AI pathfinding: use own FuzzyHelper for each storage to allow parallel processing without cuncarrent access

AI/VCAI/AIUtility.cpp

@@ -194,155 +194,15 @@ bool CDistanceSorter::operator()(const CGObjectInstance * lhs, const CGObjectIns
 	return ln->cost < rn->cost;
 }
 
-ui64 evaluateDanger(crint3 tile)
-{
-	const TerrainTile * t = cb->getTile(tile, false);
-	if(!t) //we can know about guard but can't check its tile (the edge of fow)
-		return 190000000; //MUCH
-
-	ui64 objectDanger = 0;
-	ui64 guardDanger = 0;
-
-	auto visObjs = cb->getVisitableObjs(tile);
-	if(visObjs.size())
-		objectDanger = evaluateDanger(visObjs.back());
-
-	int3 guardPos = cb->getGuardingCreaturePosition(tile);
-	if(guardPos.x >= 0 && guardPos != tile)
-		guardDanger = evaluateDanger(guardPos);
-
-	//TODO mozna odwiedzic blockvis nie ruszajac straznika
-	return std::max(objectDanger, guardDanger);
-}
-
-ui64 evaluateDanger(crint3 tile, const CGHeroInstance * visitor)
-{
-	return evaluateDanger(tile, visitor, cb.get());
-}
-
-ui64 evaluateDanger(crint3 tile, const CGHeroInstance * visitor, const CPlayerSpecificInfoCallback * cb)
-{
-	const TerrainTile * t = cb->getTile(tile, false);
-	if(!t) //we can know about guard but can't check its tile (the edge of fow)
-		return 190000000; //MUCH
-
-	ui64 objectDanger = 0;
-	ui64 guardDanger = 0;
-
-	auto visitableObjects = cb->getVisitableObjs(tile);
-	// in some scenarios hero happens to be "under" the object (eg town). Then we consider ONLY the hero.
-	if(vstd::contains_if(visitableObjects, objWithID<Obj::HERO>))
-	{
-		vstd::erase_if(visitableObjects, [](const CGObjectInstance * obj)
-		{
-			return !objWithID<Obj::HERO>(obj);
-		});
-	}
-
-	if(const CGObjectInstance * dangerousObject = vstd::backOrNull(visitableObjects))
-	{
-		objectDanger = evaluateDanger(dangerousObject); //unguarded objects can also be dangerous or unhandled
-		if(objectDanger)
-		{
-			//TODO: don't downcast objects AI shouldn't know about!
-			auto armedObj = dynamic_cast<const CArmedInstance *>(dangerousObject);
-			if(armedObj)
-			{
-				float tacticalAdvantage = fh->tacticalAdvantageEngine.getTacticalAdvantage(visitor, armedObj);
-				objectDanger *= tacticalAdvantage; //this line tends to go infinite for allied towns (?)
-			}
-		}
-		if(dangerousObject->ID == Obj::SUBTERRANEAN_GATE)
-		{
-			//check guard on the other side of the gate
-			auto it = ai->knownSubterraneanGates.find(dangerousObject);
-			if(it != ai->knownSubterraneanGates.end())
-			{
-				auto guards = cb->getGuardingCreatures(it->second->visitablePos());
-				for(auto cre : guards)
-				{
-					vstd::amax(guardDanger, evaluateDanger(cre) * fh->tacticalAdvantageEngine.getTacticalAdvantage(visitor, dynamic_cast<const CArmedInstance *>(cre)));
-				}
-			}
-		}
-	}
-
-	auto guards = cb->getGuardingCreatures(tile);
-	for(auto cre : guards)
-	{
-		vstd::amax(guardDanger, evaluateDanger(cre) * fh->tacticalAdvantageEngine.getTacticalAdvantage(visitor, dynamic_cast<const CArmedInstance *>(cre))); //we are interested in strongest monster around
-	}
-
-	//TODO mozna odwiedzic blockvis nie ruszajac straznika
-	return std::max(objectDanger, guardDanger);
-}
-
-ui64 evaluateDanger(const CGObjectInstance * obj)
-{
-	if(obj->tempOwner < PlayerColor::PLAYER_LIMIT && cb->getPlayerRelations(obj->tempOwner, ai->playerID) != PlayerRelations::ENEMIES) //owned or allied objects don't pose any threat
-		return 0;
-
-	switch(obj->ID)
-	{
-	case Obj::HERO:
-	{
-		InfoAboutHero iah;
-		cb->getHeroInfo(obj, iah);
-		return iah.army.getStrength();
-	}
-	case Obj::TOWN:
-	case Obj::GARRISON:
-	case Obj::GARRISON2:
-	{
-		InfoAboutTown iat;
-		cb->getTownInfo(obj, iat);
-		return iat.army.getStrength();
-	}
-	case Obj::MONSTER:
-	{
-		//TODO!!!!!!!!
-		const CGCreature * cre = dynamic_cast<const CGCreature *>(obj);
-		return cre->getArmyStrength();
-	}
-	case Obj::CREATURE_GENERATOR1:
-	case Obj::CREATURE_GENERATOR4:
-	{
-		const CGDwelling * d = dynamic_cast<const CGDwelling *>(obj);
-		return d->getArmyStrength();
-	}
-	case Obj::MINE:
-	case Obj::ABANDONED_MINE:
-	{
-		const CArmedInstance * a = dynamic_cast<const CArmedInstance *>(obj);
-		return a->getArmyStrength();
-	}
-	case Obj::CRYPT: //crypt
-	case Obj::CREATURE_BANK: //crebank
-	case Obj::DRAGON_UTOPIA:
-	case Obj::SHIPWRECK: //shipwreck
-	case Obj::DERELICT_SHIP: //derelict ship
-//	case Obj::PYRAMID:
-		return fh->estimateBankDanger(dynamic_cast<const CBank *>(obj));
-	case Obj::PYRAMID:
-	{
-		if(obj->subID == 0)
-			return fh->estimateBankDanger(dynamic_cast<const CBank *>(obj));
-		else
-			return 0;
-	}
-	default:
-		return 0;
-	}
-}
 
