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NKAI: optimize clusterization and pathfinding for object graph

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This commit is contained in:
Andrii Danylchenko 2024-03-24 09:32:29 +02:00
parent 017fb204a1
commit 419d6a648b
15 changed files with 362 additions and 148 deletions
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22
AI/Nullkiller/AIUtility.h
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@ -266,6 +266,28 @@ void pforeachTilePos(const int3 & mapSize, TFunc fn)
}
}
template<typename TFunc>
void pforeachTilePaths(const int3 & mapSize, const Nullkiller * ai, TFunc fn)
{
for(int z = 0; z < mapSize.z; ++z)
{
parallel_for(blocked_range<size_t>(0, mapSize.x), [&](const blocked_range<size_t> & r)
{
int3 pos(0, 0, z);
std::vector<AIPath> paths;
for(pos.x = r.begin(); pos.x != r.end(); ++pos.x)
{
for(pos.y = 0; pos.y < mapSize.y; ++pos.y)
{
ai->pathfinder->calculatePathInfo(paths, pos);
fn(pos, paths);
}
}
});
}
}
class CDistanceSorter
{
const CGHeroInstance * hero;

8
AI/Nullkiller/Analyzers/DangerHitMapAnalyzer.cpp
View File

@ -82,9 +82,9 @@ void DangerHitMapAnalyzer::updateHitMap()
boost::this_thread::interruption_point();
pforeachTilePos(mapSize, [&](const int3 & pos)
pforeachTilePaths(mapSize, ai, [&](const int3 & pos, const std::vector<AIPath> & paths)
{
for(AIPath & path : ai->pathfinder->getPathInfo(pos))
for(const AIPath & path : paths)
{
if(path.getFirstBlockedAction())
continue;
@ -194,14 +194,14 @@ void DangerHitMapAnalyzer::calculateTileOwners()
ai->pathfinder->updatePaths(townHeroes, ps);
pforeachTilePos(mapSize, [&](const int3 & pos)
pforeachTilePaths(mapSize, ai, [&](const int3 & pos, const std::vector<AIPath> & paths)
{
float ourDistance = std::numeric_limits<float>::max();
float enemyDistance = std::numeric_limits<float>::max();
const CGTownInstance * enemyTown = nullptr;
const CGTownInstance * ourTown = nullptr;
for(AIPath & path : ai->pathfinder->getPathInfo(pos))
for(const AIPath & path : paths)
{
if(!path.targetHero || path.getFirstBlockedAction())
continue;

8
AI/Nullkiller/Analyzers/HeroManager.cpp
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@ -109,6 +109,7 @@ void HeroManager::update()
for(auto & hero : myHeroes)
{
scores[hero] = evaluateFightingStrength(hero);
knownFightingStrength[hero->id] = hero->getFightingStrength();
}
auto scoreSort = [&](const CGHeroInstance * h1, const CGHeroInstance * h2) -> bool
@ -192,6 +193,13 @@ bool HeroManager::heroCapReached() const
|| heroCount >= VLC->settings()->getInteger(EGameSettings::HEROES_PER_PLAYER_TOTAL_CAP);
}
float HeroManager::getFightingStrengthCached(const CGHeroInstance * hero) const
{
auto cached = knownFightingStrength.find(hero->id);
return cached != knownFightingStrength.end() ? cached->second : hero->getFightingStrength();
}
float HeroManager::getMagicStrength(const CGHeroInstance * hero) const
{
auto hasFly = hero->spellbookContainsSpell(SpellID::FLY);

