoodBounds, neighborObjects);
var successors = EnumerateSuccessors(state, voxel, neighborHood, inWater, standingOnGround, topCovered, hasNeighbors, isRiding, neighborObjects);
if (Can(MoveType.Teleport))
{
var teleportObjects = Parent.Faction.OwnedObjects.Where(obj => obj.Active && obj.Tags.Contains("Teleporter"));
foreach (var obj in teleportObjects)
{
if ((obj.Position - state.Voxel.WorldPosition).LengthSquared() < TeleportDistanceSquared)
{
yield return(new MoveAction()
{
InteractObject = obj,
MoveType = MoveType.Teleport,
SourceVoxel = voxel,
DestinationState = new MoveState()
{
Voxel = new VoxelHandle(voxel.Chunk.Manager.ChunkData, GlobalVoxelCoordinate.FromVector3(obj.Position))
}
});
}
}
}
// Now, validate each move action that the creature might take.
foreach (MoveAction v in successors)
{
var n = v.DestinationVoxel.IsValid ? v.DestinationVoxel : neighborHood[(int)v.Diff.X, (int)v.Diff.Y, (int)v.Diff.Z];
if (n.IsValid && (v.MoveType == MoveType.Dig || isRiding || n.IsEmpty || n.LiquidLevel > 0))
{
// Do one final check to see if there is an object blocking the motion.
bool blockedByObject = false;
if (!isRiding)
{
var objectsAtNeighbor = neighborObjects.Where(o => o.GetBoundingBox().Intersects(n.GetBoundingBox()));
// If there is an object blocking the motion, determine if it can be passed through.
foreach (var body in objectsAtNeighbor)
{
var door = body as Door;
// ** Doors are in the octtree, pretty sure this was always pointless -- var door = body.GetRoot().EnumerateAll().OfType<Door>().FirstOrDefault();
// If there is an enemy door blocking movement, we can destroy it to get through.
if (door != null)
{
if (
creature.World.Diplomacy.GetPolitics(door.TeamFaction, creature.Faction)
.GetCurrentRelationship() ==
Relationship.Hateful)
{
if (Can(MoveType.DestroyObject))
{
yield return(new MoveAction
{
Diff = v.Diff,
MoveType = MoveType.DestroyObject,
InteractObject = door,
DestinationVoxel = n,
SourceState = state
});
}
blockedByObject = true;
}
}
}
}
// If no object blocked us, we can move freely as normal.
if (!blockedByObject && n.LiquidType != LiquidType.Lava)
{
MoveAction newAction = v;
newAction.SourceState = state;
newAction.DestinationVoxel = n;
yield return(newAction);
}
}
}
}
// Find a path from the start to the goal by computing an inverse path from goal to the start. Should only be used
// if the forward path fails.
private static PlanResult InversePath(CreatureMovement mover, VoxelHandle startVoxel, GoalRegion goal, ChunkManager chunks,
int maxExpansions, ref List <MoveAction> toReturn, float weight, Func <bool> continueFunc)
{
// Create a local clone of the octree, using only the objects belonging to the player.
var octree = new OctTreeNode <Body>(mover.Creature.World.ChunkManager.Bounds.Min, mover.Creature.World.ChunkManager.Bounds.Max);
List <Body> playerObjects = new List <Body>(mover.Creature.World.PlayerFaction.OwnedObjects);
List <Body> teleportObjects = mover.Creature.World.PlayerFaction.OwnedObjects.Where(o => o.Tags.Contains("Teleporter")).ToList();
foreach (var obj in playerObjects)
{
octree.Add(obj, obj.GetBoundingBox());
}
MoveState start = new MoveState()
{
Voxel = startVoxel
};
var startTime = DwarfTime.Tick();
if (mover.IsSessile)
{
return(new PlanResult()
{
Result = PlanResultCode.Invalid,
Expansions = 0,
TimeSeconds = 0
});
}
if (!start.IsValid)
{
return(new PlanResult()
{
Result = PlanResultCode.Invalid,
Expansions = 0,
TimeSeconds = 0
});
}
// Sometimes a goal may not even be achievable a.priori. If this is true, we know there can't be a path
// which satisifies that goal.