 bool compareDanger(const CGObjectInstance * lhs, const CGObjectInstance * rhs)
 {
-	return evaluateDanger(lhs) < evaluateDanger(rhs);
+	return fh->evaluateDanger(lhs) < fh->evaluateDanger(rhs);
 }
 
 bool isSafeToVisit(HeroPtr h, crint3 tile)
 {
-	return isSafeToVisit(h, evaluateDanger(tile));
+	return isSafeToVisit(h, fh->evaluateDanger(tile, h.get()));
 }
 
 bool isSafeToVisit(HeroPtr h, uint64_t dangerStrength)

AI/VCAI/AIUtility.h

@@ -166,9 +166,6 @@ bool isBlockVisitObj(const int3 & pos);
 bool isWeeklyRevisitable(const CGObjectInstance * obj);
 bool shouldVisit(HeroPtr h, const CGObjectInstance * obj);
 
-ui64 evaluateDanger(const CGObjectInstance * obj);
-ui64 evaluateDanger(crint3 tile, const CGHeroInstance * visitor, const CPlayerSpecificInfoCallback * cb);
-ui64 evaluateDanger(crint3 tile, const CGHeroInstance * visitor);
 bool isObjectRemovable(const CGObjectInstance * obj); //FIXME FIXME: move logic to object property!
 bool isSafeToVisit(HeroPtr h, uint64_t dangerStrength);
 bool isSafeToVisit(HeroPtr h, crint3 tile);

AI/VCAI/FuzzyEngines.cpp

@@ -19,6 +19,7 @@
 #define UNGUARDED_OBJECT (100.0f) //we consider unguarded objects 100 times weaker than us
 
 extern boost::thread_specific_ptr<VCAI> ai;
+extern FuzzyHelper * fh;
 
 engineBase::engineBase()
 {
@@ -202,8 +203,6 @@ TacticalAdvantageEngine::TacticalAdvantageEngine()
 
 float TacticalAdvantageEngine::getTacticalAdvantage(const CArmedInstance * we, const CArmedInstance * enemy)
 {
-	boost::unique_lock<boost::mutex> lock(mx);
-
 	float output = 1;
 	try
 	{
@@ -344,7 +343,7 @@ void HeroMovementGoalEngineBase::setSharedFuzzyVariables(Goals::AbstractGoal & g
 	}
 
 	float strengthRatioData = 10.0f; //we are much stronger than enemy
-	ui64 danger = evaluateDanger(goal.tile, goal.hero.h);
+	ui64 danger = fh->evaluateDanger(goal.tile, goal.hero.h);
 	if(danger)
 		strengthRatioData = (fl::scalar)goal.hero.h->getTotalStrength() / danger;
 