43
AI/Nullkiller/Analyzers/HeroManager.h
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@ -20,23 +20,6 @@
namespace NKAI
{
class DLL_EXPORT IHeroManager //: public: IAbstractManager
{
public:
virtual ~IHeroManager() = default;
virtual const std::map<HeroPtr, HeroRole> & getHeroRoles() const = 0;
virtual int selectBestSkill(const HeroPtr & hero, const std::vector<SecondarySkill> & skills) const = 0;
virtual HeroRole getHeroRole(const HeroPtr & hero) const = 0;
virtual void update() = 0;
virtual float evaluateSecSkill(SecondarySkill skill, const CGHeroInstance * hero) const = 0;
virtual float evaluateHero(const CGHeroInstance * hero) const = 0;
virtual bool canRecruitHero(const CGTownInstance * t = nullptr) const = 0;
virtual bool heroCapReached() const = 0;
virtual const CGHeroInstance * findHeroWithGrail() const = 0;
virtual const CGHeroInstance * findWeakHeroToDismiss(uint64_t armyLimit) const = 0;
virtual float getMagicStrength(const CGHeroInstance * hero) const = 0;
};
class DLL_EXPORT ISecondarySkillRule
{
public:
@ -55,7 +38,7 @@ public:
float evaluateSecSkill(const CGHeroInstance * hero, SecondarySkill skill) const;
};
class DLL_EXPORT HeroManager : public IHeroManager
class DLL_EXPORT HeroManager
{
private:
static const SecondarySkillEvaluator wariorSkillsScores;
@ -64,20 +47,22 @@ private:
CCallback * cb; //this is enough, but we downcast from CCallback
const Nullkiller * ai;
std::map<HeroPtr, HeroRole> heroRoles;
std::map<ObjectInstanceID, float> knownFightingStrength;
public:
HeroManager(CCallback * CB, const Nullkiller * ai) : cb(CB), ai(ai) {}
const std::map<HeroPtr, HeroRole> & getHeroRoles() const override;
HeroRole getHeroRole(const HeroPtr & hero) const override;
int selectBestSkill(const HeroPtr & hero, const std::vector<SecondarySkill> & skills) const override;
void update() override;
float evaluateSecSkill(SecondarySkill skill, const CGHeroInstance * hero) const override;
float evaluateHero(const CGHeroInstance * hero) const override;
bool canRecruitHero(const CGTownInstance * t = nullptr) const override;
bool heroCapReached() const override;
const CGHeroInstance * findHeroWithGrail() const override;
const CGHeroInstance * findWeakHeroToDismiss(uint64_t armyLimit) const override;
float getMagicStrength(const CGHeroInstance * hero) const override;
const std::map<HeroPtr, HeroRole> & getHeroRoles() const;
HeroRole getHeroRole(const HeroPtr & hero) const;
int selectBestSkill(const HeroPtr & hero, const std::vector<SecondarySkill> & skills) const;
void update();
float evaluateSecSkill(SecondarySkill skill, const CGHeroInstance * hero) const;
float evaluateHero(const CGHeroInstance * hero) const;
bool canRecruitHero(const CGTownInstance * t = nullptr) const;
bool heroCapReached() const;
const CGHeroInstance * findHeroWithGrail() const;
const CGHeroInstance * findWeakHeroToDismiss(uint64_t armyLimit) const;
float getMagicStrength(const CGHeroInstance * hero) const;
float getFightingStrengthCached(const CGHeroInstance * hero) const;
private:
float evaluateFightingStrength(const CGHeroInstance * hero) const;

