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vcmi/AI/Nullkiller/Pathfinding/AINodeStorage.h

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/*
* AINodeStorage.h, part of VCMI engine
*
* Authors: listed in file AUTHORS in main folder
*
* License: GNU General Public License v2.0 or later
* Full text of license available in license.txt file, in main folder
*
*/
#pragma once
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#define NKAI_PATHFINDER_TRACE_LEVEL 0
#define NKAI_TRACE_LEVEL 2
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#include "../../../lib/pathfinder/CGPathNode.h"
#include "../../../lib/pathfinder/INodeStorage.h"
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#include "../../../lib/mapObjects/CGHeroInstance.h"
#include "../AIUtility.h"
#include "../Engine/FuzzyHelper.h"
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#include "../Goals/AbstractGoal.h"
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#include "Actions/SpecialAction.h"
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#include "Actors.h"
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namespace NKAI
{
namespace AIPathfinding
{
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const int BUCKET_COUNT = 5;
const int BUCKET_SIZE = 3;
const int NUM_CHAINS = BUCKET_COUNT * BUCKET_SIZE;
const int THREAD_COUNT = 8;
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const int CHAIN_MAX_DEPTH = 4;
}
enum DayFlags : ui8
{
NONE = 0,
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FLY_CAST = 1,
WATER_WALK_CAST = 2
};
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struct AIPathNode : public CGPathNode
{
uint64_t danger;
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uint64_t armyLoss;
int16_t manaCost;
DayFlags dayFlags;
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const AIPathNode * chainOther;
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std::shared_ptr<const SpecialAction> specialAction;
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const ChainActor * actor;
STRONG_INLINE
bool blocked() const
{
return accessible == EPathAccessibility::NOT_SET
|| accessible == EPathAccessibility::BLOCKED;
}
void addSpecialAction(std::shared_ptr<const SpecialAction> action);
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};
struct AIPathNodeInfo
{
float cost;
uint8_t turns;
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int3 coord;
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EPathfindingLayer layer;
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uint64_t danger;
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const CGHeroInstance * targetHero;
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int parentIndex;
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uint64_t chainMask;
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std::shared_ptr<const SpecialAction> specialAction;
bool actionIsBlocked;
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};
struct AIPath
{
std::vector<AIPathNodeInfo> nodes;
uint64_t targetObjectDanger;
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uint64_t armyLoss;
uint64_t targetObjectArmyLoss;
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const CGHeroInstance * targetHero;
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const CCreatureSet * heroArmy;
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uint64_t chainMask;
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uint8_t exchangeCount;
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AIPath();
/// Gets danger of path excluding danger of visiting the target object like creature bank
uint64_t getPathDanger() const;
/// Gets danger of path including danger of visiting the target object like creature bank
uint64_t getTotalDanger() const;
/// Gets danger of path including danger of visiting the target object like creature bank
uint64_t getTotalArmyLoss() const;
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int3 firstTileToGet() const;
int3 targetTile() const;
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const AIPathNodeInfo & firstNode() const;
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const AIPathNodeInfo & targetNode() const;
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float movementCost() const;
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uint8_t turn() const;
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uint64_t getHeroStrength() const;
std::string toString() const;
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std::shared_ptr<const SpecialAction> getFirstBlockedAction() const;
bool containsHero(const CGHeroInstance * hero) const;
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};
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struct ExchangeCandidate : public AIPathNode
{
AIPathNode * carrierParent;
AIPathNode * otherParent;
};
enum EHeroChainPass
{
INITIAL, // single heroes unlimited distance
CHAIN, // chains with limited distance
FINAL // same as SINGLE but for heroes from CHAIN pass
};
class AISharedStorage
{
// 1 - layer (air, water, land)
// 2-4 - position on map[z][x][y]
// 5 - chain (normal, battle, spellcast and combinations)
static std::shared_ptr<boost::multi_array<AIPathNode, 5>> shared;
std::shared_ptr<boost::multi_array<AIPathNode, 5>> nodes;
public:
static boost::mutex locker;
AISharedStorage(int3 mapSize);
~AISharedStorage();
STRONG_INLINE
boost::detail::multi_array::sub_array<AIPathNode, 1> get(int3 tile, EPathfindingLayer layer) const
{
return (*nodes)[layer][tile.z][tile.x][tile.y];
}
};
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class AINodeStorage : public INodeStorage
{
private:
int3 sizes;
const CPlayerSpecificInfoCallback * cb;
const Nullkiller * ai;
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std::unique_ptr<FuzzyHelper> dangerEvaluator;
AISharedStorage nodes;
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std::vector<std::shared_ptr<ChainActor>> actors;
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std::vector<CGPathNode *> heroChain;
EHeroChainPass heroChainPass; // true if we need to calculate hero chain
uint64_t chainMask;
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int heroChainTurn;
int heroChainMaxTurns;
PlayerColor playerID;
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uint8_t turnDistanceLimit[2];
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public:
/// more than 1 chain layer for each hero allows us to have more than 1 path to each tile so we can chose more optimal one.
