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612 lines
16 KiB
C++
612 lines
16 KiB
C++
#include "StdInc.h"
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#include "CPathfinder.h"
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#include "CHeroHandler.h"
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#include "mapping/CMap.h"
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#include "CGameState.h"
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#include "mapObjects/CGHeroInstance.h"
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#include "GameConstants.h"
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#include "CStopWatch.h"
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/*
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* CPathfinder.cpp, part of VCMI engine
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*
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* Authors: listed in file AUTHORS in main folder
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*
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* License: GNU General Public License v2.0 or later
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* Full text of license available in license.txt file, in main folder
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*
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*/
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CPathfinder::PathfinderOptions::PathfinderOptions()
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{
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useFlying = false;
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useWaterWalking = false;
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useEmbarkAndDisembark = true;
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useTeleportTwoWay = true;
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useTeleportOneWay = true;
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useTeleportOneWayRandom = false;
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useTeleportWhirlpool = false;
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}
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CPathfinder::CPathfinder(CPathsInfo &_out, CGameState *_gs, const CGHeroInstance *_hero) : CGameInfoCallback(_gs, boost::optional<PlayerColor>()), out(_out), hero(_hero), FoW(getPlayerTeam(hero->tempOwner)->fogOfWarMap)
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{
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assert(hero);
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assert(hero == getHero(hero->id));
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out.hero = hero;
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out.hpos = hero->getPosition(false);
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if(!gs->map->isInTheMap(out.hpos)/* || !gs->map->isInTheMap(dest)*/) //check input
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{
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logGlobal->errorStream() << "CGameState::calculatePaths: Hero outside the gs->map? How dare you...";
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throw std::runtime_error("Wrong checksum");
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}
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initializeGraph();
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if(hero->canFly())
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options.useFlying = true;
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if(hero->canWalkOnSea())
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options.useWaterWalking = true;
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if(CGWhirlpool::isProtected(hero))
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options.useTeleportWhirlpool = true;
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neighbours.reserve(16);
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}
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void CPathfinder::calculatePaths()
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{
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int maxMovePointsLand = hero->maxMovePoints(true);
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int maxMovePointsWater = hero->maxMovePoints(false);
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auto maxMovePoints = [&](CGPathNode *cp) -> int
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{
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return cp->land ? maxMovePointsLand : maxMovePointsWater;
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};
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auto isBetterWay = [&](int remains, int turn) -> bool
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{
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if(dp->turns == 0xff) //we haven't been here before
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return true;
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else if(dp->turns > turn)
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return true;
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else if(dp->turns >= turn && dp->moveRemains < remains) //this route is faster
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return true;
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return false;
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};
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//logGlobal->infoStream() << boost::format("Calculating paths for hero %s (adress %d) of player %d") % hero->name % hero % hero->tempOwner;
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//initial tile - set cost on 0 and add to the queue
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CGPathNode &initialNode = *out.getNode(out.hpos, hero->boat ? EPathfindingLayer::SAIL : EPathfindingLayer::LAND);
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initialNode.turns = 0;
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initialNode.moveRemains = hero->movement;
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mq.push_back(&initialNode);
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while(!mq.empty())
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{
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cp = mq.front();
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mq.pop_front();
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int movement = cp->moveRemains, turn = cp->turns;
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if(!movement)
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{
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movement = maxMovePoints(cp);
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turn++;
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}
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//add accessible neighbouring nodes to the queue
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addNeighbours(cp->coord);
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for(auto & neighbour : neighbours)
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{
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dt = &gs->map->getTile(neighbour);
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for(EPathfindingLayer i = EPathfindingLayer::LAND; i <= EPathfindingLayer::AIR; i.advance(1))
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{
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useEmbarkCost = 0; //0 - usual movement; 1 - embark; 2 - disembark
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dp = out.getNode(neighbour, i);
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if(cp->layer != i && isLayerTransitionPossible())
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continue;
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if(!isMovementPossible())
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continue;
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int cost = gs->getMovementCost(hero, cp->coord, dp->coord, movement);
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int remains = movement - cost;
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if(useEmbarkCost)
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{
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remains = hero->movementPointsAfterEmbark(movement, cost, useEmbarkCost - 1);
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cost = movement - remains;
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}
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int turnAtNextTile = turn;
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if(remains < 0)
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{
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//occurs rarely, when hero with low movepoints tries to leave the road
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turnAtNextTile++;
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int moveAtNextTile = maxMovePoints(cp);
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cost = gs->getMovementCost(hero, cp->coord, dp->coord, moveAtNextTile); //cost must be updated, movement points changed :(
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remains = moveAtNextTile - cost;
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}
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if(isBetterWay(remains, turnAtNextTile))
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{