76
AI/Nullkiller/Analyzers/ObjectClusterizer.cpp
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@ -90,21 +90,19 @@ std::vector<std::shared_ptr<ObjectCluster>> ObjectClusterizer::getLockedClusters
return result;
}
const CGObjectInstance * ObjectClusterizer::getBlocker(const AIPath & path) const
{
for(auto node = path.nodes.rbegin(); node != path.nodes.rend(); node++)
std::optional<const CGObjectInstance *> ObjectClusterizer::getBlocker(const AIPathNodeInfo & node) const
{
std::vector<const CGObjectInstance *> blockers = {};
if(node->layer == EPathfindingLayer::LAND || node->layer == EPathfindingLayer::SAIL)
if(node.layer == EPathfindingLayer::LAND || node.layer == EPathfindingLayer::SAIL)
{
auto guardPos = ai->cb->getGuardingCreaturePosition(node->coord);
auto guardPos = ai->cb->getGuardingCreaturePosition(node.coord);
blockers = ai->cb->getVisitableObjs(node->coord);
blockers = ai->cb->getVisitableObjs(node.coord);
if(guardPos.valid())
{
auto guard = ai->cb->getTopObj(ai->cb->getGuardingCreaturePosition(node->coord));
auto guard = ai->cb->getTopObj(ai->cb->getGuardingCreaturePosition(node.coord));
if(guard)
{
@ -113,9 +111,9 @@ const CGObjectInstance * ObjectClusterizer::getBlocker(const AIPath & path) cons
}
}
if(node->specialAction && node->actionIsBlocked)
if(node.specialAction && node.actionIsBlocked)
{
auto blockerObject = node->specialAction->targetObject();
auto blockerObject = node.specialAction->targetObject();
if(blockerObject)
{
@ -124,18 +122,18 @@ const CGObjectInstance * ObjectClusterizer::getBlocker(const AIPath & path) cons
}
if(blockers.empty())
continue;
return std::optional< const CGObjectInstance *>();
auto blocker = blockers.front();
if(isObjectPassable(ai, blocker))
continue;
return std::optional< const CGObjectInstance *>();
if(blocker->ID == Obj::GARRISON
|| blocker->ID == Obj::GARRISON2)
{
if(dynamic_cast<const CArmedInstance *>(blocker)->getArmyStrength() == 0)
continue;
return std::optional< const CGObjectInstance *>();
else
return blocker;
}
@ -144,10 +142,22 @@ const CGObjectInstance * ObjectClusterizer::getBlocker(const AIPath & path) cons
|| blocker->ID == Obj::BORDERGUARD
|| blocker->ID == Obj::BORDER_GATE
|| blocker->ID == Obj::SHIPYARD
|| (blocker->ID == Obj::QUEST_GUARD && node->actionIsBlocked))
|| (blocker->ID == Obj::QUEST_GUARD && node.actionIsBlocked))
{
return blocker;
}
return std::optional< const CGObjectInstance *>();
}
const CGObjectInstance * ObjectClusterizer::getBlocker(const AIPath & path) const
{
for(auto node = path.nodes.rbegin(); node != path.nodes.rend(); node++)
{
auto blocker = getBlocker(*node);
if(blocker)
return *blocker;
}
return nullptr;
@ -230,10 +240,12 @@ void ObjectClusterizer::clusterize()
blocked_range<size_t> r(0, objs.size());
#endif
auto priorityEvaluator = ai->priorityEvaluators->acquire();
auto heroes = ai->cb->getHeroesInfo();
std::vector<AIPath> pathCache;
for(int i = r.begin(); i != r.end(); i++)
{
clusterizeObject(objs[i], priorityEvaluator.get());
clusterizeObject(objs[i], priorityEvaluator.get(), pathCache, heroes);
}
#if NKAI_TRACE_LEVEL == 0
});
@ -257,7 +269,11 @@ void ObjectClusterizer::clusterize()
logAi->trace("Clusterization complete in %ld", timeElapsed(start));
}
void ObjectClusterizer::clusterizeObject(const CGObjectInstance * obj, PriorityEvaluator * priorityEvaluator)
void ObjectClusterizer::clusterizeObject(
const CGObjectInstance * obj,
PriorityEvaluator * priorityEvaluator,
std::vector<AIPath> & pathCache,
std::vector<const CGHeroInstance *> & heroes)
{
if(!shouldVisitObject(obj))
{
@ -271,9 +287,14 @@ void ObjectClusterizer::clusterizeObject(const CGObjectInstance * obj, PriorityE
logAi->trace("Check object %s%s.", obj->getObjectName(), obj->visitablePos().toString());
#endif
auto paths = ai->pathfinder->getPathInfo(obj->visitablePos(), true);
if(ai->settings->isObjectGraphAllowed())
{
ai->pathfinder->calculateQuickPathsWithBlocker(pathCache, heroes, obj->visitablePos());
}
else
ai->pathfinder->calculatePathInfo(pathCache, obj->visitablePos(), false);
if(paths.empty())
if(pathCache.empty())
{
#if NKAI_TRACE_LEVEL >= 2
logAi->trace("No paths found.");
@ -281,17 +302,17 @@ void ObjectClusterizer::clusterizeObject(const CGObjectInstance * obj, PriorityE
return;
}
std::sort(paths.begin(), paths.end(), [](const AIPath & p1, const AIPath & p2) -> bool
std::sort(pathCache.begin(), pathCache.end(), [](const AIPath & p1, const AIPath & p2) -> bool
{
return p1.movementCost() < p2.movementCost();
});
if(vstd::contains(IgnoredObjectTypes, obj->ID))
{
farObjects.addObject(obj, paths.front(), 0);
farObjects.addObject(obj, pathCache.front(), 0);
#if NKAI_TRACE_LEVEL >= 2
logAi->trace("Object ignored. Moved to far objects with path %s", paths.front().toString());
logAi->trace("Object ignored. Moved to far objects with path %s", pathCache.front().toString());
#endif
return;
@ -299,12 +320,25 @@ void ObjectClusterizer::clusterizeObject(const CGObjectInstance * obj, PriorityE
std::set<const CGHeroInstance *> heroesProcessed;
for(auto & path : paths)
for(auto & path : pathCache)
{
#if NKAI_TRACE_LEVEL >= 2
logAi->trace("Checking path %s", path.toString());
#endif
if(ai->heroManager->getHeroRole(path.targetHero) == HeroRole::SCOUT)
{
if(path.movementCost() > 2.0f)
continue;
}
else if(path.movementCost() > 4.0f)
{
auto strategicalValue = valueEvaluator.getStrategicalValue(obj);
if(strategicalValue < 0.5f)
continue;
}
if(!shouldVisit(ai, path.targetHero, obj))
{
#if NKAI_TRACE_LEVEL >= 2

