// Update And Re-Issue PathQuery From Start
public PathQuery ReissuePathQuery(PathQuery query, Vector2 start, Vector2 goal, int teamIndex)
{
if (query != null)
{
query.IsOld = true;
}
query = new PathQuery(start, goal, teamIndex);
Add(query);
return(query);
}
public SquadQuery(RTSSquad s, PathQuery q)
{
Squad = s;
Query = q;
}
public void Add(PathQuery q)
{
queries.Enqueue(q);
}
// Run A* Search, Given This Pathfinder's World And A Query
private void Pathfind(PathQuery q)
{
// Initialization
isThoughtCollidable = new bool[World.numCells.X, World.numCells.Y];
start = HashHelper.Hash(q.Start, World.numCells, World.size);
end = HashHelper.Hash(q.End, World.numCells, World.size); ;
for(int y = 0; y < World.numCells.Y; y++) {
for(int x = 0; x < World.numCells.X; x++) {
fScore[x, y] = int.MaxValue;
gScore[x, y] = int.MaxValue;
}
}
// Precondition: Any Buildings In World Have Valid Centers
var viewedBuildings = gameState.teams[q.FOWIndex].ViewedEnemyBuildings;
foreach(var vb in viewedBuildings) {
var vbData = gameState.teams[vb.Team].Race.Buildings[vb.Type];
Point p = vb.CellPoint;
for(int y = 0; y < vbData.GridSize.Y; y++) {
for(int x = 0; x < vbData.GridSize.X; x++) {
isThoughtCollidable[p.X + x, p.Y + y] = true;
}
}
}
gScore[start.X, start.Y] = 0;
fScore[start.X, start.Y] = Estimate(start.X, start.Y);
var openSet = new MinHeap<Point>(Comparison, 30);
openSet.Insert(start);
// A* Loop
List<Point> path = null;
while(openSet.Count > 0) {
Point p = openSet.Pop();
if(p.X == end.X && p.Y == end.Y) {
path = new List<Point>();
BuildPath(path, end);
break;
}
bool canMove = false;
foreach(Point n in NeighborhoodAlign(p).Where(InGrid)) {
int tgs = gScore[p.X, p.Y] + 10;
canMove = CanMoveFrom(p, n, q.FOWIndex);
if(canMove && tgs < gScore[n.X, n.Y]) {
prev[n.X, n.Y] = p;
gScore[n.X, n.Y] = tgs;
fScore[n.X, n.Y] = gScore[n.X, n.Y] + Estimate(n.X, n.Y);
if(!openSet.Contains(n)) {
openSet.Insert(n);
}
}
}
foreach(Point n in NeighborhoodDiag(p).Where(InGrid)) {
int tgs = gScore[p.X, p.Y] + 14;
// To Move Diagonally, Destination Must Be Reachable By Horizontal & Vertical Moves As Well
canMove = CanMoveFrom(p, n, q.FOWIndex);
foreach(Point d in DiagDecomp(p, n)) {
canMove &= CanMoveFrom(p, d, q.FOWIndex);
}
if(canMove && tgs < gScore[n.X, n.Y]) {
prev[n.X, n.Y] = p;
gScore[n.X, n.Y] = tgs;
fScore[n.X, n.Y] = gScore[n.X, n.Y] + Estimate(n.X, n.Y);
if(!openSet.Contains(n)) {
openSet.Insert(n);
}
}
}
}
// Check If We Need To Find The Nearest Point
if(path == null) {
int s;
bool[,] ch = new bool[World.numCells.X, World.numCells.Y];
Array.Clear(ch, 0, ch.Length);
Point cg = FindClosestGoal(end, fScore, ch, out s, 0);
if(s == int.MaxValue) {
// Impossible
}
else {
path = new List<Point>();
BuildPath(path, cg);
}
}
// A* Conclusion
if(path != null) {
foreach(Point wp in path) {
q.waypoints.Add(new Vector2(((float)wp.X + 0.5f) * World.cellSize, ((float)wp.Y + 0.5f) * World.cellSize));