AI/VCAI/FuzzyEngines.h

@@ -35,7 +35,6 @@ private:
 	fl::InputVariable * bankPresent;
 	fl::InputVariable * castleWalls;
 	fl::OutputVariable * threat;
-	boost::mutex mx;
 };
 
 class HeroMovementGoalEngineBase : public engineBase //in future - maybe derive from some (GoalEngineBase : public engineBase) class for handling non-movement goals with common utility for goal engines

AI/VCAI/FuzzyHelper.cpp

@@ -17,6 +17,7 @@
 FuzzyHelper * fh;
 
 extern boost::thread_specific_ptr<VCAI> ai;
+extern boost::thread_specific_ptr<CCallback> cb;
 
 Goals::TSubgoal FuzzyHelper::chooseSolution(Goals::TGoalVec vec)
 {
@@ -203,3 +204,123 @@ void FuzzyHelper::setPriority(Goals::TSubgoal & g) //calls evaluate - Visitor pa
 {
 	g->setpriority(g->accept(this)); //this enforces returned value is set
 }
+
+ui64 FuzzyHelper::evaluateDanger(crint3 tile, const CGHeroInstance * visitor)
+{
+	return evaluateDanger(tile, visitor, cb.get());
+}
+
+ui64 FuzzyHelper::evaluateDanger(crint3 tile, const CGHeroInstance * visitor, const CPlayerSpecificInfoCallback * cb)
+{
+	const TerrainTile * t = cb->getTile(tile, false);
+	if(!t) //we can know about guard but can't check its tile (the edge of fow)
+		return 190000000; //MUCH
+
+	ui64 objectDanger = 0;
+	ui64 guardDanger = 0;
+
+	auto visitableObjects = cb->getVisitableObjs(tile);
+	// in some scenarios hero happens to be "under" the object (eg town). Then we consider ONLY the hero.
+	if(vstd::contains_if(visitableObjects, objWithID<Obj::HERO>))
+	{
+		vstd::erase_if(visitableObjects, [](const CGObjectInstance * obj)
+		{
+			return !objWithID<Obj::HERO>(obj);
+		});
+	}
+
+	if(const CGObjectInstance * dangerousObject = vstd::backOrNull(visitableObjects))
+	{
+		objectDanger = evaluateDanger(dangerousObject); //unguarded objects can also be dangerous or unhandled
+		if(objectDanger)
+		{
+			//TODO: don't downcast objects AI shouldn't know about!
+			auto armedObj = dynamic_cast<const CArmedInstance *>(dangerousObject);
+			if(armedObj)
+			{
+				float tacticalAdvantage = tacticalAdvantageEngine.getTacticalAdvantage(visitor, armedObj);
+				objectDanger *= tacticalAdvantage; //this line tends to go infinite for allied towns (?)
+			}
+		}
+		if(dangerousObject->ID == Obj::SUBTERRANEAN_GATE)
+		{
+			//check guard on the other side of the gate
+			auto it = ai->knownSubterraneanGates.find(dangerousObject);
+			if(it != ai->knownSubterraneanGates.end())
+			{
+				auto guards = cb->getGuardingCreatures(it->second->visitablePos());
+				for(auto cre : guards)
+				{
+					vstd::amax(guardDanger, evaluateDanger(cre) * tacticalAdvantageEngine.getTacticalAdvantage(visitor, dynamic_cast<const CArmedInstance *>(cre)));
+				}
+			}
+		}
+	}
+
+	auto guards = cb->getGuardingCreatures(tile);
+	for(auto cre : guards)
+	{
+		vstd::amax(guardDanger, evaluateDanger(cre) * tacticalAdvantageEngine.getTacticalAdvantage(visitor, dynamic_cast<const CArmedInstance *>(cre))); //we are interested in strongest monster around
+	}
+
+	//TODO mozna odwiedzic blockvis nie ruszajac straznika
+	return std::max(objectDanger, guardDanger);
+}
+
+ui64 FuzzyHelper::evaluateDanger(const CGObjectInstance * obj)
+{
+	if(obj->tempOwner < PlayerColor::PLAYER_LIMIT && cb->getPlayerRelations(obj->tempOwner, ai->playerID) != PlayerRelations::ENEMIES) //owned or allied objects don't pose any threat
+		return 0;
+
+	switch(obj->ID)
+	{
+	case Obj::HERO:
+	{
+		InfoAboutHero iah;
+		cb->getHeroInfo(obj, iah);
+		return iah.army.getStrength();
+	}
+	case Obj::TOWN:
+	case Obj::GARRISON:
+	case Obj::GARRISON2:
+	{
+		InfoAboutTown iat;
+		cb->getTownInfo(obj, iat);
+		return iat.army.getStrength();
+	}
+	case Obj::MONSTER:
+	{
+		//TODO!!!!!!!!
+		const CGCreature * cre = dynamic_cast<const CGCreature *>(obj);
+		return cre->getArmyStrength();
+	}
+	case Obj::CREATURE_GENERATOR1:
+	case Obj::CREATURE_GENERATOR4:
+	{
+		const CGDwelling * d = dynamic_cast<const CGDwelling *>(obj);
+		return d->getArmyStrength();
+	}
+	case Obj::MINE:
+	case Obj::ABANDONED_MINE:
+	{
+		const CArmedInstance * a = dynamic_cast<const CArmedInstance *>(obj);
+		return a->getArmyStrength();
+	}
+	case Obj::CRYPT: //crypt
+	case Obj::CREATURE_BANK: //crebank
+	case Obj::DRAGON_UTOPIA:
+	case Obj::SHIPWRECK: //shipwreck
+	case Obj::DERELICT_SHIP: //derelict ship
+							 //	case Obj::PYRAMID:
+		return estimateBankDanger(dynamic_cast<const CBank *>(obj));
+	case Obj::PYRAMID:
+	{
+		if(obj->subID == 0)
+			return estimateBankDanger(dynamic_cast<const CBank *>(obj));
+		else
+			return 0;
+	}
+	default:
+		return 0;
+	}
+}