// It only makes sense to do inverse plans for goals that have an associated voxel.
if (!goal.IsPossible() || !goal.GetVoxel().IsValid)
{
toReturn = null;
return(new PlanResult()
{
Result = PlanResultCode.Invalid,
Expansions = 0,
TimeSeconds = 0
});
}
if (goal.IsInGoalRegion(start.Voxel))
{
toReturn = new List <MoveAction>();
return(new PlanResult()
{
Result = PlanResultCode.Success,
Expansions = 0,
TimeSeconds = 0
});
}
// Voxels that have already been explored.
var closedSet = new HashSet <MoveState>();
// Voxels which should be explored.
var openSet = new HashSet <MoveState>();
// Dictionary of voxels to the optimal action that got the mover to that voxel.
var cameFrom = new Dictionary <MoveState, MoveAction>();
// Optimal score of a voxel based on the path it took to get there.
var gScore = new Dictionary <MoveState, float>();
// Expansion priority of voxels.
var fScore = new PriorityQueue <MoveState>();
var goalVoxels = new List <VoxelHandle>();
goalVoxels.Add(goal.GetVoxel());
// Starting conditions of the search.
foreach (var goalVoxel in VoxelHelpers.EnumerateCube(goal.GetVoxel().Coordinate)
.Select(c => new VoxelHandle(start.Voxel.Chunk.Manager.ChunkData, c)))
{
if (!goalVoxel.IsValid)
{
continue;
}
var goalState = new MoveState()
{
Voxel = goalVoxel
};
if (goal.IsInGoalRegion(goalVoxel))
{
goalVoxels.Add(goalVoxel);
openSet.Add(goalState);
gScore[goalState] = 0.0f;
fScore.Enqueue(goalState,
gScore[goalState] + weight * (goalVoxel.WorldPosition - start.Voxel.WorldPosition).LengthSquared());
}
}
// Keep count of the number of expansions we've taken to get to the goal.
int numExpansions = 0;
// Loop until we've either checked every possible voxel, or we've exceeded the maximum number of
// expansions.
while (openSet.Count > 0 && numExpansions < maxExpansions)
{
if (numExpansions % 10 == 0 && !continueFunc())
{
return new PlanResult
{
Result = PlanResultCode.Cancelled,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
}
}
;
// Check the next voxel to explore.
var current = GetStateWithMinimumFScore(fScore);
if (!current.IsValid)
{
continue;
}
//Drawer3D.DrawBox(current.GetBoundingBox(), Color.Blue, 0.1f);
numExpansions++;
// If we've reached the goal already, reconstruct the path from the start to the
// goal.
if (current.Equals(start))
{
toReturn = ReconstructInversePath(goal, cameFrom, cameFrom[start]);
return(new PlanResult()
{
Result = PlanResultCode.Success,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
// We've already considered the voxel, so add it to the closed set.
openSet.Remove(current);
closedSet.Add(current);
IEnumerable <MoveAction> neighbors = null;
// Get the voxels that can be moved to from the current voxel.
neighbors = mover.GetInverseMoveActions(current, octree, teleportObjects);
// Otherwise, consider all of the neighbors of the current voxel that can be moved to,
// and determine how to add them to the list of expansions.
foreach (MoveAction n in neighbors)
{
//Drawer3D.DrawBox(n.SourceVoxel.GetBoundingBox(), Color.Red, 0.1f);
// If we've already explored that voxel, don't explore it again.
if (closedSet.Contains(n.SourceState))
{
continue;
}
// Otherwise, consider the case of moving to that neighbor.
float tenativeGScore = gScore[current] + GetDistance(current.Voxel, n.SourceState.Voxel, n.MoveType, mover);
// IF the neighbor can already be reached more efficiently, ignore it.