13
AI/Nullkiller/Analyzers/ObjectClusterizer.h
View File

@ -10,6 +10,7 @@
#pragma once
#include "../Pathfinding/AINodeStorage.h"
#include "../Engine/PriorityEvaluator.h"
namespace NKAI
{
@ -49,8 +50,6 @@ public:
using ClusterMap = tbb::concurrent_hash_map<const CGObjectInstance *, std::shared_ptr<ObjectCluster>>;
class PriorityEvaluator;
class ObjectClusterizer
{
private:
@ -60,6 +59,7 @@ private:
ObjectCluster farObjects;
ClusterMap blockedObjects;
const Nullkiller * ai;
RewardEvaluator valueEvaluator;
public:
void clusterize();
@ -67,12 +67,17 @@ public:
std::vector<const CGObjectInstance *> getFarObjects() const;
std::vector<std::shared_ptr<ObjectCluster>> getLockedClusters() const;
const CGObjectInstance * getBlocker(const AIPath & path) const;
std::optional<const CGObjectInstance *> getBlocker(const AIPathNodeInfo & node) const;
ObjectClusterizer(const Nullkiller * ai): ai(ai) {}
ObjectClusterizer(const Nullkiller * ai): ai(ai), valueEvaluator(ai) {}
private:
bool shouldVisitObject(const CGObjectInstance * obj) const;
void clusterizeObject(const CGObjectInstance * obj, PriorityEvaluator * priorityEvaluator);
void clusterizeObject(
const CGObjectInstance * obj,
PriorityEvaluator * priorityEvaluator,
std::vector<AIPath> & pathCache,
std::vector<const CGHeroInstance *> & heroes);
};
}

4
AI/Nullkiller/Behaviors/CaptureObjectsBehavior.cpp
View File

@ -180,6 +180,8 @@ Goals::TGoalVec CaptureObjectsBehavior::decompose() const
logAi->debug("Scanning objects, count %d", objs.size());
std::vector<AIPath> paths;
for(auto objToVisit : objs)
{
if(!objectMatchesFilter(objToVisit))
@ -193,7 +195,7 @@ Goals::TGoalVec CaptureObjectsBehavior::decompose() const
bool useObjectGraph = ai->nullkiller->settings->isObjectGraphAllowed()
&& ai->nullkiller->getScanDepth() != ScanDepth::SMALL;
auto paths = ai->nullkiller->pathfinder->getPathInfo(pos, useObjectGraph);
ai->nullkiller->pathfinder->calculatePathInfo(paths, pos, useObjectGraph);
std::vector<std::shared_ptr<ExecuteHeroChain>> waysToVisitObj;
std::shared_ptr<ExecuteHeroChain> closestWay;

1
AI/Nullkiller/Behaviors/ClusterBehavior.cpp
View File

@ -43,6 +43,7 @@ Goals::TGoalVec ClusterBehavior::decomposeCluster(std::shared_ptr<ObjectCluster>
{
auto center = cluster->calculateCenter();
auto paths = ai->nullkiller->pathfinder->getPathInfo(center->visitablePos(), ai->nullkiller->settings->isObjectGraphAllowed());
auto blockerPos = cluster->blocker->visitablePos();
std::vector<AIPath> blockerPaths;

4
AI/Nullkiller/Behaviors/StayAtTownBehavior.cpp
View File

@ -35,12 +35,14 @@ Goals::TGoalVec StayAtTownBehavior::decompose() const
if(!towns.size())
return tasks;
std::vector<AIPath> paths;
for(auto town : towns)
{
if(!town->hasBuilt(BuildingID::MAGES_GUILD_1))
continue;
auto paths = ai->nullkiller->pathfinder->getPathInfo(town->visitablePos());
ai->nullkiller->pathfinder->calculatePathInfo(paths, town->visitablePos());
for(auto & path : paths)
{