AI/VCAI/FuzzyHelper.h

@@ -42,4 +42,8 @@ public:
 
 	Goals::TSubgoal chooseSolution(Goals::TGoalVec vec);
 	//std::shared_ptr<AbstractGoal> chooseSolution (std::vector<std::shared_ptr<AbstractGoal>> & vec);
+
+	ui64 evaluateDanger(const CGObjectInstance * obj);
+	ui64 evaluateDanger(crint3 tile, const CGHeroInstance * visitor, const CPlayerSpecificInfoCallback * cb);
+	ui64 evaluateDanger(crint3 tile, const CGHeroInstance * visitor);
 };

AI/VCAI/Goals/VisitObj.cpp

@@ -53,7 +53,7 @@ TGoalVec VisitObj::getAllPossibleSubgoals()
 			if(isSafeToVisit(hero, pos))
 				goalList.push_back(sptr(VisitObj(obj->id.getNum()).sethero(hero)));
 			else
-				goalList.push_back(sptr(GatherArmy(evaluateDanger(pos, hero.h) * SAFE_ATTACK_CONSTANT).sethero(hero).setisAbstract(true)));
+				goalList.push_back(sptr(GatherArmy(fh->evaluateDanger(pos, hero.h) * SAFE_ATTACK_CONSTANT).sethero(hero).setisAbstract(true)));
 
 			return goalList;
 		}
@@ -67,7 +67,7 @@ TGoalVec VisitObj::getAllPossibleSubgoals()
 				if(isSafeToVisit(potentialVisitor, pos))
 					goalList.push_back(sptr(VisitObj(obj->id.getNum()).sethero(potentialVisitor)));
 				else
-					goalList.push_back(sptr(GatherArmy(evaluateDanger(pos, potentialVisitor) * SAFE_ATTACK_CONSTANT).sethero(potentialVisitor).setisAbstract(true)));
+					goalList.push_back(sptr(GatherArmy(fh->evaluateDanger(pos, potentialVisitor) * SAFE_ATTACK_CONSTANT).sethero(potentialVisitor).setisAbstract(true)));
 			}
 		}
 		if(!goalList.empty())