if (openSet.Contains(n.SourceState) && gScore.ContainsKey(n.SourceState) && !(tenativeGScore < gScore[n.SourceState]))
{
continue;
}
// Otherwise, add it to the list of voxels for consideration.
openSet.Add(n.SourceState);
// Add an edge to the voxel from the current voxel.
var cameAction = n;
cameFrom[n.SourceState] = cameAction;
// Update the expansion scores for the next voxel.
gScore[n.SourceState] = tenativeGScore;
fScore.Enqueue(n.SourceState, gScore[n.SourceState] + weight * ((n.SourceState.Voxel.WorldPosition - start.Voxel.WorldPosition).LengthSquared() + (!n.SourceState.VehicleState.IsRidingVehicle ? 100.0f : 0.0f)));
}
// If we've expanded too many voxels, just give up.
if (numExpansions >= maxExpansions)
{
return(new PlanResult()
{
Result = PlanResultCode.MaxExpansionsReached,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
}
// Somehow we've reached this code without having found a path. Return false.
toReturn = null;
return(new PlanResult()
{
Result = PlanResultCode.NoSolution,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
/// <summary>
/// Creates a path from the start voxel to some goal region, returning a list of movements that can
/// take a mover from the start voxel to the goal region.
/// </summary>
/// <param name="mover">The agent that we want to find a path for.</param>
/// <param name="startVoxel"></param>
/// <param name="goal">Goal conditions that the agent is trying to satisfy.</param>
/// <param name="chunks">The voxels that the agent is moving through</param>
/// <param name="maxExpansions">Maximum number of voxels to consider before giving up.</param>
/// <param name="toReturn">The path of movements that the mover should take to reach the goal.</param>
/// <param name="weight">
/// A heuristic weight to apply to the planner. If 1.0, the path is garunteed to be optimal. Higher values
/// usually result in faster plans that are suboptimal.
/// </param>
/// <param name="continueFunc"></param>
/// <returns>True if a path could be found, or false otherwise.</returns>
private static PlanResult Path(
CreatureMovement mover,
VoxelHandle startVoxel,
GoalRegion goal,
ChunkManager chunks,
int maxExpansions,
ref List <MoveAction> toReturn,
float weight,
Func <bool> continueFunc)
{
// Create a local clone of the octree, using only the objects belonging to the player.
var octree = new OctTreeNode <Body>(mover.Creature.World.ChunkManager.Bounds.Min, mover.Creature.World.ChunkManager.Bounds.Max);
List <Body> playerObjects = new List <Body>(mover.Creature.World.PlayerFaction.OwnedObjects);
List <Body> teleportObjects = playerObjects.Where(o => o.Tags.Contains("Teleporter")).ToList();
foreach (var obj in playerObjects)
{
octree.Add(obj, obj.GetBoundingBox());
}
var storage = new MoveActionTempStorage();
var start = new MoveState()
{
Voxel = startVoxel
};
var startTime = DwarfTime.Tick();
if (mover.IsSessile)
{
return(new PlanResult()
{
Expansions = 0,
Result = PlanResultCode.Invalid,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
// Sometimes a goal may not even be achievable a.priori. If this is true, we know there can't be a path
// which satisifies that goal.
if (!goal.IsPossible())
{
toReturn = null;
return(new PlanResult()
{
Expansions = 0,
Result = PlanResultCode.Invalid,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
// Voxels that have already been explored.
var closedSet = new HashSet <MoveState>();
// Voxels which should be explored.
var openSet = new HashSet <MoveState>
{
start
};
// Dictionary of voxels to the optimal action that got the mover to that voxel.
var cameFrom = new Dictionary <MoveState, MoveAction>();
// Optimal score of a voxel based on the path it took to get there.
var gScore = new Dictionary <MoveState, float>();
// Expansion priority of voxels.
var fScore = new PriorityQueue <MoveState>();
// Starting conditions of the search.
gScore[start] = 0.0f;
fScore.Enqueue(start, gScore[start] + weight * goal.Heuristic(start.Voxel));
// Keep count of the number of expansions we've taken to get to the goal.
int numExpansions = 0;
// Check the voxels adjacent to the current voxel as a quick test of adjacency to the goal.
