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);
}
/// <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="start">The voxel that the agent starts in.</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>
/// <returns>True if a path could be found, or false otherwise.</returns>
private static bool Path(CreatureMovement mover, Voxel start, GoalRegion goal, ChunkManager chunks,
int maxExpansions, ref List <Creature.MoveAction> toReturn, float weight)
{
// 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(false);
}
// Voxels that have already been explored.
var closedSet = new HashSet <Voxel>();
// Voxels which should be explored.
var openSet = new HashSet <Voxel>
{
start
};
// Dictionary of voxels to the optimal action that got the mover to that voxel.
var cameFrom = new Dictionary <Voxel, Creature.MoveAction>();
// Optimal score of a voxel based on the path it took to get there.
var gScore = new Dictionary <Voxel, float>();
// Expansion priority of voxels.
var fScore = new PriorityQueue <Voxel>();
// Starting conditions of the search.
gScore[start] = 0.0f;
fScore.Enqueue(start, gScore[start] + weight * goal.Heuristic(start));
// 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 <Voxel>(6);
for (int i = 0; i < 6; i++)
{
manhattanNeighbors.Add(new Voxel());
}
// Loop until we've either checked every possible voxel, or we've exceeded the maximum number of
// expansions.
while (openSet.Count > 0 && numExpansions < maxExpansions)
{
// Check the next voxel to explore.
Voxel current = GetVoxelWithMinimumFScore(fScore);
if (current == null)
{
// If there wasn't a voxel to explore, just try to expand from
// the start again.
current = start;
numExpansions++;
}
numExpansions++;
// If we've reached the goal already, reconstruct the path from the start to the
// goal.
if (goal.IsInGoalRegion(current))
{
// Assume that the last action in the path involves walking to the goal.
var first = new Creature.MoveAction
{
Voxel = current,
MoveType = Creature.MoveType.Walk
};
toReturn = ReconstructPath(cameFrom, first);
return(true);
}
// We've already considered the voxel, so add it to the closed set.
openSet.Remove(current);
closedSet.Add(current);
VoxelChunk currentChunk = chunks.ChunkData.ChunkMap[current.ChunkID];
List <Creature.MoveAction> neighbors = null;
// Get the voxels that can be moved to from the current voxel.
neighbors = mover.GetMoveActions(current);
currentChunk.GetNeighborsManhattan(current, manhattanNeighbors);
// 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 (manhattanNeighbors.Contains(goal.GetVoxel()))
{
var first = new Creature.MoveAction
{
Voxel = current,
MoveType = Creature.MoveType.Walk
};
var 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);
}
// 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 (Creature.MoveAction n in neighbors)
{
// If we've already explored that voxel, don't explore it again.
if (closedSet.Contains(n.Voxel))
{
continue;
}
// Otherwise, consider the case of moving to that neighbor.
float tenativeGScore = gScore[current] + GetDistance(current, n.Voxel, n.MoveType, mover);
// IF the neighbor can already be reached more efficiently, ignore it.
if (openSet.Contains(n.Voxel) && !(tenativeGScore < gScore[n.Voxel]))
{
continue;
}
// Otherwise, add it to the list of voxels for consideration.
openSet.Add(n.Voxel);
// Add an edge to the voxel from the current voxel.
Creature.MoveAction cameAction = n;
cameAction.Voxel = current;
cameFrom[n.Voxel] = cameAction;
// Update the expansion scores for the next voxel.
gScore[n.Voxel] = tenativeGScore;
fScore.Enqueue(n.Voxel, gScore[n.Voxel] + weight * goal.Heuristic(n.Voxel));
}
// If we've expanded too many voxels, just give up.
if (numExpansions >= maxExpansions)
{
return(false);
}
}
// Somehow we've reached this code without having found a path. Return false.
toReturn = null;
return(false);
}
public void GenerateCaves(VoxelChunk chunk)
{
Vector3 origin = chunk.Origin;
int chunkSizeX = chunk.SizeX;
int chunkSizeY = chunk.SizeY;
int chunkSizeZ = chunk.SizeZ;
BiomeData biome = BiomeLibrary.Biomes[Overworld.Biome.Cave];
List <Voxel> neighbors = new List <Voxel>();
Voxel vUnder = chunk.MakeVoxel(0, 0, 0);
for (int x = 0; x < chunkSizeX; x++)
{
for (int z = 0; z < chunkSizeZ; z++)
{
int h = chunk.GetFilledVoxelGridHeightAt(x, chunk.SizeY - 1, z);
for (int i = 0; i < CaveLevels.Count; i++)
{
int y = CaveLevels[i];
if (y <= 0 || y >= h - 1)
{
continue;
}
Vector3 vec = new Vector3(x, y, z) + chunk.Origin;
double caveNoise = CaveNoise.GetValue((x + origin.X) * CaveNoiseScale * CaveFrequencies[i],
(y + origin.Y) * CaveNoiseScale * 3.0f, (z + origin.Z) * CaveNoiseScale * CaveFrequencies[i]);
double heightnoise = NoiseGenerator.Noise((x + origin.X) * NoiseScale * CaveFrequencies[i],
(y + origin.Y) * NoiseScale * 3.0f, (z + origin.Z) * NoiseScale * CaveFrequencies[i]);
int caveHeight = Math.Min(Math.Max((int)(heightnoise * 5), 1), 3);
if (caveNoise > CaveSize)
{
bool waterFound = false;
for (int dy = 0; dy < caveHeight; dy++)
{
int index = chunk.Data.IndexAt(x, y - dy, z);
chunk.GetNeighborsManhattan(x, y - dy, z, neighbors);
if (neighbors.Any(v => v.WaterLevel > 0))
{
waterFound = true;
}
if (waterFound)
{
break;
}
chunk.Data.Types[index] = 0;
}
if (!waterFound && caveNoise > CaveSize * 1.8f && y - caveHeight > 0)
{
int indexunder = chunk.Data.IndexAt(x, y - caveHeight, z);
chunk.Data.Types[indexunder] = (byte)VoxelLibrary.GetVoxelType(biome.GrassVoxel).ID;
chunk.Data.Health[indexunder] = (byte)VoxelLibrary.GetVoxelType(biome.GrassVoxel).StartingHealth;
chunk.Data.IsExplored[indexunder] = false;
foreach (VegetationData veg in biome.Vegetation)
{
if (!MathFunctions.RandEvent(veg.SpawnProbability))
{
continue;
}
if (NoiseGenerator.Noise(vec.X / veg.ClumpSize, veg.NoiseOffset, vec.Y / veg.ClumpSize) < veg.ClumpThreshold)
{
continue;
}
vUnder.GridPosition = new Vector3(x, y - 1, z);
if (!vUnder.IsEmpty && vUnder.TypeName == biome.GrassVoxel)
{
vUnder.Type = VoxelLibrary.GetVoxelType(biome.SoilVoxel);
float offset = veg.VerticalOffset;
if (vUnder.RampType != RampType.None)
{
offset -= 0.25f;
}
float treeSize = MathFunctions.Rand() * veg.SizeVariance + veg.MeanSize;
GameComponent entity = EntityFactory.CreateEntity <GameComponent>(veg.Name, chunk.Origin + new Vector3(x, y, z) + new Vector3(0, treeSize * offset, 0), Blackboard.Create("Scale", treeSize));
entity.GetRootComponent().SetActiveRecursive(false);
entity.GetRootComponent().SetVisibleRecursive(false);
if (GameSettings.Default.FogofWar)
{
ExploredListener listener = new ExploredListener(
PlayState.ComponentManager, entity, PlayState.ChunkManager, vUnder);
}
}
}
}
foreach (FaunaData animal in biome.Fauna)
{
if (y <= 0 || !(PlayState.Random.NextDouble() < animal.SpawnProbability))
{
continue;
}
var entity = EntityFactory.CreateEntity <GameComponent>(animal.Name, chunk.Origin + new Vector3(x, y, z) + Vector3.Up * 1.0f);
entity.GetRootComponent().SetActiveRecursive(false);
entity.GetRootComponent().SetVisibleRecursive(false);
if (GameSettings.Default.FogofWar)
{
ExploredListener listener = new ExploredListener(PlayState.ComponentManager, entity,
PlayState.ChunkManager, chunk.MakeVoxel(x, y, z));
}
break;
}
}
}
}
}
}