20
AI/Nullkiller/Pathfinding/AINodeStorage.cpp
View File

@ -609,6 +609,14 @@ bool AINodeStorage::selectNextActor()
return false;
}
uint64_t AINodeStorage::evaluateArmyLoss(const CGHeroInstance * hero, uint64_t armyValue, uint64_t danger) const
{
float fightingStrength = ai->heroManager->getFightingStrengthCached(hero);
double ratio = (double)danger / (armyValue * fightingStrength);
return (uint64_t)(armyValue * ratio * ratio);
}
void HeroChainCalculationTask::cleanupInefectiveChains(std::vector<ExchangeCandidate> & result) const
{
vstd::erase_if(result, [&](const ExchangeCandidate & chainInfo) -> bool
@ -1326,12 +1334,8 @@ bool AINodeStorage::isTileAccessible(const HeroPtr & hero, const int3 & pos, con
return false;
}
std::vector<AIPath> AINodeStorage::getChainInfo(const int3 & pos, bool isOnLand) const
void AINodeStorage::calculateChainInfo(std::vector<AIPath> & paths, const int3 & pos, bool isOnLand) const
{
std::vector<AIPath> paths;
paths.reserve(AIPathfinding::NUM_CHAINS / 4);
auto layer = isOnLand ? EPathfindingLayer::LAND : EPathfindingLayer::SAIL;
auto chains = nodes.get(pos);
@ -1346,7 +1350,7 @@ std::vector<AIPath> AINodeStorage::getChainInfo(const int3 & pos, bool isOnLand)
continue;
}
AIPath path;
AIPath & path = paths.emplace_back();
path.targetHero = node.actor->hero;
path.heroArmy = node.actor->creatureSet;
@ -1357,11 +1361,7 @@ std::vector<AIPath> AINodeStorage::getChainInfo(const int3 & pos, bool isOnLand)
path.exchangeCount = node.actor->actorExchangeCount;
fillChainInfo(&node, path, -1);
paths.push_back(path);
}
return paths;
}
void AINodeStorage::fillChainInfo(const AIPathNode * node, AIPath & path, int parentIndex) const

9
AI/Nullkiller/Pathfinding/AINodeStorage.h
View File

@ -265,7 +265,7 @@ public:
bool isDistanceLimitReached(const PathNodeInfo & source, CDestinationNodeInfo & destination) const;
std::optional<AIPathNode *> getOrCreateNode(const int3 & coord, const EPathfindingLayer layer, const ChainActor * actor);
std::vector<AIPath> getChainInfo(const int3 & pos, bool isOnLand) const;
void calculateChainInfo(std::vector<AIPath> & result, const int3 & pos, bool isOnLand) const;
bool isTileAccessible(const HeroPtr & hero, const int3 & pos, const EPathfindingLayer layer) const;
void setHeroes(std::map<const CGHeroInstance *, HeroRole> heroes);
void setScoutTurnDistanceLimit(uint8_t distanceLimit) { turnDistanceLimit[HeroRole::SCOUT] = distanceLimit; }
@ -283,12 +283,7 @@ public:
return dangerEvaluator->evaluateDanger(tile, hero, checkGuards);
}
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);
}
uint64_t evaluateArmyLoss(const CGHeroInstance * hero, uint64_t armyValue, uint64_t danger) const;
inline EPathAccessibility getAccessibility(const int3 & tile, EPathfindingLayer layer) const
{

