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720 lines
18 KiB
C++
720 lines
18 KiB
C++
/*
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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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#include "StdInc.h"
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#include "CPathfinder.h"
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#include "INodeStorage.h"
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#include "PathfinderOptions.h"
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#include "PathfindingRules.h"
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#include "TurnInfo.h"
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#include "../gameState/CGameState.h"
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#include "../CPlayerState.h"
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#include "../TerrainHandler.h"
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#include "../mapObjects/CGHeroInstance.h"
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#include "../mapObjects/CGTownInstance.h"
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#include "../mapObjects/MiscObjects.h"
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#include "../mapping/CMap.h"
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#include "spells/CSpellHandler.h"
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VCMI_LIB_NAMESPACE_BEGIN
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bool CPathfinderHelper::canMoveFromNode(const PathNodeInfo & source) const
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{
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// we can always make the first step, even when standing on object
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if(source.node->theNodeBefore == nullptr)
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return true;
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if (!source.nodeObject)
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return true;
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if (!source.isNodeObjectVisitable())
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return true;
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// we can always move from visitable object if hero has teleported here (e.g. went through monolith)
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if (source.node->isTeleportAction())
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return true;
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// we can not go through teleporters since moving onto a teleport will teleport hero and may invalidate path (e.g. one-way teleport or enemy hero on other side)
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if (dynamic_cast<const CGTeleport*>(source.nodeObject) != nullptr)
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return false;
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return true;
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}
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std::vector<int3> CPathfinderHelper::getNeighbourTiles(const PathNodeInfo & source) const
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{
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std::vector<int3> neighbourTiles;
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if (!canMoveFromNode(source))
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return neighbourTiles;
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neighbourTiles.reserve(8);
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getNeighbours(
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*source.tile,
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source.node->coord,
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neighbourTiles,
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boost::logic::indeterminate,
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source.node->layer == EPathfindingLayer::SAIL);
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if(source.isNodeObjectVisitable())
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{
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vstd::erase_if(neighbourTiles, [&](const int3 & tile) -> bool
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{
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return !canMoveBetween(tile, source.nodeObject->visitablePos());
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});
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}
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return neighbourTiles;
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}
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CPathfinder::CPathfinder(CGameState * _gs, std::shared_ptr<PathfinderConfig> config):
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gamestate(_gs),
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config(std::move(config))
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{
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initializeGraph();
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}
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void CPathfinder::push(CGPathNode * node)
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{
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if(node && !node->inPQ)
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{
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node->inPQ = true;
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node->pq = &this->pq;
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auto handle = pq.push(node);
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node->pqHandle = handle;
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}
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}
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CGPathNode * CPathfinder::topAndPop()
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{
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auto * node = pq.top();
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pq.pop();
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node->inPQ = false;
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node->pq = nullptr;
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return node;
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}
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void CPathfinder::calculatePaths()
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{
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//logGlobal->info("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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std::vector<CGPathNode *> initialNodes = config->nodeStorage->getInitialNodes();
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int counter = 0;
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for(auto * initialNode : initialNodes)
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{
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if(!gamestate->isInTheMap(initialNode->coord)/* || !gs->map->isInTheMap(dest)*/) //check input
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{
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logGlobal->error("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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source.setNode(gamestate, initialNode);
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auto * hlp = config->getOrCreatePathfinderHelper(source, gamestate);
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if(hlp->isHeroPatrolLocked())
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continue;
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pq.push(initialNode);
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}
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while(!pq.empty())
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{
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counter++;
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auto * node = topAndPop();
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source.setNode(gamestate, node);
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source.node->locked = true;
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int movement = source.node->moveRemains;
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uint8_t turn = source.node->turns;
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float cost = source.node->getCost();
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auto * hlp = config->getOrCreatePathfinderHelper(source, gamestate);
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hlp->updateTurnInfo(turn);
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if(!movement)
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{
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hlp->updateTurnInfo(++turn);
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movement = hlp->getMaxMovePoints(source.node->layer);
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if(!hlp->passOneTurnLimitCheck(source))
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continue;
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if(turn >= hlp->options.turnLimit)
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continue;
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}
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source.isInitialPosition = source.nodeHero == hlp->hero;
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source.updateInfo(hlp, gamestate);
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//add accessible neighbouring nodes to the queue
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auto neighbourNodes = config->nodeStorage->calculateNeighbours(source, config.get(), hlp);
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for(CGPathNode * neighbour : neighbourNodes)
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{
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if(neighbour->locked)
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continue;
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if(!hlp->isLayerAvailable(neighbour->layer))
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continue;
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destination.setNode(gamestate, neighbour);
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hlp = config->getOrCreatePathfinderHelper(destination, gamestate);
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if(!hlp->isPatrolMovementAllowed(neighbour->coord))
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continue;
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/// Check transition without tile accessability rules
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if(source.node->layer != neighbour->layer && !isLayerTransitionPossible())
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continue;
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destination.turn = turn;
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destination.movementLeft = movement;
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destination.cost = cost;
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destination.updateInfo(hlp, gamestate);
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destination.isGuardianTile = destination.guarded && isDestinationGuardian();
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for(const auto & rule : config->rules)
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{
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rule->process(source, destination, config.get(), hlp);
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if(destination.blocked)
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break;
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}
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if(!destination.blocked)
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push(destination.node);
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} //neighbours loop
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//just add all passable teleport exits
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hlp = config->getOrCreatePathfinderHelper(source, gamestate);
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/// For now we disable teleports usage for patrol movement
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/// VCAI not aware about patrol and may stuck while attempt to use teleport
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if(hlp->patrolState == CPathfinderHelper::PATROL_RADIUS)
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continue;
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auto teleportationNodes = config->nodeStorage->calculateTeleportations(source, config.get(), hlp);
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for(CGPathNode * teleportNode : teleportationNodes)
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{
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if(teleportNode->locked)
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continue;
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/// TODO: We may consider use invisible exits on FoW border in future
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/// Useful for AI when at least one tile around exit is visible and passable
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/// Objects are usually visible on FoW border anyway so it's not cheating.