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assert(dp != cp->theNodeBefore); //two tiles can't point to each other
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dp->moveRemains = remains;
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dp->turns = turnAtNextTile;
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dp->theNodeBefore = cp;
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if(checkDestinationTile())
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mq.push_back(dp);
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}
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}
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} //neighbours loop
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//just add all passable teleport exits
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if(sTileObj && canVisitObject())
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{
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addTeleportExits();
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for(auto & neighbour : neighbours)
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{
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dp = out.getNode(neighbour, cp->layer);
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if(isBetterWay(movement, turn))
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{
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dp->moveRemains = movement;
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dp->turns = turn;
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dp->theNodeBefore = cp;
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mq.push_back(dp);
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}
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}
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}
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} //queue loop
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}
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void CPathfinder::addNeighbours(const int3 &coord)
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{
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neighbours.clear();
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ct = &gs->map->getTile(coord);
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std::vector<int3> tiles;
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gs->getNeighbours(*ct, coord, tiles, boost::logic::indeterminate, !cp->land);
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sTileObj = ct->topVisitableObj(coord == CGHeroInstance::convertPosition(hero->pos, false));
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if(canVisitObject())
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{
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if(sTileObj)
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{
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for(int3 tile: tiles)
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{
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if(canMoveBetween(tile, sTileObj->visitablePos()))
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neighbours.push_back(tile);
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}
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}
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else
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vstd::concatenate(neighbours, tiles);
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}
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else
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vstd::concatenate(neighbours, tiles);
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}
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void CPathfinder::addTeleportExits(bool noTeleportExcludes)
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{
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assert(sTileObj);
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neighbours.clear();
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auto isAllowedTeleportEntrance = [&](const CGTeleport * obj) -> bool
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{
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if(!gs->isTeleportEntrancePassable(obj, hero->tempOwner))
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return false;
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if(noTeleportExcludes)
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return true;
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auto whirlpool = dynamic_cast<const CGWhirlpool *>(obj);
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if(whirlpool)
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{
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if(addTeleportWhirlpool(whirlpool))
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return true;
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}
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else if(addTeleportTwoWay(obj) || addTeleportOneWay(obj) || addTeleportOneWayRandom(obj))
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return true;
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return false;
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};
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const CGTeleport *sTileTeleport = dynamic_cast<const CGTeleport *>(sTileObj);
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if(isAllowedTeleportEntrance(sTileTeleport))
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{
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for(auto objId : gs->getTeleportChannelExits(sTileTeleport->channel, hero->tempOwner))
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{
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auto obj = getObj(objId);
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if(CGTeleport::isExitPassable(gs, hero, obj))
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neighbours.push_back(obj->visitablePos());
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}
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}
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}
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bool CPathfinder::isMovementPossible()
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{
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switch (dp->layer)
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{
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case EPathfindingLayer::LAND:
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if(!canMoveBetween(cp->coord, dp->coord) || dp->accessible == CGPathNode::BLOCKED)
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return false;
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if(isSourceGuarded() && !isDestinationGuardian()) // Can step into tile of guard
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return false;
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break;
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case EPathfindingLayer::SAIL:
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if(!canMoveBetween(cp->coord, dp->coord) || dp->accessible == CGPathNode::BLOCKED)
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return false;
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if(isSourceGuarded() && !isDestinationGuardian()) // Can step into tile of guard
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return false;
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break;
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case EPathfindingLayer::AIR:
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if(!options.useFlying)
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return false;
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if(!canMoveBetween(cp->coord, dp->coord))
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return false;
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break;
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case EPathfindingLayer::WATER:
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if(!options.useWaterWalking)
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return false;
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if(!canMoveBetween(cp->coord, dp->coord) || dp->accessible == CGPathNode::BLOCKED)
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return false;
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if(isDestinationGuarded())
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return false;
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break;
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}
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return true;
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}
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bool CPathfinder::checkDestinationTile()
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{
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if(dp->accessible == CGPathNode::ACCESSIBLE)
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return true;
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if(dp->coord == CGHeroInstance::convertPosition(hero->pos, false))
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return true; // This one is tricky, we can ignore fact that tile is not ACCESSIBLE in case if it's our hero block it. Though this need investigation
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if(dp->accessible == CGPathNode::VISITABLE && CGTeleport::isTeleport(dt->topVisitableObj()))