34
AI/Nullkiller/Pathfinding/AIPathfinder.cpp
View File

@ -33,16 +33,31 @@ bool AIPathfinder::isTileAccessible(const HeroPtr & hero, const int3 & tile) con
|| storage->isTileAccessible(hero, tile, EPathfindingLayer::SAIL);
}
std::vector<AIPath> AIPathfinder::getPathInfo(const int3 & tile, bool includeGraph) const
void AIPathfinder::calculateQuickPathsWithBlocker(std::vector<AIPath> & result, const std::vector<const CGHeroInstance *> & heroes, const int3 & tile)
{
result.clear();
for(auto hero : heroes)
{
auto graph = heroGraphs.find(hero->id);
if(graph != heroGraphs.end())
graph->second->quickAddChainInfoWithBlocker(result, tile, hero, ai);
}
}
void AIPathfinder::calculatePathInfo(std::vector<AIPath> & result, const int3 & tile, bool includeGraph) const
{
const TerrainTile * tileInfo = cb->getTile(tile, false);
result.clear();
if(!tileInfo)
{
return std::vector<AIPath>();
return;
}
auto info = storage->getChainInfo(tile, !tileInfo->isWater());
storage->calculateChainInfo(result, tile, !tileInfo->isWater());
if(includeGraph)
{
@ -51,11 +66,9 @@ std::vector<AIPath> AIPathfinder::getPathInfo(const int3 & tile, bool includeGra
auto graph = heroGraphs.find(hero->id);
if(graph != heroGraphs.end())
graph->second.addChainInfo(info, tile, hero, ai);
graph->second->addChainInfo(result, tile, hero, ai);
}
}
return info;
}
void AIPathfinder::updatePaths(const std::map<const CGHeroInstance *, HeroRole> & heroes, PathfinderSettings pathfinderSettings)
@ -134,21 +147,24 @@ void AIPathfinder::updateGraphs(const std::map<const CGHeroInstance *, HeroRole>
for(auto hero : heroes)
{
if(heroGraphs.try_emplace(hero.first->id, GraphPaths()).second)
if(heroGraphs.try_emplace(hero.first->id).second)
{
heroGraphs[hero.first->id] = std::make_unique<GraphPaths>();
heroesVector.push_back(hero.first);
}
}
parallel_for(blocked_range<size_t>(0, heroesVector.size()), [this, &heroesVector](const blocked_range<size_t> & r)
{
for(auto i = r.begin(); i != r.end(); i++)
heroGraphs.at(heroesVector[i]->id).calculatePaths(heroesVector[i], ai);
heroGraphs.at(heroesVector[i]->id)->calculatePaths(heroesVector[i], ai);
});
if(NKAI_GRAPH_TRACE_LEVEL >= 1)
{
for(auto hero : heroes)
{
heroGraphs[hero.first->id].dumpToLog();
heroGraphs[hero.first->id]->dumpToLog();
}
}

14
AI/Nullkiller/Pathfinding/AIPathfinder.h
View File

@ -40,20 +40,30 @@ private:
std::shared_ptr<AINodeStorage> storage;
CPlayerSpecificInfoCallback * cb;
Nullkiller * ai;
std::map<ObjectInstanceID, GraphPaths> heroGraphs;
std::map<ObjectInstanceID, std::unique_ptr<GraphPaths>> heroGraphs;
public:
AIPathfinder(CPlayerSpecificInfoCallback * cb, Nullkiller * ai);
std::vector<AIPath> getPathInfo(const int3 & tile, bool includeGraph = false) const;
void calculatePathInfo(std::vector<AIPath> & paths, const int3 & tile, bool includeGraph = false) const;
bool isTileAccessible(const HeroPtr & hero, const int3 & tile) const;
void updatePaths(const std::map<const CGHeroInstance *, HeroRole> & heroes, PathfinderSettings pathfinderSettings);
void updateGraphs(const std::map<const CGHeroInstance *, HeroRole> & heroes);
void calculateQuickPathsWithBlocker(std::vector<AIPath> & result, const std::vector<const CGHeroInstance *> & heroes, const int3 & tile);
void init();
std::shared_ptr<AINodeStorage>getStorage()
{
return storage;
}
std::vector<AIPath> getPathInfo(const int3 & tile, bool includeGraph = false)
{
std::vector<AIPath> result;
calculatePathInfo(result, tile, includeGraph);
return result;
}
};
}

