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NKAI: port exploration from VCAI
This commit is contained in:
Andrii Danylchenko
@@ -9,6 +9,7 @@
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*/
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#include "StdInc.h"
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#include "ObjectGraph.h"
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#include "ObjectGraphCalculator.h"
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#include "AIPathfinderConfig.h"
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#include "../../../lib/CRandomGenerator.h"
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#include "../../../CCallback.h"
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@@ -22,392 +23,6 @@
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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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ObjectGraph * target;
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const Nullkiller * ai;
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std::mutex syncLock;
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std::map<const CGHeroInstance *, HeroRole> actors;
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std::map<const CGHeroInstance *, const CGObjectInstance *> actorObjectMap;
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std::vector<std::unique_ptr<CGBoat>> temporaryBoats;
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std::vector<std::unique_ptr<CGHeroInstance>> temporaryActorHeroes;
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public:
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ObjectGraphCalculator(ObjectGraph * target, const Nullkiller * ai)
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:ai(ai), target(target), syncLock()
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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 && obj->ID != Obj::EVENT)
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{
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addObjectActor(obj);
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}
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}
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for(auto town : ai->cb->getTownsInfo())
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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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std::vector<AIPath> pathCache;
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foreach_tile_pos(ai->cb.get(), [this, &pathCache](const CPlayerSpecificInfoCallback * cb, const int3 & pos)
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{
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calculateConnections(pos, pathCache);
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});
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removeExtraConnections();
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}
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float getNeighborConnectionsCost(const int3 & pos, std::vector<AIPath> & pathCache)
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{
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float neighborCost = std::numeric_limits<float>::max();
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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, &pathCache](const CPlayerSpecificInfoCallback * cb, const int3 & neighbor)
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{
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ai->pathfinder->calculatePathInfo(pathCache, neighbor);
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auto costTotal = this->getConnectionsCost(pathCache);
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if(costTotal.connectionsCount > 2 && 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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return neighborCost;
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}
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void addMinimalDistanceJunctions()
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{
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tbb::concurrent_unordered_set<int3, std::hash<int3>> junctions;
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pforeachTilePaths(ai->cb->getMapSize(), ai, [this, &junctions](const int3 & pos, std::vector<AIPath> & paths)
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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(paths);
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if(currentCost.connectionsCount <= 2)
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return;
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float neighborCost = getNeighborConnectionsCost(pos, paths);
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if(currentCost.avg < neighborCost)
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{
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junctions.insert(pos);
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}
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});
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for(auto pos : junctions)
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{
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addJunctionActor(pos);
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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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ps.scoutTurnDistanceLimit = 1;
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ps.allowBypassObjects = false;
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ai->pathfinder->updatePaths(actors, ps);
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}
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void calculateConnections(const int3 & pos, std::vector<AIPath> & pathCache)
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{
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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, &pathCache](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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ai->pathfinder->calculatePathInfo(pathCache, neighbor);
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for(auto & path : pathCache)
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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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auto obj = ai->cb->getTopObj(pos);
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if((obj && obj->ID == Obj::BOAT) || target->isVirtualBoat(pos))
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{
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ai->pathfinder->calculatePathInfo(pathCache, pos);
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for(AIPath & path : pathCache)
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{