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return true; // For now we'll always allow transit for teleporters
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if(useEmbarkCost && options.useEmbarkAndDisembark)
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return true;
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if(isDestinationGuarded() && !isSourceGuarded())
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return true; // Can step into a hostile tile once
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return false;
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}
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int3 CPathfinder::getSourceGuardPosition()
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{
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return gs->map->guardingCreaturePositions[cp->coord.x][cp->coord.y][cp->coord.z];
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}
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bool CPathfinder::isSourceGuarded()
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{
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//map can start with hero on guarded tile or teleport there using dimension door
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//so threat tile hero standing on like it's not guarded because it's should be possible to move out of here
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if(getSourceGuardPosition() != int3(-1, -1, -1)
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&& cp->coord != hero->getPosition(false))
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{
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//special case -> hero embarked a boat standing on a guarded tile -> we must allow to move away from that tile
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if(cp->accessible != CGPathNode::VISITABLE
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|| !cp->theNodeBefore->land
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|| ct->topVisitableId() != Obj::BOAT)
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{
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return true;
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}
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}
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return false;
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}
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bool CPathfinder::isDestinationGuarded()
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{
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if(gs->map->guardingCreaturePositions[dp->coord.x][dp->coord.y][dp->coord.z].valid()
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&& dp->accessible == CGPathNode::BLOCKVIS)
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{
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return true;
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}
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return false;
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}
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bool CPathfinder::isDestinationGuardian()
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{
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return getSourceGuardPosition() == dp->coord;
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}
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void CPathfinder::initializeGraph()
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{
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auto addNode = [&](EPathfindingLayer layer, const TerrainTile *tinfo, int3 pos)
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{
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CGPathNode &node = out.nodes[pos.x][pos.y][pos.z][layer];
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node.accessible = evaluateAccessibility(pos, tinfo);
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node.turns = 0xff;
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node.moveRemains = 0;
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node.coord = pos;
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node.land = tinfo->terType != ETerrainType::WATER;
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node.theNodeBefore = nullptr;
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node.layer = layer;
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};
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int3 pos;
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for(pos.x=0; pos.x < out.sizes.x; ++pos.x)
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{
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for(pos.y=0; pos.y < out.sizes.y; ++pos.y)
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{
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for(pos.z=0; pos.z < out.sizes.z; ++pos.z)
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{
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const TerrainTile *tinfo = &gs->map->getTile(pos);
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switch (tinfo->terType)
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{
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case ETerrainType::WRONG:
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case ETerrainType::BORDER:
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case ETerrainType::ROCK:
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break;
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case ETerrainType::WATER:
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addNode(EPathfindingLayer::SAIL, tinfo, pos);
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// if(options.useFlying)
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addNode(EPathfindingLayer::AIR, tinfo, pos);
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// if(options.useWaterWalking)
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addNode(EPathfindingLayer::WATER, tinfo, pos);
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break;
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default:
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addNode(EPathfindingLayer::LAND, tinfo, pos);
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// if(options.useFlying)
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addNode(EPathfindingLayer::AIR, tinfo, pos);
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break;
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}
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}
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}
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}
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}
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CGPathNode::EAccessibility CPathfinder::evaluateAccessibility(const int3 &pos, const TerrainTile *tinfo) const
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{
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CGPathNode::EAccessibility ret = (tinfo->blocked ? CGPathNode::BLOCKED : CGPathNode::ACCESSIBLE);
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if(tinfo->terType == ETerrainType::ROCK || !FoW[pos.x][pos.y][pos.z])
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return CGPathNode::BLOCKED;
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if(tinfo->visitable)
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{
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if(tinfo->visitableObjects.front()->ID == Obj::SANCTUARY && tinfo->visitableObjects.back()->ID == Obj::HERO && tinfo->visitableObjects.back()->tempOwner != hero->tempOwner) //non-owned hero stands on Sanctuary
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{
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return CGPathNode::BLOCKED;
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}
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else
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{
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for(const CGObjectInstance *obj : tinfo->visitableObjects)
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{
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if(obj->passableFor(hero->tempOwner))
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{
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ret = CGPathNode::ACCESSIBLE;
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}
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else if(obj->blockVisit)
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{
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return CGPathNode::BLOCKVIS;
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}
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else if(obj->ID != Obj::EVENT) //pathfinder should ignore placed events
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{
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ret = CGPathNode::VISITABLE;
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}
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}
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}
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}
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else if(gs->map->guardingCreaturePositions[pos.x][pos.y][pos.z].valid()
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&& !tinfo->blocked)
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{
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// Monster close by; blocked visit for battle.