167
AI/Nullkiller/Pathfinding/ObjectGraph.cpp
View File

@ -32,6 +32,7 @@ class ObjectGraphCalculator
private:
ObjectGraph * target;
const Nullkiller * ai;
std::mutex syncLock;
std::map<const CGHeroInstance *, HeroRole> actors;
std::map<const CGHeroInstance *, const CGObjectInstance *> actorObjectMap;
@ -41,7 +42,7 @@ private:
public:
ObjectGraphCalculator(ObjectGraph * target, const Nullkiller * ai)
:ai(ai), target(target)
:ai(ai), target(target), syncLock()
{
}
@ -65,15 +66,17 @@ public:
{
updatePaths();
foreach_tile_pos(ai->cb.get(), [this](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
std::vector<AIPath> pathCache;
foreach_tile_pos(ai->cb.get(), [this, &pathCache](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
{
calculateConnections(pos);
calculateConnections(pos, pathCache);
});
removeExtraConnections();
}
float getNeighborConnectionsCost(const int3 & pos)
float getNeighborConnectionsCost(const int3 & pos, std::vector<AIPath> & pathCache)
{
float neighborCost = std::numeric_limits<float>::max();
@ -85,9 +88,11 @@ public:
foreach_neighbour(
ai->cb.get(),
pos,
[this, &neighborCost](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
[this, &neighborCost, &pathCache](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
{
auto costTotal = this->getConnectionsCost(neighbor);
ai->pathfinder->calculatePathInfo(pathCache, neighbor);
auto costTotal = this->getConnectionsCost(pathCache);
if(costTotal.connectionsCount > 2 && costTotal.avg < neighborCost)
{
@ -105,7 +110,7 @@ public:
void addMinimalDistanceJunctions()
{
foreach_tile_pos(ai->cb.get(), [this](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
pforeachTilePaths(ai->cb->getMapSize(), ai, [this](const int3 & pos, std::vector<AIPath> & paths)
{
if(target->hasNodeAt(pos))
return;
@ -113,12 +118,12 @@ public:
if(ai->cb->getGuardingCreaturePosition(pos).valid())
return;
ConnectionCostInfo currentCost = getConnectionsCost(pos);
ConnectionCostInfo currentCost = getConnectionsCost(paths);
if(currentCost.connectionsCount <= 2)
return;
float neighborCost = getNeighborConnectionsCost(pos);
float neighborCost = getNeighborConnectionsCost(pos, paths);
if(currentCost.avg < neighborCost)
{
@ -139,20 +144,20 @@ private:
ai->pathfinder->updatePaths(actors, ps);
}
void calculateConnections(const int3 & pos)
void calculateConnections(const int3 & pos, std::vector<AIPath> & pathCache)
{
if(target->hasNodeAt(pos))
{
foreach_neighbour(
ai->cb.get(),
pos,
[this, &pos](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
[this, &pos, &pathCache](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
{
if(target->hasNodeAt(neighbor))
{
auto paths = ai->pathfinder->getPathInfo(neighbor);
ai->pathfinder->calculatePathInfo(pathCache, neighbor);
for(auto & path : paths)
for(auto & path : pathCache)
{
if(pos == path.targetHero->visitablePos())
{
@ -166,11 +171,12 @@ private:
}
auto guardPos = ai->cb->getGuardingCreaturePosition(pos);
auto paths = ai->pathfinder->getPathInfo(pos);
for(AIPath & path1 : paths)
ai->pathfinder->calculatePathInfo(pathCache, pos);
for(AIPath & path1 : pathCache)
{
for(AIPath & path2 : paths)
for(AIPath & path2 : pathCache)
{
if(path1.targetHero == path2.targetHero)
continue;
@ -287,6 +293,8 @@ private:
void addJunctionActor(const int3 & visitablePos)
{
std::lock_guard<std::mutex> lock(syncLock);
auto internalCb = temporaryActorHeroes.front()->cb;
auto objectActor = temporaryActorHeroes.emplace_back(std::make_unique<CGHeroInstance>(internalCb)).get();
@ -297,7 +305,7 @@ private:
objectActor->pos = objectActor->convertFromVisitablePos(visitablePos);
objectActor->initObj(rng);
if(cb->getTile(visitablePos)->isWater())
if(ai->cb->getTile(visitablePos)->isWater())
{
objectActor->boat = temporaryBoats.emplace_back(std::make_unique<CGBoat>(objectActor->cb)).get();
}
@ -310,9 +318,8 @@ private:
target->registerJunction(visitablePos);
}
ConnectionCostInfo getConnectionsCost(const int3 & pos) const
ConnectionCostInfo getConnectionsCost(std::vector<AIPath> & paths) const
{
auto paths = ai->pathfinder->getPathInfo(pos);
std::map<int3, float> costs;
for(auto & path : paths)