//var manhattanNeighbors = new List<VoxelHandle>(6);
//for (int i = 0; i < 6; i++)
//{
// manhattanNeighbors.Add(new VoxelHandle());
//}
// Loop until we've either checked every possible voxel, or we've exceeded the maximum number of
// expansions.
while (openSet.Count > 0 && numExpansions < maxExpansions)
{
if (numExpansions % 10 == 0 && !continueFunc())
{
return new PlanResult
{
Result = PlanResultCode.Cancelled,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
}
}
;
// Check the next voxel to explore.
var current = GetStateWithMinimumFScore(fScore);
if (!current.IsValid)
{
// If there wasn't a voxel to explore, just try to expand from
// the start again.
numExpansions++;
continue;
}
numExpansions++;
// If we've reached the goal already, reconstruct the path from the start to the
// goal.
if (goal.IsInGoalRegion(current.Voxel) && cameFrom.ContainsKey(current))
{
toReturn = ReconstructPath(cameFrom, cameFrom[current], start);
return(new PlanResult()
{
Result = PlanResultCode.Success,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
// We've already considered the voxel, so add it to the closed set.
openSet.Remove(current);
closedSet.Add(current);
// Get the voxels that can be moved to from the current voxel.
var neighbors = mover.GetMoveActions(current, octree, teleportObjects, storage).ToList();
var foundGoalAdjacent = neighbors.FirstOrDefault(n => !n.DestinationState.VehicleState.IsRidingVehicle && goal.IsInGoalRegion(n.DestinationState.Voxel));
// A quick test to see if we're already adjacent to the goal. If we are, assume
// that we can just walk to it.
if (foundGoalAdjacent.DestinationState.IsValid && foundGoalAdjacent.SourceState.IsValid)
{
if (cameFrom.ContainsKey(current))
{
toReturn = ReconstructPath(cameFrom, foundGoalAdjacent, start);
return(new PlanResult()
{
Result = PlanResultCode.Success,
Expansions = numExpansions,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
}
// Otherwise, consider all of the neighbors of the current voxel that can be moved to,
// and determine how to add them to the list of expansions.
foreach (MoveAction n in neighbors)
{
// If we've already explored that voxel, don't explore it again.
if (closedSet.Contains(n.DestinationState))
{
continue;
}
// Otherwise, consider the case of moving to that neighbor.
float tenativeGScore = gScore[current] + GetDistance(current.Voxel, n.DestinationState.Voxel, n.MoveType, mover);
// IF the neighbor can already be reached more efficiently, ignore it.
if (openSet.Contains(n.DestinationState) && !(tenativeGScore < gScore[n.DestinationState]))
{
continue;
}
// Otherwise, add it to the list of voxels for consideration.
openSet.Add(n.DestinationState);
// Add an edge to the voxel from the current voxel.
var cameAction = n;
cameFrom[n.DestinationState] = cameAction;
// Update the expansion scores for the next voxel.
gScore[n.DestinationState] = tenativeGScore;
fScore.Enqueue(n.DestinationState, gScore[n.DestinationState] + weight * (goal.Heuristic(n.DestinationState.Voxel) + (!n.DestinationState.VehicleState.IsRidingVehicle ? 100.0f : 0.0f)));
}
// If we've expanded too many voxels, just give up.
if (numExpansions >= maxExpansions)
{
return(new PlanResult()
{
Expansions = numExpansions,
Result = PlanResultCode.MaxExpansionsReached,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
}
// Somehow we've reached this code without having found a path. Return false.
toReturn = null;
return(new PlanResult()
{
Expansions = numExpansions,
Result = PlanResultCode.NoSolution,
TimeSeconds = DwarfTime.Tock(startTime)
});
}