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return CGPathNode::BLOCKVIS;
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}
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return ret;
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}
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bool CPathfinder::canMoveBetween(const int3 &a, const int3 &b) const
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{
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return gs->checkForVisitableDir(a, b);
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}
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bool CPathfinder::addTeleportTwoWay(const CGTeleport * obj) const
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{
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return options.useTeleportTwoWay && gs->isTeleportChannelBidirectional(obj->channel, hero->tempOwner);
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}
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bool CPathfinder::addTeleportOneWay(const CGTeleport * obj) const
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{
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if(options.useTeleportOneWay && isTeleportChannelUnidirectional(obj->channel, hero->tempOwner))
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{
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auto passableExits = CGTeleport::getPassableExits(gs, hero, gs->getTeleportChannelExits(obj->channel, hero->tempOwner));
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if(passableExits.size() == 1)
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return true;
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}
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return false;
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}
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bool CPathfinder::addTeleportOneWayRandom(const CGTeleport * obj) const
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{
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if(options.useTeleportOneWayRandom && isTeleportChannelUnidirectional(obj->channel, hero->tempOwner))
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{
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auto passableExits = CGTeleport::getPassableExits(gs, hero, gs->getTeleportChannelExits(obj->channel, hero->tempOwner));
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if(passableExits.size() > 1)
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return true;
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}
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return false;
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}
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bool CPathfinder::addTeleportWhirlpool(const CGWhirlpool * obj) const
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{
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return options.useTeleportWhirlpool && obj;
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}
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bool CPathfinder::canVisitObject() const
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{
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//hero can't visit objects while walking on water or flying
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return cp->layer == EPathfindingLayer::LAND || cp->layer == EPathfindingLayer::SAIL;
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}
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bool CPathfinder::isLayerTransitionPossible()
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{
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Obj destTopVisObjID = dt->topVisitableId();
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if((cp->layer == EPathfindingLayer::AIR || EPathfindingLayer::WATER)
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&& dp->layer != EPathfindingLayer::LAND)
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{
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return false;
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}
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else if(cp->layer == EPathfindingLayer::SAIL && dp->layer != EPathfindingLayer::LAND)
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return false;
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else if(cp->layer == EPathfindingLayer::SAIL && dp->layer == EPathfindingLayer::LAND)
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{
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if(!dt->isCoastal())
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return false;
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//tile must be accessible -> exception: unblocked blockvis tiles -> clear but guarded by nearby monster coast
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if((dp->accessible != CGPathNode::ACCESSIBLE && (dp->accessible != CGPathNode::BLOCKVIS || dt->blocked))
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|| dt->visitable) //TODO: passableness problem -> town says it's passable (thus accessible) but we obviously can't disembark onto town gate
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return false;
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useEmbarkCost = 2;
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}