AI/VCAI/Goals/VisitTile.cpp

@@ -49,7 +49,7 @@ TSubgoal VisitTile::whatToDoToAchieve()
 		}
 		else
 		{
-			return sptr(GatherArmy(evaluateDanger(tile, *ret->hero) * SAFE_ATTACK_CONSTANT)
+			return sptr(GatherArmy(fh->evaluateDanger(tile, *ret->hero) * SAFE_ATTACK_CONSTANT)
 				    .sethero(ret->hero).setisAbstract(true));
 		}
 	}

AI/VCAI/Pathfinding/AINodeStorage.cpp

@@ -21,6 +21,7 @@ AINodeStorage::AINodeStorage(const int3 & Sizes)
 	: sizes(Sizes)
 {
 	nodes.resize(boost::extents[sizes.x][sizes.y][sizes.z][EPathfindingLayer::NUM_LAYERS][NUM_CHAINS]);
+	dangerEvaluator.reset(new FuzzyHelper());
 }
 
 AINodeStorage::~AINodeStorage() = default;
@@ -358,6 +359,8 @@ std::vector<AIPath> AINodeStorage::getChainInfo(const int3 & pos, bool isOnLand)
 			current = getAINode(current->theNodeBefore);
 		}
 
+		path.targetObjectDanger = evaluateDanger(pos);
+
 		paths.push_back(path);
 	}
 
@@ -403,8 +406,7 @@ float AIPath::movementCost() const
 uint64_t AIPath::getTotalDanger(HeroPtr hero) const
 {
 	uint64_t pathDanger = getPathDanger();
-	uint64_t objDanger = evaluateDanger(nodes.front().coord, hero.get()); // bank danger is not checked by pathfinder
+	uint64_t danger = pathDanger > targetObjectDanger ? pathDanger : targetObjectDanger;
-	uint64_t danger = pathDanger > objDanger ? pathDanger : objDanger;
 
 	return danger;
 }

AI/VCAI/Pathfinding/AINodeStorage.h

@@ -13,6 +13,7 @@
 #include "../../../lib/CPathfinder.h"
 #include "../../../lib/mapObjects/CGHeroInstance.h"
 #include "../AIUtility.h"
+#include "../FuzzyHelper.h"
 #include "../Goals/AbstractGoal.h"
 #include "Actions/ISpecialAction.h"
 
@@ -38,6 +39,7 @@ struct AIPath
 {
 	std::vector<AIPathNodeInfo> nodes;
 	std::shared_ptr<const ISpecialAction> specialAction;
+	uint64_t targetObjectDanger;
 
 	AIPath();
 
@@ -61,6 +63,7 @@ private:
 	boost::multi_array<AIPathNode, 5> nodes;
 	const CPlayerSpecificInfoCallback * cb;
 	const CGHeroInstance * hero;
+	std::unique_ptr<FuzzyHelper> dangerEvaluator;
 
 	STRONG_INLINE
 	void resetTile(const int3 & tile, EPathfindingLayer layer, CGPathNode::EAccessibility accessibility);
@@ -110,6 +113,11 @@ public:
 		return hero;
 	}
 
+	uint64_t evaluateDanger(const int3 &  tile) const
+	{
+		return dangerEvaluator->evaluateDanger(tile, hero, cb);
+	}
+
 private:
 	void calculateTownPortalTeleportations(const PathNodeInfo & source, std::vector<CGPathNode *> & neighbours);
 };

AI/VCAI/Pathfinding/AIPathfinder.cpp

@@ -89,7 +89,7 @@ void AIPathfinder::updatePaths(std::vector<HeroPtr> heroes)
 		boost::thread::hardware_concurrency(),
 		(uint32_t)calculationTasks.size());
 
-	if(threadsCount == 1)
+	if(threadsCount <= 1)
 	{
 		for(auto task : calculationTasks)
 		{

AI/VCAI/Pathfinding/Rules/AIMovementAfterDestinationRule.cpp

@@ -121,8 +121,7 @@ namespace AIPathfinding
 				return;
 			}
 
-			auto hero = nodeStorage->getHero();
+			auto danger = nodeStorage->evaluateDanger(destination.coord);
-			auto danger = evaluateDanger(destination.coord, hero, cb);
 
 			destination.node = battleNode;
 			nodeStorage->commit(destination, source);