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///
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/// For now it's disabled as it's will cause crashes in movement code.
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if(teleportNode->accessible == EPathAccessibility::BLOCKED)
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continue;
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destination.setNode(gamestate, teleportNode);
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destination.turn = turn;
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destination.movementLeft = movement;
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destination.cost = cost;
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if(destination.isBetterWay())
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{
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destination.action = getTeleportDestAction();
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config->nodeStorage->commit(destination, source);
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if(destination.node->action == EPathNodeAction::TELEPORT_NORMAL)
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push(destination.node);
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}
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}
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} //queue loop
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logAi->trace("CPathfinder finished with %s iterations", std::to_string(counter));
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}
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std::vector<int3> CPathfinderHelper::getAllowedTeleportChannelExits(const TeleportChannelID & channelID) const
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{
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std::vector<int3> allowedExits;
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for(const auto & objId : getTeleportChannelExits(channelID, hero->tempOwner))
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{
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const auto * obj = getObj(objId);
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if(dynamic_cast<const CGWhirlpool *>(obj))
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{
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auto pos = obj->getBlockedPos();
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for(const auto & p : pos)
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{
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if(gs->map->getTile(p).topVisitableId() == obj->ID)
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allowedExits.push_back(p);
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}
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}
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else if(obj && CGTeleport::isExitPassable(gs, hero, obj))
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allowedExits.push_back(obj->visitablePos());
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}
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return allowedExits;
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}
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std::vector<int3> CPathfinderHelper::getCastleGates(const PathNodeInfo & source) const
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{
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std::vector<int3> allowedExits;
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auto towns = getPlayerState(hero->tempOwner)->towns;
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for(const auto & town : towns)
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{
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if(town->id != source.nodeObject->id && town->visitingHero == nullptr
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&& town->hasBuilt(BuildingID::CASTLE_GATE, ETownType::INFERNO))
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{
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allowedExits.push_back(town->visitablePos());
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}
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}
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return allowedExits;
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}
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std::vector<int3> CPathfinderHelper::getTeleportExits(const PathNodeInfo & source) const
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{
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std::vector<int3> teleportationExits;
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const auto * objTeleport = dynamic_cast<const CGTeleport *>(source.nodeObject);
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if(isAllowedTeleportEntrance(objTeleport))
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{
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for(const auto & exit : getAllowedTeleportChannelExits(objTeleport->channel))
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{
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teleportationExits.push_back(exit);
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}
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}
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else if(options.useCastleGate && source.nodeObject->ID == Obj::TOWN && source.objectRelations != PlayerRelations::ENEMIES)
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{
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auto * town = dynamic_cast<const CGTownInstance *>(source.nodeObject);
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assert(town);
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if (town && town->getFaction() == FactionID::INFERNO)
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{
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/// TODO: Find way to reuse CPlayerSpecificInfoCallback::getTownsInfo
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/// This may be handy if we allow to use teleportation to friendly towns
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for(const auto & exit : getCastleGates(source))
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{
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teleportationExits.push_back(exit);
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}
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}
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}
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return teleportationExits;
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}
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bool CPathfinderHelper::isHeroPatrolLocked() const
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{
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return patrolState == PATROL_LOCKED;
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}
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bool CPathfinderHelper::isPatrolMovementAllowed(const int3 & dst) const
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{
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if(patrolState == PATROL_RADIUS)
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{
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if(!vstd::contains(patrolTiles, dst))
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return false;
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}
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return true;
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}
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bool CPathfinder::isLayerTransitionPossible() const
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{
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ELayer destLayer = destination.node->layer;
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/// No layer transition allowed when previous node action is BATTLE
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if(source.node->action == EPathNodeAction::BATTLE)
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return false;
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switch(source.node->layer.toEnum())
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{
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case ELayer::LAND:
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if(destLayer == ELayer::AIR)
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{
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if(!config->options.lightweightFlyingMode || source.isInitialPosition)
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return true;
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}
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else if(destLayer == ELayer::SAIL)
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{
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if(destination.tile->isWater())
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return true;
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}