AINodeStorage(const Nullkiller * ai, const int3 & sizes);
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~AINodeStorage();
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void initialize(const PathfinderOptions & options, const CGameState * gs) override;
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bool increaseHeroChainTurnLimit();
bool selectFirstActor();
bool selectNextActor();
std::vector<CGPathNode *> getInitialNodes() override;
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virtual std::vector<CGPathNode *> calculateNeighbours(
const PathNodeInfo & source,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) override;
virtual std::vector<CGPathNode *> calculateTeleportations(
const PathNodeInfo & source,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) override;
void commit(CDestinationNodeInfo & destination, const PathNodeInfo & source) override;
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void commit(
AIPathNode * destination,
const AIPathNode * source,
EPathNodeAction action,
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int turn,
int movementLeft,
float cost,
bool saveToCommited = true) const;
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inline const AIPathNode * getAINode(const CGPathNode * node) const
{
return static_cast<const AIPathNode *>(node);
}
inline void updateAINode(CGPathNode * node, std::function<void (AIPathNode *)> updater)
{
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auto * aiNode = static_cast<AIPathNode *>(node);
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updater(aiNode);
}
inline const CGHeroInstance * getHero(const CGPathNode * node) const
{
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const auto * aiNode = getAINode(node);
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return aiNode->actor->hero;
}
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bool hasBetterChain(const PathNodeInfo & source, CDestinationNodeInfo & destination) const;
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bool isMovementIneficient(const PathNodeInfo & source, CDestinationNodeInfo & destination) const
{
return hasBetterChain(source, destination);
}
bool isDistanceLimitReached(const PathNodeInfo & source, CDestinationNodeInfo & destination) const;
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template<class NodeRange>
bool hasBetterChain(
const CGPathNode * source,
const AIPathNode * destinationNode,
const NodeRange & chains) const;
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std::optional<AIPathNode *> getOrCreateNode(const int3 & coord, const EPathfindingLayer layer, const ChainActor * actor);
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std::vector<AIPath> getChainInfo(const int3 & pos, bool isOnLand) const;
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bool isTileAccessible(const HeroPtr & hero, const int3 & pos, const EPathfindingLayer layer) const;
void setHeroes(std::map<const CGHeroInstance *, HeroRole> heroes);
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void setScoutTurnDistanceLimit(uint8_t distanceLimit) { turnDistanceLimit[HeroRole::SCOUT] = distanceLimit; }
void setMainTurnDistanceLimit(uint8_t distanceLimit) { turnDistanceLimit[HeroRole::MAIN] = distanceLimit; }
void setTownsAndDwellings(
const std::vector<const CGTownInstance *> & towns,
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const std::set<const CGObjectInstance *> & visitableObjs);
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const std::set<const CGHeroInstance *> getAllHeroes() const;
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void clear();
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bool calculateHeroChain();
bool calculateHeroChainFinal();
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inline uint64_t evaluateDanger(const int3 & tile, const CGHeroInstance * hero, bool checkGuards) const
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{
return dangerEvaluator->evaluateDanger(tile, hero, checkGuards);
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}
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inline uint64_t evaluateArmyLoss(const CGHeroInstance * hero, uint64_t armyValue, uint64_t danger) const
{
double ratio = (double)danger / (armyValue * hero->getFightingStrength());
return (uint64_t)(armyValue * ratio * ratio);
}
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STRONG_INLINE
void resetTile(const int3 & tile, EPathfindingLayer layer, EPathAccessibility accessibility);
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STRONG_INLINE int getBucket(const ChainActor * actor) const
{
return ((uintptr_t)actor * 395) % AIPathfinding::BUCKET_COUNT;
}
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void calculateTownPortalTeleportations(std::vector<CGPathNode *> & neighbours);
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void fillChainInfo(const AIPathNode * node, AIPath & path, int parentIndex) const;
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private:
template<class TVector>
void calculateTownPortal(
const ChainActor * actor,
const std::map<const CGHeroInstance *, int> & maskMap,
const std::vector<CGPathNode *> & initialNodes,
TVector & output);
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};
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}