AI pathfinding const api and updatePaths

AI/VCAI/AIhelper.cpp

@@ -123,32 +123,37 @@ TResource AIhelper::allGold() const
 	return resourceManager->allGold();
 }
 
-Goals::TGoalVec AIhelper::howToVisitTile(int3 tile)
+Goals::TGoalVec AIhelper::howToVisitTile(const int3 & tile) const
 {
 	return pathfindingManager->howToVisitTile(tile);
 }
 
-Goals::TGoalVec AIhelper::howToVisitObj(ObjectIdRef obj)
+Goals::TGoalVec AIhelper::howToVisitObj(ObjectIdRef obj) const
 {
 	return pathfindingManager->howToVisitObj(obj);
 }
 
-Goals::TGoalVec AIhelper::howToVisitTile(HeroPtr hero, int3 tile, bool allowGatherArmy)
+Goals::TGoalVec AIhelper::howToVisitTile(const HeroPtr & hero, const int3 & tile, bool allowGatherArmy) const
 {
 	return pathfindingManager->howToVisitTile(hero, tile, allowGatherArmy);
 }
 
-Goals::TGoalVec AIhelper::howToVisitObj(HeroPtr hero, ObjectIdRef obj, bool allowGatherArmy)
+Goals::TGoalVec AIhelper::howToVisitObj(const HeroPtr & hero, ObjectIdRef obj, bool allowGatherArmy) const
 {
 	return pathfindingManager->howToVisitObj(hero, obj, allowGatherArmy);
 }
 
-std::vector<AIPath> AIhelper::getPathsToTile(HeroPtr hero, int3 tile)
+std::vector<AIPath> AIhelper::getPathsToTile(const HeroPtr & hero, const int3 & tile) const
 {
 	return pathfindingManager->getPathsToTile(hero, tile);
 }
 
-void AIhelper::resetPaths()
+void AIhelper::updatePaths(std::vector<HeroPtr> heroes)
 {
-	pathfindingManager->resetPaths();
+	pathfindingManager->updatePaths(heroes);
+}
+
+void AIhelper::updatePaths(const HeroPtr & hero)
+{
+	pathfindingManager->updatePaths(hero);
 }

AI/VCAI/AIhelper.h

@@ -55,15 +55,16 @@ public:
 	boost::optional<PotentialBuilding> expensiveBuilding() const override;
 	boost::optional<BuildingID> canBuildAnyStructure(const CGTownInstance * t, const std::vector<BuildingID> & buildList, unsigned int maxDays = 7) const override;
 
-	Goals::TGoalVec howToVisitTile(HeroPtr hero, int3 tile, bool allowGatherArmy = true) override;
+	Goals::TGoalVec howToVisitTile(const HeroPtr & hero, const int3 & tile, bool allowGatherArmy = true) const override;
-	Goals::TGoalVec howToVisitObj(HeroPtr hero, ObjectIdRef obj, bool allowGatherArmy = true) override;
+	Goals::TGoalVec howToVisitObj(const HeroPtr & hero, ObjectIdRef obj, bool allowGatherArmy = true) const override;
-	Goals::TGoalVec howToVisitTile(int3 tile) override;
+	Goals::TGoalVec howToVisitTile(const int3 & tile) const override;
-	Goals::TGoalVec howToVisitObj(ObjectIdRef obj) override;
+	Goals::TGoalVec howToVisitObj(ObjectIdRef obj) const override;
-	std::vector<AIPath> getPathsToTile(HeroPtr hero, int3 tile) override;
+	std::vector<AIPath> getPathsToTile(const HeroPtr & hero, const int3 & tile) const override;
-	void resetPaths() override;
+	void updatePaths(std::vector<HeroPtr> heroes) override;
+	void updatePaths(const HeroPtr & hero) override;
 
 	STRONG_INLINE
-	bool isTileAccessible(const HeroPtr & hero, const int3 & tile)
+	bool isTileAccessible(const HeroPtr & hero, const int3 & tile) const
 	{
 		return pathfindingManager->isTileAccessible(hero, tile);
 	}

AI/VCAI/Goals/AdventureSpellCast.cpp

@@ -58,7 +58,6 @@ void AdventureSpellCast::accept(VCAI * ai)
 
 	cb->waitTillRealize = true;
 	cb->castSpell(hero.h, spellID, tile);
-	ai->ah->resetPaths();
 
 	if(town && spellID == SpellID::TOWN_PORTAL)
 	{

AI/VCAI/Pathfinding/AINodeStorage.cpp

@@ -330,7 +330,7 @@ bool AINodeStorage::isTileAccessible(const int3 & pos, const EPathfindingLayer l
 	return node.action != CGPathNode::ENodeAction::UNKNOWN;
 }
 