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else if(cp->layer == EPathfindingLayer::LAND && dp->layer == EPathfindingLayer::SAIL)
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{
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if(dp->accessible == CGPathNode::ACCESSIBLE || destTopVisObjID < 0) //cannot enter empty water tile from land -> it has to be visitable
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return false;
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if(destTopVisObjID != Obj::HERO && destTopVisObjID != Obj::BOAT) //only boat or hero can be accessed from land
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return false;
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if(destTopVisObjID == Obj::BOAT)
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useEmbarkCost = 1;
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}
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return true;
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}
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CGPathNode::CGPathNode()
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:coord(-1,-1,-1)
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{
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accessible = NOT_SET;
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land = 0;
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moveRemains = 0;
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turns = 255;
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theNodeBefore = nullptr;
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layer = EPathfindingLayer::WRONG;
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}
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bool CGPathNode::reachable() const
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{
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return turns < 255;
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}
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int3 CGPath::startPos() const
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{
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return nodes[nodes.size()-1].coord;
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}
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int3 CGPath::endPos() const
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{
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return nodes[0].coord;
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}
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void CGPath::convert( ui8 mode )
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{
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if(mode==0)
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{
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for(auto & elem : nodes)
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{
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elem.coord = CGHeroInstance::convertPosition(elem.coord,true);
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}
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}
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}
|
|
|
|
CPathsInfo::CPathsInfo( const int3 &Sizes )
|
|
:sizes(Sizes)
|
|
{
|
|
hero = nullptr;
|
|
nodes = new CGPathNode***[sizes.x];
|
|
for(int i = 0; i < sizes.x; i++)
|
|
{
|
|
nodes[i] = new CGPathNode**[sizes.y];
|
|
for(int j = 0; j < sizes.y; j++)
|
|
{
|
|
nodes[i][j] = new CGPathNode*[sizes.z];
|
|
for (int z = 0; z < sizes.z; z++)
|
|
{
|
|
nodes[i][j][z] = new CGPathNode[EPathfindingLayer::NUM_LAYERS];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
CPathsInfo::~CPathsInfo()
|
|
{
|
|
for(int i = 0; i < sizes.x; i++)
|
|
{
|
|
for(int j = 0; j < sizes.y; j++)
|
|
{
|
|
for (int z = 0; z < sizes.z; z++)
|
|
{
|
|
delete [] nodes[i][j][z];
|
|
}
|
|
delete [] nodes[i][j];
|
|
}
|
|
delete [] nodes[i];
|
|
}
|
|
delete [] nodes;
|
|
}
|
|
|
|
const CGPathNode * CPathsInfo::getPathInfo(const int3 &tile, const EPathfindingLayer &layer) const
|
|
{
|
|
boost::unique_lock<boost::mutex> pathLock(pathMx);
|
|
|
|
if(tile.x >= sizes.x || tile.y >= sizes.y || tile.z >= sizes.z || layer >= EPathfindingLayer::NUM_LAYERS)
|
|
return nullptr;
|
|
return getNode(tile, layer);
|
|
}
|
|
|
|
bool CPathsInfo::getPath(CGPath &out, const int3 &dst, const EPathfindingLayer &layer) const
|
|
{
|
|
boost::unique_lock<boost::mutex> pathLock(pathMx);
|
|
|
|
out.nodes.clear();
|
|
const CGPathNode *curnode = getNode(dst, layer);
|
|
if(!curnode->theNodeBefore)
|
|
return false;
|
|
|
|
|
|
while(curnode)
|
|
{
|
|
CGPathNode cpn = *curnode;
|
|
curnode = curnode->theNodeBefore;
|
|
out.nodes.push_back(cpn);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
int CPathsInfo::getDistance(const int3 &tile, const EPathfindingLayer &layer) const
|
|
{
|
|
boost::unique_lock<boost::mutex> pathLock(pathMx);
|
|
|
|
CGPath ret;
|
|
if(getPath(ret, tile, layer))
|
|
return ret.nodes.size();
|
|
else
|
|
return 255;
|
|
}
|
|
|
|
CGPathNode *CPathsInfo::getNode(const int3 &coord, const EPathfindingLayer &layer) const
|
|
{
|
|
if(layer != EPathfindingLayer::AUTO)
|
|
return &nodes[coord.x][coord.y][coord.z][layer];
|
|
|
|
auto landNode = &nodes[coord.x][coord.y][coord.z][EPathfindingLayer::LAND];
|
|
if(landNode->theNodeBefore)
|
|
return landNode;
|
|
else
|
|
return &nodes[coord.x][coord.y][coord.z][EPathfindingLayer::SAIL];
|
|
}
|