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auto from = path.targetHero->visitablePos();
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auto fromObj = actorObjectMap[path.targetHero];
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auto danger = ai->pathfinder->getStorage()->evaluateDanger(pos, path.targetHero, true);
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auto updated = target->tryAddConnection(
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from,
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pos,
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path.movementCost(),
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danger);
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if(NKAI_GRAPH_TRACE_LEVEL >= 2 && updated)
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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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fromObj ? fromObj->getObjectName() : "J", from.toString(),
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"Boat", pos.toString(),
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pos.toString(),
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path.movementCost());
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}
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}
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}
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return;
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}
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auto guardPos = ai->cb->getGuardingCreaturePosition(pos);
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ai->pathfinder->calculatePathInfo(pathCache, pos);
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for(AIPath & path1 : pathCache)
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{
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for(AIPath & path2 : pathCache)
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{
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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(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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if(!cb->getTile(pos)->isWater())
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continue;
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auto startingObjIsBoat = (obj1 && obj1->ID == Obj::BOAT) || target->isVirtualBoat(pos1);
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if(!startingObjIsBoat)
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continue;
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}
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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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pos1,
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pos2,
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path1.movementCost() + path2.movementCost(),
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danger);
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if(NKAI_GRAPH_TRACE_LEVEL >= 2 && updated)
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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 ? 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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}
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}
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}
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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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CRandomGenerator rng;
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auto visitablePos = obj->visitablePos();
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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] = obj;
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actors[objectActor] = obj->ID == Obj::TOWN || obj->ID == Obj::BOAT ? HeroRole::MAIN : HeroRole::SCOUT;
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target->addObject(obj);
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auto shipyard = dynamic_cast<const IShipyard *>(obj);
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if(shipyard && shipyard->bestLocation().valid())
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{
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int3 virtualBoat = shipyard->bestLocation();
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addJunctionActor(virtualBoat, true);
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target->addVirtualBoat(virtualBoat, obj);
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}
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}
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void addJunctionActor(const int3 & visitablePos, bool isVirtualBoat = false)
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{
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std::lock_guard<std::mutex> lock(syncLock);
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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(isVirtualBoat || ai->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] = isVirtualBoat ? HeroRole::MAIN : HeroRole::SCOUT;
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target->registerJunction(visitablePos);
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}
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ConnectionCostInfo getConnectionsCost(std::vector<AIPath> & paths) const
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{
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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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const int3 & from,
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const int3 & to,
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@@ -538,372 +153,4 @@ void ObjectGraph::dumpToLog(std::string visualKey) const
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});
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}
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bool GraphNodeComparer::operator()(const GraphPathNodePointer & lhs, const GraphPathNodePointer & rhs) const
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{
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return pathNodes.at(lhs.coord)[lhs.nodeType].cost > pathNodes.at(rhs.coord)[rhs.nodeType].cost;
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}
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GraphPaths::GraphPaths()
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: visualKey(""), graph(), pathNodes()
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{
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}
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std::shared_ptr<SpecialAction> getCompositeAction(
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const Nullkiller * ai,
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std::shared_ptr<ISpecialActionFactory> linkActionFactory,
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std::shared_ptr<SpecialAction> transitionAction)
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{
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if(!linkActionFactory)
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return transitionAction;
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auto linkAction = linkActionFactory->create(ai);
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if(!transitionAction)
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return linkAction;
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std::vector<std::shared_ptr<const SpecialAction>> actionsArray = {
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transitionAction,
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linkAction
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};
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return std::make_shared<CompositeAction>(actionsArray);
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}
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void GraphPaths::calculatePaths(const CGHeroInstance * targetHero, const Nullkiller * ai, uint8_t scanDepth)
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{
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graph.copyFrom(*ai->baseGraph);
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graph.connectHeroes(ai);
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visualKey = std::to_string(ai->playerID) + ":" + targetHero->getNameTranslated();
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pathNodes.clear();
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GraphNodeComparer cmp(pathNodes);
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GraphPathNode::TFibHeap pq(cmp);
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pathNodes[targetHero->visitablePos()][GrapthPathNodeType::NORMAL].cost = 0;
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pq.emplace(GraphPathNodePointer(targetHero->visitablePos(), GrapthPathNodeType::NORMAL));
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while(!pq.empty())
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{
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GraphPathNodePointer pos = pq.top();
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pq.pop();
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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(ai, 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, [this, ai, &pos, &node, &transitionAction, &pq, scanDepth](int3 target, const ObjectLink & o)
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{
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auto compositeAction = getCompositeAction(ai, o.specialAction, transitionAction);
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auto targetNodeType = o.danger || compositeAction ? GrapthPathNodeType::BATTLE : pos.nodeType;
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auto targetPointer = GraphPathNodePointer(target, targetNodeType);
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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(targetNode.cost > scanDepth)
|
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{
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return;
|
||||
}
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|
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targetNode.specialAction = compositeAction;
|
||||
|
||||
auto targetGraphNode = graph.getNode(target);
|
||||
|
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if(targetGraphNode.objID.hasValue())
|
||||
{
|
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targetNode.obj = ai->cb->getObj(targetGraphNode.objID, false);
|
||||
|
||||
if(targetNode.obj && targetNode.obj->ID == Obj::HERO)
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return;
|
||||
}
|
||||
|
||||
if(targetNode.isInQueue)
|
||||
{
|
||||
pq.increase(targetNode.handle);
|
||||
}
|
||||
else
|
||||
{
|
||||
targetNode.handle = pq.emplace(targetPointer);
|
||||
targetNode.isInQueue = true;
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
void GraphPaths::dumpToLog() const
|
||||
{
|
||||
logVisual->updateWithLock(visualKey, [&](IVisualLogBuilder & logBuilder)
|
||||
{
|
||||
for(auto & tile : pathNodes)
|
||||
{
|
||||
for(auto & node : tile.second)
|
||||
{
|
||||
if(!node.previous.valid())
|
||||
continue;
|
||||
|
||||
if(NKAI_GRAPH_TRACE_LEVEL >= 2)
|
||||
{
|
||||
logAi->trace(
|
||||
"%s -> %s: %f !%d",
|
||||
node.previous.coord.toString(),
|
||||
tile.first.toString(),
|
||||
node.cost,
|
||||
node.danger);
|
||||
}
|
||||
|
||||
logBuilder.addLine(node.previous.coord, tile.first);
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
bool GraphPathNode::tryUpdate(const GraphPathNodePointer & pos, const GraphPathNode & prev, const ObjectLink & link)
|
||||
{
|
||||
auto newCost = prev.cost + link.cost;
|
||||
|
||||
if(newCost < cost)
|
||||
{
|
||||
previous = pos;
|
||||
danger = prev.danger + link.danger;
|
||||
cost = newCost;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void GraphPaths::addChainInfo(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 & node : nodes->second)
|
||||
{
|
||||
if(!node.reachable())
|
||||
continue;
|
||||
|
||||
std::vector<GraphPathNodePointer> tilesToPass;
|
||||
|
||||
uint64_t danger = node.danger;
|
||||
float cost = node.cost;
|
||||
bool allowBattle = false;
|
||||
|
||||
auto current = GraphPathNodePointer(nodes->first, node.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 & path : entryPaths)
|
||||
{
|
||||
if(path.targetHero != hero)
|
||||
continue;
|
||||
|
||||
for(auto graphTile = tilesToPass.rbegin(); graphTile != tilesToPass.rend(); graphTile++)
|
||||
{
|
||||
AIPathNodeInfo n;
|
||||
|
||||
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 = -1;
|
||||
n.specialAction = getNode(*graphTile).specialAction;
|
||||
|
||||
if(n.specialAction)
|
||||
{
|
||||
n.actionIsBlocked = !n.specialAction->canAct(ai, n);
|
||||
}
|
||||
|
||||
for(auto & node : path.nodes)
|
||||
{
|
||||
node.parentIndex++;
|
||||
}
|
||||
|
||||
path.nodes.insert(path.nodes.begin(), n);
|
||||
}
|
||||
|
||||
path.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);
|
||||
|
||||
paths.push_back(path);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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];
|
||||
|
||||
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.size() > 1)
|
||||
continue;
|
||||
|
||||
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();
|
||||
|
||||
if(n.specialAction)
|
||||
{
|
||||
n.actionIsBlocked = !n.specialAction->canAct(ai, n);
|
||||
}
|
||||
|
||||
auto blocker = ai->objectClusterizer->getBlocker(n);
|
||||
|
||||
if(!blocker)
|
||||
continue;
|
||||
|
||||
// blocker node
|
||||
path.nodes.push_back(n);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user