-std::vector<AIPath> AINodeStorage::getChainInfo(int3 pos, bool isOnLand) const
+std::vector<AIPath> AINodeStorage::getChainInfo(const int3 & pos, bool isOnLand) const
 {
 	std::vector<AIPath> paths;
 	auto chains = nodes[pos.x][pos.y][pos.z][isOnLand ? EPathfindingLayer::LAND : EPathfindingLayer::SAIL];

AI/VCAI/Pathfinding/AINodeStorage.h

@@ -99,7 +99,7 @@ public:
 	bool isBattleNode(const CGPathNode * node) const;
 	bool hasBetterChain(const PathNodeInfo & source, CDestinationNodeInfo & destination) const;
 	boost::optional<AIPathNode *> getOrCreateNode(const int3 & coord, const EPathfindingLayer layer, int chainNumber);
-	std::vector<AIPath> getChainInfo(int3 pos, bool isOnLand) const;
+	std::vector<AIPath> getChainInfo(const int3 & pos, bool isOnLand) const;
 	bool isTileAccessible(const int3 & pos, const EPathfindingLayer layer) const;
 
 	void setHero(HeroPtr heroPtr);

AI/VCAI/Pathfinding/AIPathfinder.cpp

@@ -15,41 +15,29 @@
 
 std::vector<std::shared_ptr<AINodeStorage>> AIPathfinder::storagePool;
 std::map<HeroPtr, std::shared_ptr<AINodeStorage>> AIPathfinder::storageMap;
-boost::mutex AIPathfinder::storageMutex;
 
 AIPathfinder::AIPathfinder(CPlayerSpecificInfoCallback * cb, VCAI * ai)
 	:cb(cb), ai(ai)
 {
 }
 
-void AIPathfinder::clear()
-{
-	boost::unique_lock<boost::mutex> storageLock(storageMutex);
-	storageMap.clear();
-}
-
 void AIPathfinder::init()
 {
-	boost::unique_lock<boost::mutex> storageLock(storageMutex);
 	storagePool.clear();
 	storageMap.clear();
 }
 
-bool AIPathfinder::isTileAccessible(const HeroPtr & hero, const int3 & tile)
+bool AIPathfinder::isTileAccessible(const HeroPtr & hero, const int3 & tile) const
 {
-	boost::unique_lock<boost::mutex> storageLock(storageMutex);
+	std::shared_ptr<const AINodeStorage> nodeStorage = getStorage(hero);
-
-	std::shared_ptr<AINodeStorage> nodeStorage = getOrCreateStorage(hero);
 
 	return nodeStorage->isTileAccessible(tile, EPathfindingLayer::LAND)
 		|| nodeStorage->isTileAccessible(tile, EPathfindingLayer::SAIL);
 }
 
-std::vector<AIPath> AIPathfinder::getPathInfo(HeroPtr hero, int3 tile)
+std::vector<AIPath> AIPathfinder::getPathInfo(const HeroPtr & hero, const int3 & tile) const
 {
-	boost::unique_lock<boost::mutex> storageLock(storageMutex);
+	std::shared_ptr<const AINodeStorage> nodeStorage = getStorage(hero);
-
-	std::shared_ptr<AINodeStorage> nodeStorage = getOrCreateStorage(hero);
 
 	const TerrainTile * tileInfo = cb->getTile(tile, false);
 
@@ -61,13 +49,14 @@ std::vector<AIPath> AIPathfinder::getPathInfo(HeroPtr hero, int3 tile)
 	return nodeStorage->getChainInfo(tile, !tileInfo->isWater());
 }
 
-std::shared_ptr<AINodeStorage> AIPathfinder::getOrCreateStorage(const HeroPtr & hero)
+void AIPathfinder::updatePaths(std::vector<HeroPtr> heroes)
 {
-	std::shared_ptr<AINodeStorage> nodeStorage;
+	storageMap.clear();
 
-	if(!vstd::contains(storageMap, hero))
+	// TODO: go parallel?
+	for(HeroPtr hero : heroes)
 	{
-		logAi->debug("Recalculate paths for %s", hero->name);
+		std::shared_ptr<AINodeStorage> nodeStorage;
 
 		if(storageMap.size() < storagePool.size())
 		{
@@ -84,13 +73,43 @@ std::shared_ptr<AINodeStorage> AIPathfinder::getOrCreateStorage(const HeroPtr &
 
 		auto config = std::make_shared<AIPathfinding::AIPathfinderConfig>(cb, ai, nodeStorage);
 
