private static bool Path(CreatureMovement mover, Voxel start, GoalRegion goal, ChunkManager chunks, int maxExpansions, ref List<Creature.MoveAction> toReturn, bool reverse)
{
VoxelChunk startChunk = chunks.ChunkData.ChunkMap[start.ChunkID];
VoxelChunk endChunk = chunks.ChunkData.ChunkMap[goal.GetVoxel().ChunkID];
if(startChunk.IsCompletelySurrounded(start) || endChunk.IsCompletelySurrounded(goal.GetVoxel()))
{
toReturn = null;
return false;
}
HashSet<Voxel> closedSet = new HashSet<Voxel>();
HashSet<Voxel> openSet = new HashSet<Voxel>
{
start
};
Dictionary<Voxel, Creature.MoveAction> cameFrom = new Dictionary<Voxel, Creature.MoveAction>();
Dictionary<Voxel, float> gScore = new Dictionary<Voxel, float>();
PriorityQueue<Voxel> fScore = new PriorityQueue<Voxel>();
gScore[start] = 0.0f;
fScore.Enqueue(start, gScore[start] + Heuristic(start, goal.GetVoxel()));
int numExpansions = 0;
List<Voxel> manhattanNeighbors = new List<Voxel>(6);
for (int i = 0; i < 6; i++)
{
manhattanNeighbors.Add(new Voxel());
}
while(openSet.Count > 0 && numExpansions < maxExpansions)
{
Voxel current = GetVoxelWithMinimumFScore(fScore, openSet);
if (current == null)
{
current = start;
numExpansions++;
}
numExpansions++;
if (goal.IsInGoalRegion(current))
{
Creature.MoveAction first = new Creature.MoveAction()
{
Voxel = current,
MoveType = Creature.MoveType.Walk
};
toReturn = ReconstructPath(cameFrom, first);
return true;
}
openSet.Remove(current);
closedSet.Add(current);
VoxelChunk currentChunk = chunks.ChunkData.ChunkMap[current.ChunkID];
List<Creature.MoveAction> neighbors = null;
neighbors = mover.GetMoveActions(current);
currentChunk.GetNeighborsManhattan(current, manhattanNeighbors);
if(manhattanNeighbors.Contains(goal.GetVoxel()))
{
Creature.MoveAction first = new Creature.MoveAction()
{
Voxel = current,
MoveType = Creature.MoveType.Walk
};
Creature.MoveAction last = new Creature.MoveAction()
{
Voxel = goal.GetVoxel(),
MoveType = Creature.MoveType.Walk
};
List<Creature.MoveAction> subPath = ReconstructPath(cameFrom, first);
subPath.Add(last);
toReturn = subPath;
return true;
}
foreach(Creature.MoveAction n in neighbors)
{
if(closedSet.Contains(n.Voxel))
{
continue;
}
float tenativeGScore = gScore[current] + GetDistance(current, n.Voxel, n.MoveType, chunks);
if(openSet.Contains(n.Voxel) && !(tenativeGScore < gScore[n.Voxel]))
{
continue;
}
openSet.Add(n.Voxel);
Creature.MoveAction cameAction = n;
cameAction.Voxel = current;
cameFrom[n.Voxel] = cameAction;
gScore[n.Voxel] = tenativeGScore;
fScore.Enqueue(n.Voxel, gScore[n.Voxel] + Heuristic(n.Voxel, goal.GetVoxel()));
}
if(numExpansions >= maxExpansions)
{
return false;
}
}
toReturn = null;
return false;
}
public List<Creature.MoveAction> GetMoveActions(Voxel voxel)
{
List<Creature.MoveAction> toReturn = new List<Creature.MoveAction>();
CollisionManager objectHash = PlayState.ComponentManager.CollisionManager;
Voxel[,,] neighborHood = GetNeighborhood(voxel);
int x = (int)voxel.GridPosition.X;
int y = (int)voxel.GridPosition.Y;
int z = (int)voxel.GridPosition.Z;
bool inWater = (neighborHood[1, 1, 1] != null && neighborHood[1, 1, 1].WaterLevel > 5);
bool standingOnGround = (neighborHood[1, 0, 1] != null && !neighborHood[1, 0, 1].IsEmpty);
bool topCovered = (neighborHood[1, 2, 1] != null && !neighborHood[1, 2, 1].IsEmpty);
bool hasNeighbors = HasNeighbors(neighborHood);
List<Creature.MoveAction> successors = new List<Creature.MoveAction>();
//Climbing ladders
IEnumerable<IBoundedObject> objectsInside =
objectHash.Hashes[CollisionManager.CollisionType.Static].GetItems(
new Point3(MathFunctions.FloorInt(voxel.Position.X),
MathFunctions.FloorInt(voxel.Position.Y),
MathFunctions.FloorInt(voxel.Position.Z)));
bool blockedByObject = false;
if (objectsInside != null)
{
var bodies = objectsInside.OfType<GameComponent>();
var enumerable = bodies as IList<GameComponent> ?? bodies.ToList();
// TODO: This is supposed to be done when the door is a NEIGHBOR of this voxel only!!