@ -466,9 +473,14 @@ bool GraphNodeComparer::operator()(const GraphPathNodePointer & lhs, const Graph
return pathNodes.at(lhs.coord)[lhs.nodeType].cost > pathNodes.at(rhs.coord)[rhs.nodeType].cost;
}
GraphPaths::GraphPaths()
: visualKey(""), graph(), pathNodes()
{
}
void GraphPaths::calculatePaths(const CGHeroInstance * targetHero, const Nullkiller * ai)
{
graph = *ai->baseGraph;
graph.copyFrom(*ai->baseGraph);
graph.connectHeroes(ai);
visualKey = std::to_string(ai->playerID) + ":" + targetHero->getNameTranslated();
@ -675,4 +687,119 @@ void GraphPaths::addChainInfo(std::vector<AIPath> & paths, int3 tile, const CGHe
}
}
void GraphPaths::quickAddChainInfoWithBlocker(std::vector<AIPath> & paths, int3 tile, const CGHeroInstance * hero, const Nullkiller * ai) const
{
auto nodes = pathNodes.find(tile);
if(nodes == pathNodes.end())
return;
for(auto & targetNode : nodes->second)
{
if(!targetNode.reachable())
continue;
std::vector<GraphPathNodePointer> tilesToPass;
uint64_t danger = targetNode.danger;
float cost = targetNode.cost;
bool allowBattle = false;
auto current = GraphPathNodePointer(nodes->first, targetNode.nodeType);
while(true)
{
auto currentTile = pathNodes.find(current.coord);
if(currentTile == pathNodes.end())
break;
auto currentNode = currentTile->second[current.nodeType];
if(!currentNode.previous.valid())
break;
allowBattle = allowBattle || currentNode.nodeType == GrapthPathNodeType::BATTLE;
vstd::amax(danger, currentNode.danger);
vstd::amax(cost, currentNode.cost);
tilesToPass.push_back(current);
if(currentNode.cost < 2.0f)
break;
current = currentNode.previous;
}
if(tilesToPass.empty())
continue;
auto entryPaths = ai->pathfinder->getPathInfo(tilesToPass.back().coord);
for(auto & entryPath : entryPaths)
{
if(entryPath.targetHero != hero)
continue;
auto & path = paths.emplace_back();
path.targetHero = entryPath.targetHero;
path.heroArmy = entryPath.heroArmy;
path.exchangeCount = entryPath.exchangeCount;
path.armyLoss = entryPath.armyLoss + ai->pathfinder->getStorage()->evaluateArmyLoss(path.targetHero, path.heroArmy->getArmyStrength(), danger);
path.targetObjectDanger = ai->pathfinder->getStorage()->evaluateDanger(tile, path.targetHero, !allowBattle);
path.targetObjectArmyLoss = ai->pathfinder->getStorage()->evaluateArmyLoss(path.targetHero, path.heroArmy->getArmyStrength(), path.targetObjectDanger);
AIPathNodeInfo n;
n.targetHero = hero;
n.parentIndex = -1;
// final node
n.coord = tile;
n.cost = targetNode.cost;
n.danger = targetNode.danger;
n.parentIndex = path.nodes.size();
path.nodes.push_back(n);
for(auto entryNode = entryPath.nodes.rbegin(); entryNode != entryPath.nodes.rend(); entryNode++)
{
auto blocker = ai->objectClusterizer->getBlocker(*entryNode);
if(blocker)
{
// blocker node
path.nodes.push_back(*entryNode);
path.nodes.back().parentIndex = path.nodes.size() - 1;
break;
}
}
if(!path.nodes.empty())
break;
for(auto graphTile = tilesToPass.rbegin(); graphTile != tilesToPass.rend(); graphTile++)
{
auto & node = getNode(*graphTile);
n.coord = graphTile->coord;
n.cost = node.cost;
n.turns = static_cast<ui8>(node.cost);
n.danger = node.danger;
n.specialAction = node.specialAction;
n.parentIndex = path.nodes.size();
auto blocker = ai->objectClusterizer->getBlocker(n);
if(!blocker)
continue;
// blocker node
path.nodes.push_back(n);
break;
}
}
}
}
}

7
AI/Nullkiller/Pathfinding/ObjectGraph.h
View File

@ -73,6 +73,11 @@ public:
void removeConnection(const int3 & from, const int3 & to);
void dumpToLog(std::string visualKey) const;
void copyFrom(const ObjectGraph & other)
{
nodes = other.nodes;
}
template<typename Func>
void iterateConnections(const int3 & pos, Func fn)
{
@ -167,8 +172,10 @@ class GraphPaths
std::string visualKey;
public:
GraphPaths();
void calculatePaths(const CGHeroInstance * targetHero, const Nullkiller * ai);
void addChainInfo(std::vector<AIPath> & paths, int3 tile, const CGHeroInstance * hero, const Nullkiller * ai) const;
void quickAddChainInfoWithBlocker(std::vector<AIPath> & paths, int3 tile, const CGHeroInstance * hero, const Nullkiller * ai) const;
void dumpToLog() const;
private: