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Merge pull request #3664 from vcmi/object-graph
NKAI: object graph improved and optimized
This commit is contained in:
Andrii Danylchenko
GitHub
commit
6381a6f601
@ -73,13 +73,25 @@ Goals::TGoalVec CaptureObjectsBehavior::getVisitGoals(const std::vector<AIPath>
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}
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if(objToVisit && !shouldVisit(ai->nullkiller.get(), path.targetHero, objToVisit))
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{
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#if NKAI_TRACE_LEVEL >= 2
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logAi->trace("Ignore path. Hero %s should not visit obj %s", path.targetHero->getNameTranslated(), objToVisit->getObjectName());
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#endif
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continue;
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}
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auto hero = path.targetHero;
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auto danger = path.getTotalDanger();
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if(ai->nullkiller->heroManager->getHeroRole(hero) == HeroRole::SCOUT && path.exchangeCount > 1)
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if(ai->nullkiller->heroManager->getHeroRole(hero) == HeroRole::SCOUT
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&& (path.getTotalDanger() == 0 || path.turn() > 0)
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&& path.exchangeCount > 1)
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{
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#if NKAI_TRACE_LEVEL >= 2
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logAi->trace("Ignore path. Hero %s is SCOUT, chain used and no danger", path.targetHero->getNameTranslated());
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#endif
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continue;
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}
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auto firstBlockedAction = path.getFirstBlockedAction();
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if(firstBlockedAction)
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@ -27,8 +27,8 @@ namespace NKAI
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{
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namespace AIPathfinding
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{
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const int BUCKET_COUNT = 5;
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const int BUCKET_SIZE = 3;
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const int BUCKET_COUNT = 3;
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const int BUCKET_SIZE = 5;
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const int NUM_CHAINS = BUCKET_COUNT * BUCKET_SIZE;
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const int CHAIN_MAX_DEPTH = 4;
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}
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@ -19,14 +19,19 @@ namespace NKAI
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namespace AIPathfinding
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{
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bool QuestAction::canAct(const AIPathNode * node) const
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{
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return canAct(node->actor->hero);
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}
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bool QuestAction::canAct(const CGHeroInstance * hero) const
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{
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if(questInfo.obj->ID == Obj::BORDER_GATE || questInfo.obj->ID == Obj::BORDERGUARD)
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{
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return dynamic_cast<const IQuestObject *>(questInfo.obj)->checkQuest(node->actor->hero);
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return dynamic_cast<const IQuestObject *>(questInfo.obj)->checkQuest(hero);
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}
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return questInfo.quest->activeForPlayers.count(node->actor->hero->getOwner())
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|| questInfo.quest->checkQuest(node->actor->hero);
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return questInfo.quest->activeForPlayers.count(hero->getOwner())
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|| questInfo.quest->checkQuest(hero);
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}
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Goals::TSubgoal QuestAction::decompose(const CGHeroInstance * hero) const
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@ -30,6 +30,8 @@ namespace AIPathfinding
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bool canAct(const AIPathNode * node) const override;
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bool canAct(const CGHeroInstance * hero) const;
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Goals::TSubgoal decompose(const CGHeroInstance * hero) const override;
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void execute(const CGHeroInstance * hero) const override;
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@ -15,10 +15,18 @@
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#include "../../../lib/mapping/CMap.h"
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#include "../Engine/Nullkiller.h"
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#include "../../../lib/logging/VisualLogger.h"
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#include "Actions/QuestAction.h"
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namespace NKAI
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{
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struct ConnectionCostInfo
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{
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float totalCost = 0;
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float avg = 0;
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int connectionsCount = 0;
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};
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class ObjectGraphCalculator
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{
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private:
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@ -34,10 +42,14 @@ private:
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public:
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ObjectGraphCalculator(ObjectGraph * target, const Nullkiller * ai)
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:ai(ai), target(target)
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{
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}
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void setGraphObjects()
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{
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for(auto obj : ai->memory->visitableObjs)
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{
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if(obj && obj->isVisitable() && obj->ID != Obj::HERO)
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if(obj && obj->isVisitable() && obj->ID != Obj::HERO && obj->ID != Obj::EVENT)
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{
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addObjectActor(obj);
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}
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@ -47,7 +59,70 @@ public:
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{
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addObjectActor(town);
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}
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}
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void calculateConnections()
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{
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updatePaths();
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foreach_tile_pos(ai->cb.get(), [this](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
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{
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calculateConnections(pos);
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});
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removeExtraConnections();
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}
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void addMinimalDistanceJunctions()
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{
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foreach_tile_pos(ai->cb.get(), [this](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
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{
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if(target->hasNodeAt(pos))
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return;
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if(ai->cb->getGuardingCreaturePosition(pos).valid())
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return;
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ConnectionCostInfo currentCost = getConnectionsCost(pos);
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if(currentCost.connectionsCount <= 2)
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return;
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float neighborCost = currentCost.avg + 0.001f;
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if(NKAI_GRAPH_TRACE_LEVEL >= 2)
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{
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logAi->trace("Checking junction %s", pos.toString());
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}
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foreach_neighbour(
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ai->cb.get(),
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pos,
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[this, &neighborCost](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
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{
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auto costTotal = this->getConnectionsCost(neighbor);
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if(costTotal.avg < neighborCost)
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{
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neighborCost = costTotal.avg;
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if(NKAI_GRAPH_TRACE_LEVEL >= 2)
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{
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logAi->trace("Better node found at %s", neighbor.toString());
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}
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}
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});
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if(currentCost.avg < neighborCost)
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{
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addJunctionActor(pos);
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}
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});
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}
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private:
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void updatePaths()
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{
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PathfinderSettings ps;
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ps.mainTurnDistanceLimit = 5;
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@ -59,11 +134,31 @@ public:
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void calculateConnections(const int3 & pos)
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{
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auto guarded = ai->cb->getGuardingCreaturePosition(pos).valid();
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if(target->hasNodeAt(pos))
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{
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foreach_neighbour(
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ai->cb.get(),
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pos,
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[this, &pos](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
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{
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if(target->hasNodeAt(neighbor))
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{
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auto paths = ai->pathfinder->getPathInfo(neighbor);
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for(auto & path : paths)
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{
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if(pos == path.targetHero->visitablePos())
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{
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target->tryAddConnection(pos, neighbor, path.movementCost(), path.getTotalDanger());
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}
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}
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}
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});
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if(guarded)
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return;
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}
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auto guardPos = ai->cb->getGuardingCreaturePosition(pos);
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auto paths = ai->pathfinder->getPathInfo(pos);
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for(AIPath & path1 : paths)
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@ -73,25 +168,32 @@ public:
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if(path1.targetHero == path2.targetHero)
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continue;
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auto pos1 = path1.targetHero->visitablePos();
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auto pos2 = path2.targetHero->visitablePos();
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if(guardPos.valid() && guardPos != pos1 && guardPos != pos2)
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continue;
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auto obj1 = actorObjectMap[path1.targetHero];
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auto obj2 = actorObjectMap[path2.targetHero];
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auto tile1 = cb->getTile(obj1->visitablePos());
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auto tile2 = cb->getTile(obj2->visitablePos());
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auto tile1 = cb->getTile(pos1);
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auto tile2 = cb->getTile(pos2);
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if(tile2->isWater() && !tile1->isWater())
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{
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auto linkTile = cb->getTile(pos);
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if(!cb->getTile(pos)->isWater())
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continue;
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if(!linkTile->isWater() || obj1->ID != Obj::BOAT || obj1->ID != Obj::SHIPYARD)
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if(obj1 && (obj1->ID != Obj::BOAT || obj1->ID != Obj::SHIPYARD))
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continue;
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}
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auto danger = ai->pathfinder->getStorage()->evaluateDanger(obj2->visitablePos(), path1.targetHero, true);
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auto danger = ai->pathfinder->getStorage()->evaluateDanger(pos2, path1.targetHero, true);
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auto updated = target->tryAddConnection(
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obj1->visitablePos(),
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obj2->visitablePos(),
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pos1,
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pos2,
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path1.movementCost() + path2.movementCost(),
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danger);
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@ -99,8 +201,8 @@ public:
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{
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logAi->trace(
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"Connected %s[%s] -> %s[%s] through [%s], cost %2f",
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obj1->getObjectName(), obj1->visitablePos().toString(),
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obj2->getObjectName(), obj2->visitablePos().toString(),
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obj1 ? obj1->getObjectName() : "J", pos1.toString(),
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obj2 ? obj2->getObjectName() : "J", pos2.toString(),
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pos.toString(),
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path1.movementCost() + path2.movementCost());
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}
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@ -108,7 +210,49 @@ public:
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}
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}
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private:
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bool isExtraConnection(float direct, float side1, float side2) const
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{
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float sideRatio = (side1 + side2) / direct;
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return sideRatio < 1.25f && direct > side1 && direct > side2;
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}
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void removeExtraConnections()
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{
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std::vector<std::pair<int3, int3>> connectionsToRemove;
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for(auto & actor : temporaryActorHeroes)
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{
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auto pos = actor->visitablePos();
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auto & currentNode = target->getNode(pos);
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target->iterateConnections(pos, [this, &pos, &connectionsToRemove, ¤tNode](int3 n1, ObjectLink o1)
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{
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target->iterateConnections(n1, [&pos, &o1, ¤tNode, &connectionsToRemove, this](int3 n2, ObjectLink o2)
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{
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auto direct = currentNode.connections.find(n2);
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if(direct != currentNode.connections.end() && isExtraConnection(direct->second.cost, o1.cost, o2.cost))
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{
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connectionsToRemove.push_back({pos, n2});
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}
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});
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});
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}
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vstd::removeDuplicates(connectionsToRemove);
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for(auto & c : connectionsToRemove)
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{
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target->removeConnection(c.first, c.second);
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if(NKAI_GRAPH_TRACE_LEVEL >= 2)
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{
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logAi->trace("Remove ineffective connection %s->%s", c.first.toString(), c.second.toString());
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}
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}
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}
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void addObjectActor(const CGObjectInstance * obj)
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{
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auto objectActor = temporaryActorHeroes.emplace_back(std::make_unique<CGHeroInstance>(obj->cb)).get();
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@ -126,11 +270,77 @@ private:
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objectActor->boat = temporaryBoats.emplace_back(std::make_unique<CGBoat>(objectActor->cb)).get();
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}
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assert(objectActor->visitablePos() == visitablePos);
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actorObjectMap[objectActor] = obj;
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actors[objectActor] = obj->ID == Obj::TOWN || obj->ID == Obj::SHIPYARD ? HeroRole::MAIN : HeroRole::SCOUT;
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target->addObject(obj);
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};
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}
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void addJunctionActor(const int3 & visitablePos)
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{
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auto internalCb = temporaryActorHeroes.front()->cb;
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auto objectActor = temporaryActorHeroes.emplace_back(std::make_unique<CGHeroInstance>(internalCb)).get();
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CRandomGenerator rng;
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objectActor->setOwner(ai->playerID); // lets avoid having multiple colors
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objectActor->initHero(rng, static_cast<HeroTypeID>(0));
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objectActor->pos = objectActor->convertFromVisitablePos(visitablePos);
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objectActor->initObj(rng);
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if(cb->getTile(visitablePos)->isWater())
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{
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objectActor->boat = temporaryBoats.emplace_back(std::make_unique<CGBoat>(objectActor->cb)).get();
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}
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assert(objectActor->visitablePos() == visitablePos);
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actorObjectMap[objectActor] = nullptr;
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actors[objectActor] = HeroRole::SCOUT;
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target->registerJunction(visitablePos);
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}
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ConnectionCostInfo getConnectionsCost(const int3 & pos) const
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{
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auto paths = ai->pathfinder->getPathInfo(pos);
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std::map<int3, float> costs;
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for(auto & path : paths)
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{
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auto fromPos = path.targetHero->visitablePos();
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auto cost = costs.find(fromPos);
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if(cost == costs.end())
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{
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costs.emplace(fromPos, path.movementCost());
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}
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else
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{
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if(path.movementCost() < cost->second)
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{
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costs[fromPos] = path.movementCost();
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}
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}
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}
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ConnectionCostInfo result;
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for(auto & cost : costs)
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{
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result.totalCost += cost.second;
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result.connectionsCount++;
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}
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if(result.connectionsCount)
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{
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result.avg = result.totalCost / result.connectionsCount;
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}
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return result;
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}
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};
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bool ObjectGraph::tryAddConnection(
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@ -142,23 +352,24 @@ bool ObjectGraph::tryAddConnection(
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return nodes[from].connections[to].update(cost, danger);
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}
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void ObjectGraph::removeConnection(const int3 & from, const int3 & to)
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{
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nodes[from].connections.erase(to);
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}
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void ObjectGraph::updateGraph(const Nullkiller * ai)
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{
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auto cb = ai->cb;
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ObjectGraphCalculator calculator(this, ai);
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foreach_tile_pos(cb.get(), [this, &calculator](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
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{
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if(nodes.find(pos) != nodes.end())
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return;
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calculator.calculateConnections(pos);
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});
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calculator.setGraphObjects();
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calculator.calculateConnections();
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calculator.addMinimalDistanceJunctions();
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calculator.calculateConnections();
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if(NKAI_GRAPH_TRACE_LEVEL >= 1)
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dumpToLog("graph");
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}
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void ObjectGraph::addObject(const CGObjectInstance * obj)
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@ -166,6 +377,11 @@ void ObjectGraph::addObject(const CGObjectInstance * obj)
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nodes[obj->visitablePos()].init(obj);
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}
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void ObjectGraph::registerJunction(const int3 & pos)
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{
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nodes[pos].initJunction();
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}
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void ObjectGraph::removeObject(const CGObjectInstance * obj)
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{
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nodes[obj->visitablePos()].objectExists = false;
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@ -198,6 +414,9 @@ void ObjectGraph::connectHeroes(const Nullkiller * ai)
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for(AIPath & path : paths)
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{
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if(path.getFirstBlockedAction())
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continue;
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auto heroPos = path.targetHero->visitablePos();
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nodes[pos].connections[heroPos].update(
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@ -259,20 +478,55 @@ void GraphPaths::calculatePaths(const CGHeroInstance * targetHero, const Nullkil
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GraphPathNodePointer pos = pq.top();
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pq.pop();
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auto & node = getNode(pos);
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auto & node = getOrCreateNode(pos);
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std::shared_ptr<SpecialAction> transitionAction;
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if(node.obj)
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{
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if(node.obj->ID == Obj::QUEST_GUARD
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|| node.obj->ID == Obj::BORDERGUARD
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|| node.obj->ID == Obj::BORDER_GATE)
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{
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auto questObj = dynamic_cast<const IQuestObject *>(node.obj);
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auto questInfo = QuestInfo(questObj->quest, node.obj, pos.coord);
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if(node.obj->ID == Obj::QUEST_GUARD
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&& questObj->quest->mission == Rewardable::Limiter{}
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&& questObj->quest->killTarget == ObjectInstanceID::NONE)
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{
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continue;
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}
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auto questAction = std::make_shared<AIPathfinding::QuestAction>(questInfo);
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if(!questAction->canAct(targetHero))
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{
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transitionAction = questAction;
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}
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}
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}
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node.isInQueue = false;
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graph.iterateConnections(pos.coord, [&](int3 target, ObjectLink o)
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graph.iterateConnections(pos.coord, [this, ai, &pos, &node, &transitionAction, &pq](int3 target, ObjectLink o)
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{
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auto targetNodeType = o.danger ? GrapthPathNodeType::BATTLE : pos.nodeType;
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auto targetNodeType = o.danger || transitionAction ? GrapthPathNodeType::BATTLE : pos.nodeType;
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auto targetPointer = GraphPathNodePointer(target, targetNodeType);
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auto & targetNode = getNode(targetPointer);
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auto & targetNode = getOrCreateNode(targetPointer);
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if(targetNode.tryUpdate(pos, node, o))
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{
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if(graph.getNode(target).objTypeID == Obj::HERO)
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return;
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targetNode.specialAction = transitionAction;
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||||
|
||||
auto targetGraphNode = graph.getNode(target);
|
||||
|
||||
if(targetGraphNode.objID.hasValue())
|
||||
{
|
||||
targetNode.obj = ai->cb->getObj(targetGraphNode.objID, false);
|
||||
|
||||
if(targetNode.obj && targetNode.obj->ID == Obj::HERO)
|
||||
return;
|
||||
}
|
||||
|
||||
if(targetNode.isInQueue)
|
||||
{
|
||||
@ -321,11 +575,6 @@ bool GraphPathNode::tryUpdate(const GraphPathNodePointer & pos, const GraphPathN
|
||||
|
||||
if(newCost < cost)
|
||||
{
|
||||
if(nodeType < pos.nodeType)
|
||||
{
|
||||
logAi->error("Linking error");
|
||||
}
|
||||
|
||||
previous = pos;
|
||||
danger = prev.danger + link.danger;
|
||||
cost = newCost;
|
||||
@ -348,7 +597,7 @@ void GraphPaths::addChainInfo(std::vector<AIPath> & paths, int3 tile, const CGHe
|
||||
if(!node.reachable())
|
||||
continue;
|
||||
|
||||
std::vector<int3> tilesToPass;
|
||||
std::vector<GraphPathNodePointer> tilesToPass;
|
||||
|
||||
uint64_t danger = node.danger;
|
||||
float cost = node.cost;
|
||||
@ -372,7 +621,7 @@ void GraphPaths::addChainInfo(std::vector<AIPath> & paths, int3 tile, const CGHe
|
||||
vstd::amax(danger, currentNode.danger);
|
||||
vstd::amax(cost, currentNode.cost);
|
||||
|
||||
tilesToPass.push_back(current.coord);
|
||||
tilesToPass.push_back(current);
|
||||
|
||||
if(currentNode.cost < 2.0f)
|
||||
break;
|
||||
@ -383,7 +632,7 @@ void GraphPaths::addChainInfo(std::vector<AIPath> & paths, int3 tile, const CGHe
|
||||
if(tilesToPass.empty())
|
||||
continue;
|
||||
|
||||
auto entryPaths = ai->pathfinder->getPathInfo(tilesToPass.back());
|
||||
auto entryPaths = ai->pathfinder->getPathInfo(tilesToPass.back().coord);
|
||||
|
||||
for(auto & path : entryPaths)
|
||||
{
|
||||
@ -394,12 +643,13 @@ void GraphPaths::addChainInfo(std::vector<AIPath> & paths, int3 tile, const CGHe
|
||||
{
|
||||
AIPathNodeInfo n;
|
||||
|
||||
n.coord = *graphTile;
|
||||
n.coord = graphTile->coord;
|
||||
n.cost = cost;
|
||||
n.turns = static_cast<ui8>(cost) + 1; // just in case lets select worst scenario
|
||||
n.danger = danger;
|
||||
n.targetHero = hero;
|
||||
n.parentIndex = 0;
|
||||
n.parentIndex = -1;
|
||||
n.specialAction = getNode(*graphTile).specialAction;
|
||||
|
||||
for(auto & node : path.nodes)
|
||||
{
|
||||
|
||||
@ -50,6 +50,13 @@ struct ObjectNode
|
||||
objID = obj->id;
|
||||
objTypeID = obj->ID;
|
||||
}
|
||||
|
||||
void initJunction()
|
||||
{
|
||||
objectExists = false;
|
||||
objID = ObjectInstanceID();
|
||||
objTypeID = Obj();
|
||||
}
|
||||
};
|
||||
|
||||
class ObjectGraph
|
||||
@ -59,8 +66,11 @@ class ObjectGraph
|
||||
public:
|
||||
void updateGraph(const Nullkiller * ai);
|
||||
void addObject(const CGObjectInstance * obj);
|
||||
void registerJunction(const int3 & pos);
|
||||
void connectHeroes(const Nullkiller * ai);
|
||||
void removeObject(const CGObjectInstance * obj);
|
||||
bool tryAddConnection(const int3 & from, const int3 & to, float cost, uint64_t danger);
|
||||
void removeConnection(const int3 & from, const int3 & to);
|
||||
void dumpToLog(std::string visualKey) const;
|
||||
|
||||
template<typename Func>
|
||||
@ -77,7 +87,10 @@ public:
|
||||
return nodes.at(tile);
|
||||
}
|
||||
|
||||
bool tryAddConnection(const int3 & from, const int3 & to, float cost, uint64_t danger);
|
||||
bool hasNodeAt(const int3 & tile) const
|
||||
{
|
||||
return vstd::contains(nodes, tile);
|
||||
}
|
||||
};
|
||||
|
||||
struct GraphPathNode;
|
||||
@ -131,6 +144,8 @@ struct GraphPathNode
|
||||
GraphPathNodePointer previous;
|
||||
float cost = BAD_COST;
|
||||
uint64_t danger = 0;
|
||||
const CGObjectInstance * obj = nullptr;
|
||||
std::shared_ptr<SpecialAction> specialAction;
|
||||
|
||||
using TFibHeap = boost::heap::fibonacci_heap<GraphPathNodePointer, boost::heap::compare<GraphNodeComparer>>;
|
||||
|
||||
@ -157,7 +172,7 @@ public:
|
||||
void dumpToLog() const;
|
||||
|
||||
private:
|
||||
GraphPathNode & getNode(const GraphPathNodePointer & pos)
|
||||
GraphPathNode & getOrCreateNode(const GraphPathNodePointer & pos)
|
||||
{
|
||||
auto & node = pathNodes[pos.coord][pos.nodeType];
|
||||
|
||||
@ -165,6 +180,13 @@ private:
|
||||
|
||||
return node;
|
||||
}
|
||||
|
||||
const GraphPathNode & getNode(const GraphPathNodePointer & pos) const
|
||||
{
|
||||
auto & node = pathNodes.at(pos.coord)[pos.nodeType];
|
||||
|
||||
return node;
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
@ -42,15 +42,34 @@ namespace AIPathfinding
|
||||
}
|
||||
|
||||
auto blocker = getBlockingReason(source, destination, pathfinderConfig, pathfinderHelper);
|
||||
|
||||
if(blocker == BlockingReason::NONE)
|
||||
{
|
||||
destination.blocked = nodeStorage->isDistanceLimitReached(source, destination);
|
||||
|
||||
if(destination.nodeObject
|
||||
&& !destination.blocked
|
||||
&& !allowBypassObjects
|
||||
&& !dynamic_cast<const CGTeleport *>(destination.nodeObject)
|
||||
&& destination.nodeObject->ID != Obj::EVENT)
|
||||
{
|
||||
destination.blocked = true;
|
||||
destination.node->locked = true;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
if(!allowBypassObjects)
|
||||
{
|
||||
if(destination.nodeObject)
|
||||
{
|
||||
destination.blocked = true;
|
||||
destination.node->locked = true;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
#if NKAI_PATHFINDER_TRACE_LEVEL >= 2
|
||||
logAi->trace(
|
||||
|
||||
@ -49,7 +49,7 @@ namespace AIPathfinding
|
||||
return;
|
||||
|
||||
// when actor represents moster graph node, we need to let him escape monster
|
||||
if(!destination.guarded && cb->getGuardingCreaturePosition(source.coord) == actor->initialPosition)
|
||||
if(cb->getGuardingCreaturePosition(source.coord) == actor->initialPosition)
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
@ -71,6 +71,8 @@ public:
|
||||
|
||||
virtual void drawLine(int3 start, int3 end) override
|
||||
{
|
||||
const Point offset = Point(30, 30);
|
||||
|
||||
auto level = model->getLevel();
|
||||
|
||||
if(start.z != level || end.z != level)
|
||||
@ -83,6 +85,9 @@ public:
|
||||
pStart.x += 3;
|
||||
pEnd.x -= 3;
|
||||
|
||||
pStart += offset;
|
||||
pEnd += offset;
|
||||
|
||||
if(viewPort.isInside(pStart) && viewPort.isInside(pEnd))
|
||||
{
|
||||
target.drawLine(pStart, pEnd, ColorRGBA(255, 255, 0), ColorRGBA(255, 0, 0));
|
||||
|
||||
Loading…
Reference in New Issue
Block a user