/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
var mobile = self.Trait <Mobile>();
// Determine where to search from and how far to search:
Func <CPos, bool> canHarvest = pos =>
{
var resType = resourceLayer.GetResourceType(pos);
if (resType != null && string.Compare(resType.Info.Name, Info.TargetResourceType, StringComparison.OrdinalIgnoreCase) == 0)
{
return(true);
}
return(false);
};
// Find any harvestable resources:
List <CPos> path;
using (var search = PathSearch.Search(self.World, mobile.Locomotor, self, BlockedByActor.Stationary, loc =>
domainIndex.IsPassable(self.Location, loc, mobile.Locomotor) && canHarvest(loc) && claimLayer.CanClaimCell(self, loc))
.FromPoint(self.Location))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
public override Activity Tick(Actor self)
{
if (IsCanceled || NextActivity != null)
{
return(NextActivity);
}
var harv = self.Trait <Harvester>();
if (harv.IsFull)
{
return(Util.SequenceActivities(new DeliverResources(), NextActivity));
}
var harvInfo = self.Info.Traits.Get <HarvesterInfo>();
var mobile = self.Trait <Mobile>();
var mobileInfo = self.Info.Traits.Get <MobileInfo>();
var res = self.World.WorldActor.Trait <ResourceLayer>();
var path = self.World.WorldActor.Trait <PathFinder>().FindPath(PathSearch.Search(self.World, mobileInfo, self.Owner, true)
.WithHeuristic(loc => (res.GetResource(loc) != null && harvInfo.Resources.Contains(res.GetResource(loc).info.Name)) ? 0 : 1)
.FromPoint(self.Location));
if (path.Count == 0)
{
return(NextActivity);
}
self.SetTargetLine(Target.FromCell(path[0]), Color.Red, false);
return(Util.SequenceActivities(mobile.MoveTo(path[0], 1), new HarvestResource(), this));
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
// Harvesters should respect an explicit harvest order instead of harvesting the current cell.
if (orderLocation == null)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
}
else
{
if (harv.CanHarvestCell(self, orderLocation.Value) && claimLayer.CanClaimCell(self, orderLocation.Value))
{
return(orderLocation);
}
orderLocation = null;
}
// Determine where to search from and how far to search:
var searchFromLoc = lastHarvestedCell ?? GetSearchFromLocation(self);
var searchRadius = lastHarvestedCell.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
// Find any harvestable resources:
List <CPos> path;
using (var search = PathSearch.Search(self.World, locomotorInfo, self, true, loc =>
domainIndex.IsPassable(self.Location, loc, locomotorInfo) && harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((loc - searchFromLoc).LengthSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
return(0);
})
.FromPoint(searchFromLoc)
.FromPoint(self.Location))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
static CPos?FindNextResourceForBot(Actor self)
{
// NOTE: This is only used for the AI to find the next available resource to harvest.
var harvInfo = self.Info.Traits.Get <HarvesterInfo>();
var mobileInfo = self.Info.Traits.Get <MobileInfo>();
var resLayer = self.World.WorldActor.Trait <ResourceLayer>();
var territory = self.World.WorldActor.TraitOrDefault <ResourceClaimLayer>();
// Find any harvestable resources:
var path = self.World.WorldActor.Trait <PathFinder>().FindPath(
PathSearch.Search(self.World, mobileInfo, self, true)
.WithHeuristic(loc =>
{
// Get the resource at this location:
var resType = resLayer.GetResource(loc);
if (resType == null)
{
return(1);
}
// Can the harvester collect this kind of resource?
if (!harvInfo.Resources.Contains(resType.Info.Name))
{
return(1);
}
// Another harvester has claimed this resource:
if (territory != null)
{
ResourceClaim claim;
if (territory.IsClaimedByAnyoneElse(self, loc, out claim))
{
return(1);
}
}
return(0);
})
.FromPoint(self.Location)
);
if (path.Count == 0)
{
return((CPos?)null);
}
return(path[0]);
}
/// <summary>
/// Using LastOrderLocation and self.Location as starting points,
/// perform A* search to find the nearest accessible and harvestable cell.
/// </summary>
CPos?ClosestHarvestablePos(Actor self, int searchRadius)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
// Determine where to search from and how far to search:
var searchFromLoc = harv.LastOrderLocation ?? self.Location;
var searchRadiusSquared = searchRadius * searchRadius;
BaseSpawnerSlaveEntry choosenSlave = null;
var slaves = harv.GetSlaves();
if (slaves.Length > 0)
{
choosenSlave = slaves[0];
var mobile = choosenSlave.Actor.Trait <Mobile>();
var mobileInfo = choosenSlave.Actor.Info.TraitInfo <MobileInfo>();
// Find any harvestable resources:
// var passable = (uint)mobileInfo.GetMovementClass(self.World.Map.Rules.TileSet);
List <CPos> path;
using (var search = PathSearch.Search(self.World, mobile.Locomotor, self, true,
loc => domainIndex.IsPassable(self.Location, loc, mobileInfo.LocomotorInfo) &&
harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((avoidCell.HasValue && loc == avoidCell.Value) ||
(loc - self.Location).LengthSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
return(0);
})
.FromPoint(self.Location)
.FromPoint(searchFromLoc))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
}
return(null);
}
Target FindNextResource(Actor actor, HarvesterTraitWrapper harv)
{
Func <CPos, bool> isValidResource = cell =>
domainIndex.IsPassable(actor.Location, cell, harv.Locomotor) &&
harv.Harvester.CanHarvestCell(actor, cell) &&
claimLayer.CanClaimCell(actor, cell);
var path = pathfinder.FindPath(
PathSearch.Search(world, harv.Locomotor, actor, BlockedByActor.Stationary, isValidResource)
.WithCustomCost(loc => world.FindActorsInCircle(world.Map.CenterOfCell(loc), Info.HarvesterEnemyAvoidanceRadius)
.Where(u => !u.IsDead && actor.Owner.RelationshipWith(u.Owner) == PlayerRelationship.Enemy)
.Sum(u => Math.Max(WDist.Zero.Length, Info.HarvesterEnemyAvoidanceRadius.Length - (world.Map.CenterOfCell(loc) - u.CenterPosition).Length)))
.FromPoint(actor.Location));
if (path.Count == 0)
{
return(Target.Invalid);
}
return(Target.FromCell(world, path[0]));
}
CPos FindNextResource(Actor harvester)
{
var harvInfo = harvester.Info.TraitInfo <HarvesterInfo>();
var mobileInfo = harvester.Info.TraitInfo <MobileInfo>();
var passable = (uint)mobileInfo.GetMovementClass(World.Map.Rules.TileSet);
var path = pathfinder.FindPath(
PathSearch.Search(World, mobileInfo, harvester, true,
loc => domainIndex.IsPassable(harvester.Location, loc, passable) && harvester.CanHarvestAt(loc, resLayer, harvInfo, territory))
.WithCustomCost(loc => World.FindActorsInCircle(World.Map.CenterOfCell(loc), Info.HarvesterEnemyAvoidanceRadius)
.Where(u => !u.IsDead && harvester.Owner.Stances[u.Owner] == Stance.Enemy)
.Sum(u => Math.Max(WDist.Zero.Length, Info.HarvesterEnemyAvoidanceRadius.Length - (World.Map.CenterOfCell(loc) - u.CenterPosition).Length)))
.FromPoint(harvester.Location));
if (path.Count == 0)
{
return(CPos.Zero);
}
return(path[0]);
}
CPos FindNextResource(Actor actor, Harvester harv)
{
var mobileInfo = actor.Info.TraitInfo <MobileInfo>();
var passable = (uint)mobileInfo.GetMovementClass(World.Map.Rules.TileSet);
Func <CPos, bool> isValidResource = cell =>
domainIndex.IsPassable(actor.Location, cell, mobileInfo, passable) &&
harv.CanHarvestCell(actor, cell) &&
claimLayer.CanClaimCell(actor, cell);
var path = pathfinder.FindPath(
PathSearch.Search(World, mobileInfo, actor, true, isValidResource)
.WithCustomCost(loc => World.FindActorsInCircle(World.Map.CenterOfCell(loc), Info.HarvesterEnemyAvoidanceRadius)
.Where(u => !u.IsDead && actor.Owner.Stances[u.Owner] == Stance.Enemy)
.Sum(u => Math.Max(WDist.Zero.Length, Info.HarvesterEnemyAvoidanceRadius.Length - (World.Map.CenterOfCell(loc) - u.CenterPosition).Length))).FromPoint(actor.Location));
if (path.Count == 0)
{
return(CPos.Zero);
}
return(path[0]);
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
// Determine where to search from and how far to search:
var searchFromLoc = GetSearchFromLocation(self);
var searchRadius = harv.LastOrderLocation.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
// Find any harvestable resources:
var passable = (uint)mobileInfo.GetMovementClass(self.World.Map.Rules.TileSet);
List <CPos> path;
using (var search = PathSearch.Search(self.World, mobileInfo, self, true, loc =>
domainIndex.IsPassable(self.Location, loc, mobileInfo, passable) && harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((avoidCell.HasValue && loc == avoidCell.Value) ||
(loc - self.Location).LengthSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
return(0);
})
.FromPoint(self.Location)
.FromPoint(searchFromLoc))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
if (IsHarvestable(self, self.Location))
{
return(self.Location);
}
// Determine where to search from and how far to search:
var searchFromLoc = harv.LastOrderLocation ?? (harv.LastLinkedProc ?? harv.LinkedProc ?? self).Location;
var searchRadius = harv.LastOrderLocation.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
var search = PathSearch.Search(self.World, mobileInfo, self, true,
loc => IsHarvestable(self, loc))
.WithCustomCost(loc =>
{
if ((avoidCell.HasValue && loc == avoidCell.Value) ||
(loc - self.Location).LengthSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
return(0);
})
.FromPoint(self.Location)
.FromPoint(searchFromLoc);
// Find any harvestable resources:
var path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
CPos?ClosestGroundCell()
{
var above = new CPos(TopLeft.X, TopLeft.Y);
if (CanEnterCell(above))
{
return(above);
}
var pathFinder = self.World.WorldActor.Trait <IPathFinder>();
List <CPos> path;
using (var search = PathSearch.Search(self.World, Info, self, true,
loc => loc.Layer == 0 && CanEnterCell(loc))
.FromPoint(self.Location))
path = pathFinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
Target FindNextResource(Actor actor, MinerTraitWrapper miner)
{
var towerInfo = AIUtils.GetInfoByCommonName(Info.DeployedActorTypes, player);
var buildingInfo = towerInfo.TraitInfo <BuildingInfo>();
Func <CPos, bool> isValidResource = cell =>
domainIndex.IsPassable(actor.Location, cell, miner.Locomotor.Info) &&
Info.DeployableTerrainTypes.Contains(world.Map.GetTerrainInfo(cell).Type) &&
miner.Locomotor.CanStayInCell(cell) &&
world.CanPlaceBuilding(cell + miner.Transforms.Info.Offset, towerInfo, buildingInfo, actor);
var path = pathfinder.FindPath(
PathSearch.Search(world, miner.Locomotor, actor, BlockedByActor.Stationary, isValidResource)
.WithCustomCost(loc => world.FindActorsInCircle(world.Map.CenterOfCell(loc), Info.EnemyAvoidanceRadius)
.Where(u => !u.IsDead && actor.Owner.Stances[u.Owner] == Stance.Enemy)
.Sum(u => Math.Max(WDist.Zero.Length, Info.EnemyAvoidanceRadius.Length - (world.Map.CenterOfCell(loc) - u.CenterPosition).Length)))
.FromPoint(actor.Location));
if (path.Count == 0)
{
return(Target.Invalid);
}
return(Target.FromCell(world, path[0]));
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos?ClosestHarvestablePos(Actor self)
{
// Harvesters should respect an explicit harvest order instead of harvesting the current cell.
if (orderLocation == null)
{
if (harv.CanHarvestCell(self, self.Location) && claimLayer.CanClaimCell(self, self.Location))
{
return(self.Location);
}
}
else
{
if (harv.CanHarvestCell(self, orderLocation.Value) && claimLayer.CanClaimCell(self, orderLocation.Value))
{
return(orderLocation);
}
orderLocation = null;
}
// Determine where to search from and how far to search:
var procLoc = GetSearchFromProcLocation(self);
var searchFromLoc = lastHarvestedCell ?? procLoc ?? self.Location;
var searchRadius = lastHarvestedCell.HasValue ? harvInfo.SearchFromHarvesterRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
var map = self.World.Map;
var procPos = procLoc.HasValue ? (WPos?)map.CenterOfCell(procLoc.Value) : null;
var harvPos = self.CenterPosition;
// Find any harvestable resources:
List <CPos> path;
using (var search = PathSearch.Search(self.World, mobile.Locomotor, self, BlockedByActor.Stationary, loc =>
domainIndex.IsPassable(self.Location, loc, mobile.Locomotor) && harv.CanHarvestCell(self, loc) && claimLayer.CanClaimCell(self, loc))
.WithCustomCost(loc =>
{
if ((loc - searchFromLoc).LengthSquared > searchRadiusSquared)
{
return(PathGraph.PathCostForInvalidPath);
}
// Add a cost modifier to harvestable cells to prefer resources that are closer to the refinery.
// This reduces the tendency for harvesters to move in straight lines
if (procPos.HasValue && harvInfo.ResourceRefineryDirectionPenalty > 0 && harv.CanHarvestCell(self, loc))
{
var pos = map.CenterOfCell(loc);
// Calculate harv-cell-refinery angle (cosine rule)
var b = pos - procPos.Value;
if (b != WVec.Zero)
{
var c = pos - harvPos;
if (c != WVec.Zero)
{
var a = harvPos - procPos.Value;
var cosA = (int)(512 * (b.LengthSquared + c.LengthSquared - a.LengthSquared) / b.Length / c.Length);
// Cost modifier varies between 0 and ResourceRefineryDirectionPenalty
return(Math.Abs(harvInfo.ResourceRefineryDirectionPenalty / 2) + harvInfo.ResourceRefineryDirectionPenalty * cosA / 2048);
}
}
}
return(0);
})
.FromPoint(searchFromLoc)
.FromPoint(self.Location))
path = mobile.Pathfinder.FindPath(search);
if (path.Count > 0)
{
return(path[0]);
}
return(null);
}
public override Activity Tick(Actor self)
{
if (IsCanceled || NextActivity != null)
{
return(NextActivity);
}
var harv = self.Trait <Harvester>();
if (harv.IsFull)
{
return(Util.SequenceActivities(new DeliverResources(), NextActivity));
}
var harvInfo = self.Info.Traits.Get <HarvesterInfo>();
var mobile = self.Trait <Mobile>();
var mobileInfo = self.Info.Traits.Get <MobileInfo>();
var resLayer = self.World.WorldActor.Trait <ResourceLayer>();
var territory = self.World.WorldActor.TraitOrDefault <ResourceClaimLayer>();
// Determine where to search from and how far to search:
var searchFromLoc = harv.LastOrderLocation ?? (harv.LastLinkedProc ?? harv.LinkedProc ?? self).Location;
int searchRadius = harv.LastOrderLocation.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
int searchRadiusSquared = searchRadius * searchRadius;
// Find harvestable resources nearby:
// Avoid enemy territory:
// TODO: calculate weapons ranges of units and factor those in instead of hard-coding 8.
var path = self.World.WorldActor.Trait <PathFinder>().FindPath(
PathSearch.Search(self.World, mobileInfo, self, true)
.WithCustomCost(loc => self.World.FindActorsInCircle(loc.CenterPosition, WRange.FromCells(8))
.Where(u => !u.Destroyed && self.Owner.Stances[u.Owner] == Stance.Enemy)
.Sum(u => Math.Max(0, 64 - (loc - u.Location).LengthSquared)))
.WithHeuristic(loc =>
{
// Avoid this cell:
if (avoidCell.HasValue && loc == avoidCell.Value)
{
return(1);
}
// Don't harvest out of range:
int distSquared = (loc - searchFromLoc).LengthSquared;
if (distSquared > searchRadiusSquared)
{
return(int.MaxValue);
}
// Get the resource at this location:
var resType = resLayer.GetResource(loc);
if (resType == null)
{
return(1);
}
// Can the harvester collect this kind of resource?
if (!harvInfo.Resources.Contains(resType.Info.Name))
{
return(1);
}
if (territory != null)
{
// Another harvester has claimed this resource:
ResourceClaim claim;
if (territory.IsClaimedByAnyoneElse(self, loc, out claim))
{
return(1);
}
}
return(0);
})
.FromPoint(self.Location)
);
if (path.Count == 0)
{
if (!harv.IsEmpty)
{
return(new DeliverResources());
}
else
{
// Get out of the way if we are:
harv.UnblockRefinery(self);
int randFrames = 125 + self.World.SharedRandom.Next(-35, 35);
if (NextActivity != null)
{
return(Util.SequenceActivities(NextActivity, new Wait(randFrames), new FindResources()));
}
else
{
return(Util.SequenceActivities(new Wait(randFrames), new FindResources()));
}
}
}
// Attempt to claim a resource as ours:
if (territory != null)
{
if (!territory.ClaimResource(self, path[0]))
{
return(Util.SequenceActivities(new Wait(25), new FindResources()));
}
}
// If not given a direct order, assume ordered to the first resource location we find:
if (harv.LastOrderLocation == null)
{
harv.LastOrderLocation = path[0];
}
self.SetTargetLine(Target.FromCell(path[0]), Color.Red, false);
return(Util.SequenceActivities(mobile.MoveTo(path[0], 1), new HarvestResource(), new FindResources()));
}
public override Activity Tick(Actor self)
{
if (IsCanceled || NextActivity != null)
{
return(NextActivity);
}
var harv = self.Trait <Harvester>();
if (harv.IsFull)
{
return(Util.SequenceActivities(new DeliverResources(), NextActivity));
}
var harvInfo = self.Info.Traits.Get <HarvesterInfo>();
var mobile = self.Trait <Mobile>();
var mobileInfo = self.Info.Traits.Get <MobileInfo>();
var resLayer = self.World.WorldActor.Trait <ResourceLayer>();
var territory = self.World.WorldActor.TraitOrDefault <ResourceClaimLayer>();
// Determine where to search from and how far to search:
var searchFromLoc = harv.LastOrderLocation ?? (harv.LastLinkedProc ?? harv.LinkedProc ?? self).Location;
var searchRadius = harv.LastOrderLocation.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
// Find harvestable resources nearby:
var path = self.World.WorldActor.Trait <IPathFinder>().FindPath(
PathSearch.Search(self.World, mobileInfo, self, true)
.WithHeuristic(loc =>
{
// Avoid this cell:
if (avoidCell.HasValue && loc == avoidCell.Value)
{
return(EstimateDistance(loc, searchFromLoc) + Constants.CellCost);
}
// Don't harvest out of range:
var distSquared = (loc - searchFromLoc).LengthSquared;
if (distSquared > searchRadiusSquared)
{
return(EstimateDistance(loc, searchFromLoc) + Constants.CellCost * 2);
}
// Get the resource at this location:
var resType = resLayer.GetResource(loc);
if (resType == null)
{
return(EstimateDistance(loc, searchFromLoc) + Constants.CellCost);
}
// Can the harvester collect this kind of resource?
if (!harvInfo.Resources.Contains(resType.Info.Name))
{
return(EstimateDistance(loc, searchFromLoc) + Constants.CellCost);
}
if (territory != null)
{
// Another harvester has claimed this resource:
ResourceClaim claim;
if (territory.IsClaimedByAnyoneElse(self, loc, out claim))
{
return(EstimateDistance(loc, searchFromLoc) + Constants.CellCost);
}
}
return(0);
})
.FromPoint(self.Location));
if (path.Count == 0)
{
if (!harv.IsEmpty)
{
return(new DeliverResources());
}
else
{
// Get out of the way if we are:
harv.UnblockRefinery(self);
var randFrames = 125 + self.World.SharedRandom.Next(-35, 35);
if (NextActivity != null)
{
return(Util.SequenceActivities(NextActivity, new Wait(randFrames), new FindResources()));
}
else
{
return(Util.SequenceActivities(new Wait(randFrames), new FindResources()));
}
}
}
// Attempt to claim a resource as ours:
if (territory != null)
{
if (!territory.ClaimResource(self, path[0]))
{
return(Util.SequenceActivities(new Wait(25), new FindResources()));
}
}
// If not given a direct order, assume ordered to the first resource location we find:
if (harv.LastOrderLocation == null)
{
harv.LastOrderLocation = path[0];
}
self.SetTargetLine(Target.FromCell(self.World, path[0]), Color.Red, false);
var notify = self.TraitsImplementing <INotifyHarvesterAction>();
var next = new FindResources();
foreach (var n in notify)
{
n.MovingToResources(self, path[0], next);
}
return(Util.SequenceActivities(mobile.MoveTo(path[0], 1), new HarvestResource(), new FindResources()));
}