+		logAi->debug("Recalculate paths for %s", hero->name);
 		cb->calculatePaths(config, hero.get());
 	}
+}
+
+void AIPathfinder::updatePaths(const HeroPtr & hero)
+{
+	std::shared_ptr<AINodeStorage> nodeStorage;
+
+	if(!vstd::contains(storageMap, hero))
+	{
+		if(storageMap.size() < storagePool.size())
+		{
+			nodeStorage = storagePool.at(storageMap.size());
+		}
+		else
+		{
+			nodeStorage = std::make_shared<AINodeStorage>(cb->getMapSize());
+			storagePool.push_back(nodeStorage);
+		}
+
+		storageMap[hero] = nodeStorage;
+		nodeStorage->setHero(hero.get());
+	}
 	else
 	{
 		nodeStorage = storageMap.at(hero);
 	}
 
-	return nodeStorage;
+	logAi->debug("Recalculate paths for %s", hero->name);
+	auto config = std::make_shared<AIPathfinding::AIPathfinderConfig>(cb, ai, nodeStorage);
+
+	cb->calculatePaths(config, hero.get());
+}
+
+std::shared_ptr<const AINodeStorage> AIPathfinder::getStorage(const HeroPtr & hero) const
+{
+	return storageMap.at(hero);
 }
 

AI/VCAI/Pathfinding/AIPathfinder.h

@@ -19,15 +19,15 @@ class AIPathfinder
 private:
 	static std::vector<std::shared_ptr<AINodeStorage>> storagePool;
 	static std::map<HeroPtr, std::shared_ptr<AINodeStorage>> storageMap;
-	static boost::mutex storageMutex;
 	CPlayerSpecificInfoCallback * cb;
 	VCAI * ai;
 
-	std::shared_ptr<AINodeStorage> getOrCreateStorage(const HeroPtr & hero);
+	std::shared_ptr<const AINodeStorage> getStorage(const HeroPtr & hero) const;
 public:
 	AIPathfinder(CPlayerSpecificInfoCallback * cb, VCAI * ai);
-	std::vector<AIPath> getPathInfo(HeroPtr hero, int3 tile);
+	std::vector<AIPath> getPathInfo(const HeroPtr & hero, const int3 & tile) const;
-	bool isTileAccessible(const HeroPtr & hero, const int3 & tile);
+	bool isTileAccessible(const HeroPtr & hero, const int3 & tile) const;
-	void clear();
+	void updatePaths(std::vector<HeroPtr> heroes);
+	void updatePaths(const HeroPtr & heroes);
 	void init();
 };

AI/VCAI/Pathfinding/PathfindingManager.cpp

@@ -32,7 +32,7 @@ void PathfindingManager::setAI(VCAI * AI)
 	ai = AI;
 }
 
-Goals::TGoalVec PathfindingManager::howToVisitTile(int3 tile)
+Goals::TGoalVec PathfindingManager::howToVisitTile(const int3 & tile) const
 {
 	Goals::TGoalVec result;
 
@@ -47,7 +47,7 @@ Goals::TGoalVec PathfindingManager::howToVisitTile(int3 tile)
 	return result;
 }
 
-Goals::TGoalVec PathfindingManager::howToVisitObj(ObjectIdRef obj)
+Goals::TGoalVec PathfindingManager::howToVisitObj(ObjectIdRef obj) const
 {
 	Goals::TGoalVec result;
 
@@ -62,7 +62,7 @@ Goals::TGoalVec PathfindingManager::howToVisitObj(ObjectIdRef obj)
 	return result;
 }
 
-Goals::TGoalVec PathfindingManager::howToVisitTile(HeroPtr hero, int3 tile, bool allowGatherArmy)
+Goals::TGoalVec PathfindingManager::howToVisitTile(const HeroPtr & hero, const int3 & tile, bool allowGatherArmy) const
 {
 	auto result = findPath(hero, tile, allowGatherArmy, [&](int3 firstTileToGet) -> Goals::TSubgoal
 	{
@@ -77,7 +77,7 @@ Goals::TGoalVec PathfindingManager::howToVisitTile(HeroPtr hero, int3 tile, bool
 	return result;
 }
 
-Goals::TGoalVec PathfindingManager::howToVisitObj(HeroPtr hero, ObjectIdRef obj, bool allowGatherArmy)
+Goals::TGoalVec PathfindingManager::howToVisitObj(const HeroPtr & hero, ObjectIdRef obj, bool allowGatherArmy) const
 {
 	if(!obj)
 	{
@@ -102,7 +102,7 @@ Goals::TGoalVec PathfindingManager::howToVisitObj(HeroPtr hero, ObjectIdRef obj,
 	return result;
 }
 