}
}
q.IsComplete = true;
}
// Update And Re-Issue PathQuery From Start
public PathQuery ReissuePathQuery(PathQuery query, Vector2 start, Vector2 goal, int teamIndex)
{
if(query != null)
query.IsOld = true;
query = new PathQuery(start, goal, teamIndex);
Add(query);
return query;
}
public void Add(PathQuery q)
{
queries.Enqueue(q);
}
// Run A* Search, Given This Pathfinder's World And A Query
private void Pathfind(PathQuery q)
{
// Initialization
isThoughtCollidable = new bool[World.numCells.X, World.numCells.Y];
start = HashHelper.Hash(q.Start, World.numCells, World.size);
end = HashHelper.Hash(q.End, World.numCells, World.size);;
for (int y = 0; y < World.numCells.Y; y++)
{
for (int x = 0; x < World.numCells.X; x++)
{
fScore[x, y] = int.MaxValue;
gScore[x, y] = int.MaxValue;
}
}
// Precondition: Any Buildings In World Have Valid Centers
var viewedBuildings = gameState.teams[q.FOWIndex].ViewedEnemyBuildings;
foreach (var vb in viewedBuildings)
{
var vbData = gameState.teams[vb.Team].Race.Buildings[vb.Type];
Point p = vb.CellPoint;
for (int y = 0; y < vbData.GridSize.Y; y++)
{
for (int x = 0; x < vbData.GridSize.X; x++)
{
isThoughtCollidable[p.X + x, p.Y + y] = true;
}
}
}
gScore[start.X, start.Y] = 0;
fScore[start.X, start.Y] = Estimate(start.X, start.Y);
var openSet = new MinHeap <Point>(Comparison, 30);
openSet.Insert(start);
// A* Loop
List <Point> path = null;
while (openSet.Count > 0)
{
Point p = openSet.Pop();
if (p.X == end.X && p.Y == end.Y)
{
path = new List <Point>();
BuildPath(path, end);
break;
}
bool canMove = false;
foreach (Point n in NeighborhoodAlign(p).Where(InGrid))
{
int tgs = gScore[p.X, p.Y] + 10;
canMove = CanMoveFrom(p, n, q.FOWIndex);
if (canMove && tgs < gScore[n.X, n.Y])
{
prev[n.X, n.Y] = p;
gScore[n.X, n.Y] = tgs;
fScore[n.X, n.Y] = gScore[n.X, n.Y] + Estimate(n.X, n.Y);
if (!openSet.Contains(n))
{
openSet.Insert(n);
}
}
}
foreach (Point n in NeighborhoodDiag(p).Where(InGrid))
{
int tgs = gScore[p.X, p.Y] + 14;
// To Move Diagonally, Destination Must Be Reachable By Horizontal & Vertical Moves As Well
canMove = CanMoveFrom(p, n, q.FOWIndex);
foreach (Point d in DiagDecomp(p, n))
{
canMove &= CanMoveFrom(p, d, q.FOWIndex);
}
if (canMove && tgs < gScore[n.X, n.Y])
{
prev[n.X, n.Y] = p;
gScore[n.X, n.Y] = tgs;
fScore[n.X, n.Y] = gScore[n.X, n.Y] + Estimate(n.X, n.Y);
if (!openSet.Contains(n))
{
openSet.Insert(n);
}
}
}
}
// Check If We Need To Find The Nearest Point
if (path == null)
{
int s;
bool[,] ch = new bool[World.numCells.X, World.numCells.Y];
Array.Clear(ch, 0, ch.Length);
Point cg = FindClosestGoal(end, fScore, ch, out s, 0);
if (s == int.MaxValue)
{
// Impossible
}
else
{
path = new List <Point>();
BuildPath(path, cg);
}
}
// A* Conclusion
if (path != null)
{
foreach (Point wp in path)
{
q.waypoints.Add(new Vector2(((float)wp.X + 0.5f) * World.cellSize, ((float)wp.Y + 0.5f) * World.cellSize));
}
}
q.IsComplete = true;
}