foreach (GameComponent body in enumerable)
{
Door door = body.GetRootComponent().GetChildrenOfType<Door>(true).FirstOrDefault();
if (door != null)
{
if (
PlayState.Diplomacy.GetPolitics(door.TeamFaction, Creature.Faction).GetCurrentRelationship() ==
Relationship.Hateful)
{
if (IsEmpty(neighborHood[0, 1, 1]))
// +- x
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 1),
MoveType = Creature.MoveType.DestroyObject,
InteractObject = door,
Voxel = neighborHood[0, 1, 1]
});
if (IsEmpty(neighborHood[2, 1, 1]))
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 1),
MoveType = Creature.MoveType.DestroyObject,
InteractObject = door,
Voxel = neighborHood[2, 1, 1]
});
if (IsEmpty(neighborHood[1, 1, 0]))
// +- z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 1, 0),
MoveType = Creature.MoveType.DestroyObject,
InteractObject = door,
Voxel = neighborHood[1, 1, 0]
});
if (IsEmpty(neighborHood[1, 1, 2]))
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 1, 2),
MoveType = Creature.MoveType.DestroyObject,
InteractObject = door,
Voxel = neighborHood[1, 1, 2]
});
blockedByObject = true;
}
}
}
if (blockedByObject)
{
return successors;
}
if (CanClimb)
{
bool hasLadder = enumerable.Any(component => component.Tags.Contains("Climbable"));
if (hasLadder)
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 2, 1),
MoveType = Creature.MoveType.Climb
});
if (!standingOnGround)
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 0, 1),
MoveType = Creature.MoveType.Climb
});
}
standingOnGround = true;
}
}
}
if (standingOnGround || (CanSwim && inWater))
{
Creature.MoveType moveType = inWater ? Creature.MoveType.Swim : Creature.MoveType.Walk;
if (IsEmpty(neighborHood[0, 1, 1]))
// +- x
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 1),
MoveType = moveType
});
if (IsEmpty(neighborHood[2, 1, 1]))
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 1),
MoveType = moveType
});
if (IsEmpty(neighborHood[1, 1, 0]))
// +- z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 1, 0),
MoveType = moveType
});
if (IsEmpty(neighborHood[1, 1, 2]))
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 1, 2),
MoveType = moveType
});
if (!hasNeighbors)
{
if (IsEmpty(neighborHood[2, 1, 2]))
// +x + z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 2),
MoveType = moveType
});
if (IsEmpty(neighborHood[2, 1, 0]))
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 0),
MoveType = moveType
});
if (IsEmpty(neighborHood[0, 1, 2]))
// -x -z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 2),
MoveType = moveType
});
if (IsEmpty(neighborHood[0, 1, 0]))
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 0),
MoveType = moveType
});
}
}
if (!topCovered && (standingOnGround || (CanSwim && inWater)))
{
for (int dx = 0; dx <= 2; dx++)
{
for (int dz = 0; dz <= 2; dz++)
{
if (dx == 1 && dz == 1) continue;
if (!IsEmpty(neighborHood[dx, 1, dz]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(dx, 2, dz),
MoveType = Creature.MoveType.Jump
});
}
}
}
}
// Falling
if (!inWater && !standingOnGround)
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 0, 1),
MoveType = Creature.MoveType.Fall
});
}
if (CanFly)
{
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 (IsEmpty(neighborHood[dx, 1, dz]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(dx, dy, dz),
MoveType = Creature.MoveType.Fly
});
}
}
}
}
}
foreach (Creature.MoveAction v in successors)
{
Voxel n = neighborHood[(int)v.Diff.X, (int)v.Diff.Y, (int)v.Diff.Z];
if (n != null && (n.IsEmpty || n.WaterLevel > 0))
{
Creature.MoveAction newAction = v;
newAction.Voxel = n;
toReturn.Add(newAction);
}
}
return toReturn;
}
private static bool Path(CreatureMovement mover, Voxel start, GoalRegion goal, ChunkManager chunks, int maxExpansions, ref List <Creature.MoveAction> toReturn, bool reverse, float weight)
{
if (!goal.IsPossible())
{
toReturn = null;
return(false);
}
HashSet <Voxel> closedSet = new HashSet <Voxel>();