-std::vector<AIPath> PathfindingManager::getPathsToTile(HeroPtr hero, int3 tile)
+std::vector<AIPath> PathfindingManager::getPathsToTile(const HeroPtr & hero, const int3 & tile) const
 {
 	return pathfinder->getPathInfo(hero, tile);
 }
@@ -111,7 +111,7 @@ Goals::TGoalVec PathfindingManager::findPath(
 	HeroPtr hero,
 	crint3 dest,
 	bool allowGatherArmy,
-	const std::function<Goals::TSubgoal(int3)> doVisitTile)
+	const std::function<Goals::TSubgoal(int3)> doVisitTile) const
 {
 	Goals::TGoalVec result;
 	boost::optional<uint64_t> armyValueRequired;
@@ -184,7 +184,7 @@ Goals::TGoalVec PathfindingManager::findPath(
 	return result;
 }
 
-Goals::TSubgoal PathfindingManager::clearWayTo(HeroPtr hero, int3 firstTileToGet)
+Goals::TSubgoal PathfindingManager::clearWayTo(HeroPtr hero, int3 firstTileToGet) const
 {
 	if(isBlockedBorderGate(firstTileToGet))
 	{
@@ -235,8 +235,13 @@ Goals::TSubgoal PathfindingManager::clearWayTo(HeroPtr hero, int3 firstTileToGet
 	return sptr(Goals::VisitTile(firstTileToGet).sethero(hero).setisAbstract(true));
 }
 
-void PathfindingManager::resetPaths()
+void PathfindingManager::updatePaths(std::vector<HeroPtr> heroes)
 {
 	logAi->debug("AIPathfinder has been reseted.");
-	pathfinder->clear();
+	pathfinder->updatePaths(heroes);
+}
+
+void PathfindingManager::updatePaths(const HeroPtr & hero)
+{
+	pathfinder->updatePaths(hero);
 }

AI/VCAI/Pathfinding/PathfindingManager.h

@@ -20,12 +20,13 @@ public:
 	virtual void init(CPlayerSpecificInfoCallback * CB) = 0;
 	virtual void setAI(VCAI * AI) = 0;
 
-	virtual void resetPaths() = 0;
+	virtual void updatePaths(std::vector<HeroPtr> heroes) = 0;
-	virtual Goals::TGoalVec howToVisitTile(HeroPtr hero, int3 tile, bool allowGatherArmy = true) = 0;
+	virtual void updatePaths(const HeroPtr & hero) = 0;
-	virtual Goals::TGoalVec howToVisitObj(HeroPtr hero, ObjectIdRef obj, bool allowGatherArmy = true) = 0;
+	virtual Goals::TGoalVec howToVisitTile(const HeroPtr & hero, const int3 & tile, bool allowGatherArmy = true) const = 0;
-	virtual Goals::TGoalVec howToVisitTile(int3 tile) = 0;
+	virtual Goals::TGoalVec howToVisitObj(const HeroPtr & hero, ObjectIdRef obj, bool allowGatherArmy = true) const = 0;
-	virtual Goals::TGoalVec howToVisitObj(ObjectIdRef obj) = 0;
+	virtual Goals::TGoalVec howToVisitTile(const int3 & tile) const = 0;
-	virtual std::vector<AIPath> getPathsToTile(HeroPtr hero, int3 tile) = 0;
+	virtual Goals::TGoalVec howToVisitObj(ObjectIdRef obj) const = 0;
+	virtual std::vector<AIPath> getPathsToTile(const HeroPtr & hero, const int3 & tile) const = 0;
 };
 
 class DLL_EXPORT PathfindingManager : public IPathfindingManager
@@ -41,15 +42,16 @@ public:
 	PathfindingManager() = default;
 	PathfindingManager(CPlayerSpecificInfoCallback * CB, VCAI * AI = nullptr); //for tests only
 
-	Goals::TGoalVec howToVisitTile(HeroPtr hero, int3 tile, bool allowGatherArmy = true) override;
+	Goals::TGoalVec howToVisitTile(const HeroPtr & hero, const int3 & tile, bool allowGatherArmy = true) const override;
-	Goals::TGoalVec howToVisitObj(HeroPtr hero, ObjectIdRef obj, bool allowGatherArmy = true) override;
+	Goals::TGoalVec howToVisitObj(const HeroPtr & hero, ObjectIdRef obj, bool allowGatherArmy = true) const override;
-	Goals::TGoalVec howToVisitTile(int3 tile) override;
+	Goals::TGoalVec howToVisitTile(const int3 & tile) const override;
-	Goals::TGoalVec howToVisitObj(ObjectIdRef obj) override;
+	Goals::TGoalVec howToVisitObj(ObjectIdRef obj) const override;
-	std::vector<AIPath> getPathsToTile(HeroPtr hero, int3 tile) override;
+	std::vector<AIPath> getPathsToTile(const HeroPtr & hero, const int3 & tile) const override;
-	void resetPaths() override;
+	void updatePaths(std::vector<HeroPtr> heroes) override;
+	void updatePaths(const HeroPtr & hero) override;
 