HashSet <Voxel> openSet = new HashSet <Voxel>
{
start
};
Dictionary <Voxel, Creature.MoveAction> cameFrom = new Dictionary <Voxel, Creature.MoveAction>();
Dictionary <Voxel, float> gScore = new Dictionary <Voxel, float>();
PriorityQueue <Voxel> fScore = new PriorityQueue <Voxel>();
gScore[start] = 0.0f;
fScore.Enqueue(start, gScore[start] + weight * goal.Heuristic(start));
int numExpansions = 0;
List <Voxel> manhattanNeighbors = new List <Voxel>(6);
for (int i = 0; i < 6; i++)
{
manhattanNeighbors.Add(new Voxel());
}
while (openSet.Count > 0 && numExpansions < maxExpansions)
{
Voxel current = GetVoxelWithMinimumFScore(fScore, openSet);
if (current == null)
{
current = start;
numExpansions++;
}
numExpansions++;
if (goal.IsInGoalRegion(current))
{
Creature.MoveAction first = new Creature.MoveAction()
{
Voxel = current,
MoveType = Creature.MoveType.Walk
};
toReturn = ReconstructPath(cameFrom, first);
return(true);
}
openSet.Remove(current);
closedSet.Add(current);
VoxelChunk currentChunk = chunks.ChunkData.ChunkMap[current.ChunkID];
List <Creature.MoveAction> neighbors = null;
neighbors = mover.GetMoveActions(current);
currentChunk.GetNeighborsManhattan(current, manhattanNeighbors);
if (manhattanNeighbors.Contains(goal.GetVoxel()))
{
Creature.MoveAction first = new Creature.MoveAction()
{
Voxel = current,
MoveType = Creature.MoveType.Walk
};
Creature.MoveAction last = new Creature.MoveAction()
{
Voxel = goal.GetVoxel(),
MoveType = Creature.MoveType.Walk
};
List <Creature.MoveAction> subPath = ReconstructPath(cameFrom, first);
subPath.Add(last);
toReturn = subPath;
return(true);
}
foreach (Creature.MoveAction n in neighbors)
{
if (closedSet.Contains(n.Voxel))
{
continue;
}
float tenativeGScore = gScore[current] + GetDistance(current, n.Voxel, n.MoveType, chunks);
if (openSet.Contains(n.Voxel) && !(tenativeGScore < gScore[n.Voxel]))
{
continue;
}
openSet.Add(n.Voxel);
Creature.MoveAction cameAction = n;
cameAction.Voxel = current;
cameFrom[n.Voxel] = cameAction;
gScore[n.Voxel] = tenativeGScore;
fScore.Enqueue(n.Voxel, gScore[n.Voxel] + weight * goal.Heuristic(n.Voxel));
}
if (numExpansions >= maxExpansions)
{
return(false);
}
}
toReturn = null;
return(false);
}
public static List <Creature.MoveAction> ReconstructPath(Dictionary <Voxel, Creature.MoveAction> cameFrom, Creature.MoveAction currentNode)
{
List <Creature.MoveAction> toReturn = new List <Creature.MoveAction>();
if (cameFrom.ContainsKey(currentNode.Voxel))
{
toReturn.AddRange(ReconstructPath(cameFrom, cameFrom[currentNode.Voxel]));
toReturn.Add(currentNode);
return(toReturn);
}
else
{
toReturn.Add(currentNode);
return(toReturn);
}
}
public IEnumerable <Status> AvoidTarget(float range, float time)
{
if (Target == null)
{
yield return(Status.Fail);
yield break;
}
Timer avoidTimer = new Timer(time, true, Timer.TimerMode.Game);
while (true)
{
avoidTimer.Update(DwarfTime.LastTime);
if (avoidTimer.HasTriggered)
{
yield return(Status.Success);
}
float dist = (Target.Position - Agent.Position).Length();
if (dist > range)
{
yield return(Status.Success);
yield break;
}
List <Creature.MoveAction> neighbors = Agent.Movement.GetMoveActions(Agent.Position);
neighbors.Sort((a, b) =>
{
if (a.Equals(b))
{
return(0);
}
float da = (a.Voxel.Position - Target.Position).LengthSquared();
float db = (b.Voxel.Position - Target.Position).LengthSquared();
return(da.CompareTo(db));
});
neighbors.RemoveAll(
a => a.MoveType == Creature.MoveType.Jump || a.MoveType == Creature.MoveType.Climb);
if (neighbors.Count == 0)
{
yield return(Status.Fail);
yield break;
}
Creature.MoveAction furthest = neighbors.Last();
bool reachedTarget = false;
Timer timeout = new Timer(2.0f, true);
while (!reachedTarget)
{
Vector3 output = Creature.Controller.GetOutput(DwarfTime.Dt, furthest.Voxel.Position + Vector3.One * 0.5f,
Agent.Position);
Creature.Physics.ApplyForce(output, DwarfTime.Dt);
if (Creature.AI.Movement.CanFly)
{