 	STRONG_INLINE
-	bool isTileAccessible(const HeroPtr & hero, const int3 & tile)
+	bool isTileAccessible(const HeroPtr & hero, const int3 & tile) const
 	{
 		return pathfinder->isTileAccessible(hero, tile);
 	}
@@ -62,7 +64,7 @@ private:
 		HeroPtr hero,
 		crint3 dest,
 		bool allowGatherArmy,
-		const std::function<Goals::TSubgoal(int3)> goalFactory);
+		const std::function<Goals::TSubgoal(int3)> goalFactory) const;
 
-	Goals::TSubgoal clearWayTo(HeroPtr hero, int3 firstTileToGet);
+	Goals::TSubgoal clearWayTo(HeroPtr hero, int3 firstTileToGet) const;
 };

AI/VCAI/VCAI.cpp

@@ -96,7 +96,6 @@ void VCAI::heroMoved(const TryMoveHero & details)
 
 	validateObject(details.id); //enemy hero may have left visible area
 	auto hero = cb->getHero(details.id);
-	ah->resetPaths();
 
 	const int3 from = CGHeroInstance::convertPosition(details.start, false);
 	const int3 to = CGHeroInstance::convertPosition(details.end, false);
@@ -376,8 +375,6 @@ void VCAI::newObject(const CGObjectInstance * obj)
 	NET_EVENT_HANDLER;
 	if(obj->isVisitable())
 		addVisitableObj(obj);
-
-	ah->resetPaths();
 }
 
 //to prevent AI from accessing objects that got deleted while they became invisible (Cover of Darkness, enemy hero moved etc.) below code allows AI to know deletion of objects out of sight
@@ -437,8 +434,6 @@ void VCAI::objectRemoved(const CGObjectInstance * obj)
 		}
 	}
 
-	ah->resetPaths();
-
 	//TODO
 	//there are other places where CGObjectinstance ptrs are stored...
 	//
@@ -795,7 +790,6 @@ void VCAI::makeTurn()
 	}
 	markHeroAbleToExplore(primaryHero());
 	visitedHeroes.clear();
-	ai->ah->resetPaths();
 
 	try
 	{
@@ -829,6 +823,18 @@ void VCAI::makeTurn()
 	endTurn();
 }
 
+std::vector<HeroPtr> VCAI::getMyHeroes() const
+{
+	std::vector<HeroPtr> ret;
+
+	for(auto h : cb->getHeroesInfo())
+	{
+		ret.push_back(h);
+	}
+
+	return ret;
+}
+
 void VCAI::mainLoop()
 {
 	std::vector<Goals::TSubgoal> elementarGoals; //no duplicates allowed (operator ==)
@@ -861,6 +867,8 @@ void VCAI::mainLoop()
 		goalsToRemove.clear();
 		elementarGoals.clear();
 		ultimateGoalsFromBasic.clear();
+		
+		ah->updatePaths(getMyHeroes());
 
 		logAi->debug("Main loop: decomposing %i basic goals", basicGoals.size());
 
@@ -1392,6 +1400,8 @@ void VCAI::wander(HeroPtr h)
 	while(h->movement)
 	{
 		validateVisitableObjs();
+		ah->updatePaths(h);
+
 		std::vector<ObjectIdRef> dests;
 
 		//also visit our reserved objects - but they are not prioritized to avoid running back and forth
@@ -1676,7 +1686,6 @@ bool VCAI::isAbleToExplore(HeroPtr h)
 void VCAI::clearPathsInfo()
 {
 	heroesUnableToExplore.clear();
-	ah->resetPaths();
 }
 
 void VCAI::validateVisitableObjs()

AI/VCAI/VCAI.h

@@ -257,6 +257,7 @@ public:
 	Goals::TSubgoal getGoal(HeroPtr h) const;
 	bool canAct(HeroPtr h) const;
 	std::vector<HeroPtr> getUnblockedHeroes() const;
+	std::vector<HeroPtr> getMyHeroes() const;
 	HeroPtr primaryHero() const;
 	void checkHeroArmy(HeroPtr h);