Creature.Physics.ApplyForce(Vector3.Up * 10, DwarfTime.Dt);
}
timeout.Update(DwarfTime.LastTime);
yield return(Status.Running);
if (timeout.HasTriggered || (furthest.Voxel.Position - Agent.Position).Length() < 1)
{
reachedTarget = true;
}
Agent.Creature.CurrentCharacterMode = Creature.CharacterMode.Walking;
}
yield return(Status.Success);
yield break;
}
}
public List <Creature.MoveAction> GetMoveActions(Voxel voxel)
{
List <Creature.MoveAction> toReturn = new List <Creature.MoveAction>();
CollisionManager objectHash = PlayState.ComponentManager.CollisionManager;
Voxel[,,] neighborHood = GetNeighborhood(voxel);
int x = (int)voxel.GridPosition.X;
int y = (int)voxel.GridPosition.Y;
int z = (int)voxel.GridPosition.Z;
bool inWater = (neighborHood[1, 1, 1] != null && neighborHood[1, 1, 1].WaterLevel > 5);
bool standingOnGround = (neighborHood[1, 0, 1] != null && !neighborHood[1, 0, 1].IsEmpty);
bool topCovered = (neighborHood[1, 2, 1] != null && !neighborHood[1, 2, 1].IsEmpty);
bool hasNeighbors = HasNeighbors(neighborHood);
List <Creature.MoveAction> successors = new List <Creature.MoveAction>();
//Climbing ladders
List <IBoundedObject> bodiesInside =
objectHash.Hashes[CollisionManager.CollisionType.Static].GetItems(
new Point3(MathFunctions.FloorInt(voxel.Position.X),
MathFunctions.FloorInt(voxel.Position.Y),
MathFunctions.FloorInt(voxel.Position.Z)));
if (CanClimb && bodiesInside != null)
{
bool hasLadder =
bodiesInside.OfType <GameComponent>()
.Any(component => component.Tags.Contains("Climbable"));
if (hasLadder)
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 2, 1),
MoveType = Creature.MoveType.Climb
});
if (!standingOnGround)
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 0, 1),
MoveType = Creature.MoveType.Climb
});
}
standingOnGround = true;
}
}
if (standingOnGround || (CanSwim && inWater))
{
Creature.MoveType moveType = inWater ? Creature.MoveType.Swim : Creature.MoveType.Walk;
if (IsEmpty(neighborHood[0, 1, 1]))
{
// +- x
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 1),
MoveType = moveType
});
}
if (IsEmpty(neighborHood[2, 1, 1]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 1),
MoveType = moveType
});
}
if (IsEmpty(neighborHood[1, 1, 0]))
{
// +- z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 1, 0),
MoveType = moveType
});
}
if (IsEmpty(neighborHood[1, 1, 2]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 1, 2),
MoveType = moveType
});
}
if (!hasNeighbors)
{
if (IsEmpty(neighborHood[2, 1, 2]))
{
// +x + z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 2),
MoveType = moveType
});
}
if (IsEmpty(neighborHood[2, 1, 0]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(2, 1, 0),
MoveType = moveType
});
}
if (IsEmpty(neighborHood[0, 1, 2]))
{
// -x -z
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 2),
MoveType = moveType
});
}
if (IsEmpty(neighborHood[0, 1, 0]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(0, 1, 0),
MoveType = moveType
});
}
}
}
if (!topCovered && (standingOnGround || (CanSwim && inWater)))
{
for (int dx = 0; dx <= 2; dx++)
{
for (int dz = 0; dz <= 2; dz++)
{
if (dx == 1 && dz == 1)
{
continue;
}
if (!IsEmpty(neighborHood[dx, 1, dz]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(dx, 2, dz),
MoveType = Creature.MoveType.Jump
});
}
}
}
}
// Falling
if (!inWater && !standingOnGround)
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(1, 0, 1),
MoveType = Creature.MoveType.Fall
});
}
if (CanFly)
{
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 (IsEmpty(neighborHood[dx, 1, dz]))
{
successors.Add(new Creature.MoveAction()
{
Diff = new Vector3(dx, dy, dz),
MoveType = Creature.MoveType.Fly
});
}
}
}
}
}
foreach (Creature.MoveAction v in successors)
{
Voxel n = neighborHood[(int)v.Diff.X, (int)v.Diff.Y, (int)v.Diff.Z];
if (n != null && (n.IsEmpty || n.WaterLevel > 0))
{
Creature.MoveAction newAction = v;
newAction.Voxel = n;
toReturn.Add(newAction);
}
}
return(toReturn);
}