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else
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return true;
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break;
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case ELayer::SAIL:
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if(destLayer == ELayer::LAND && !destination.tile->isWater())
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return true;
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break;
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case ELayer::AIR:
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if(destLayer == ELayer::LAND)
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return true;
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break;
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case ELayer::WATER:
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if(destLayer == ELayer::LAND)
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return true;
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break;
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}
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return false;
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}
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EPathNodeAction CPathfinder::getTeleportDestAction() const
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{
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EPathNodeAction action = EPathNodeAction::TELEPORT_NORMAL;
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if(destination.isNodeObjectVisitable() && destination.nodeHero)
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{
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if(destination.heroRelations == PlayerRelations::ENEMIES)
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action = EPathNodeAction::TELEPORT_BATTLE;
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else
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action = EPathNodeAction::TELEPORT_BLOCKING_VISIT;
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}
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return action;
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}
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bool CPathfinder::isDestinationGuardian() const
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{
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return gamestate->guardingCreaturePosition(destination.node->coord) == destination.node->coord;
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}
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void CPathfinderHelper::initializePatrol()
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{
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auto state = PATROL_NONE;
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if(hero->patrol.patrolling && !getPlayerState(hero->tempOwner)->human)
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{
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if(hero->patrol.patrolRadius)
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{
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state = PATROL_RADIUS;
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gs->getTilesInRange(patrolTiles, hero->patrol.initialPos, hero->patrol.patrolRadius, ETileVisibility::REVEALED, std::optional<PlayerColor>(), int3::DIST_MANHATTAN);
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}
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else
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state = PATROL_LOCKED;
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}
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patrolState = state;
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}
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void CPathfinder::initializeGraph()
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{
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INodeStorage * nodeStorage = config->nodeStorage.get();
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nodeStorage->initialize(config->options, gamestate);
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}
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bool CPathfinderHelper::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 CPathfinderHelper::isAllowedTeleportEntrance(const CGTeleport * obj) const
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{
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if(!obj || !isTeleportEntrancePassable(obj, hero->tempOwner))
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return false;
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const 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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bool CPathfinderHelper::addTeleportTwoWay(const CGTeleport * obj) const
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{
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return options.useTeleportTwoWay && isTeleportChannelBidirectional(obj->channel, hero->tempOwner);
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}
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bool CPathfinderHelper::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, 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 CPathfinderHelper::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, 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 CPathfinderHelper::addTeleportWhirlpool(const CGWhirlpool * obj) const
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{
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return options.useTeleportWhirlpool && hasBonusOfType(BonusType::WHIRLPOOL_PROTECTION) && obj;
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}
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int CPathfinderHelper::movementPointsAfterEmbark(int movement, int basicCost, bool disembark) const
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{
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return hero->movementPointsAfterEmbark(movement, basicCost, disembark, getTurnInfo());
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}
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bool CPathfinderHelper::passOneTurnLimitCheck(const PathNodeInfo & source) const
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{
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if(!options.oneTurnSpecialLayersLimit)
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return true;
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if(source.node->layer == EPathfindingLayer::WATER)
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return false;
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if(source.node->layer == EPathfindingLayer::AIR)
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{
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return options.originalMovementRules && source.node->accessible == EPathAccessibility::ACCESSIBLE;
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}
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return true;
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}
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int CPathfinderHelper::getGuardiansCount(int3 tile) const
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{
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return getGuardingCreatures(tile).size();
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}
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CPathfinderHelper::CPathfinderHelper(CGameState * gs, const CGHeroInstance * Hero, const PathfinderOptions & Options):
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CGameInfoCallback(gs),
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turn(-1),
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hero(Hero),
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options(Options),
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owner(Hero->tempOwner)
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{
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turnsInfo.reserve(16);
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updateTurnInfo();
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initializePatrol();
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SpellID flySpell = SpellID::FLY;
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canCastFly = Hero->canCastThisSpell(flySpell.toSpell());
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SpellID waterWalk = SpellID::WATER_WALK;
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canCastWaterWalk = Hero->canCastThisSpell(waterWalk.toSpell());
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}
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CPathfinderHelper::~CPathfinderHelper()
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{
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for(auto * ti : turnsInfo)
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delete ti;
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}
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void CPathfinderHelper::updateTurnInfo(const int Turn)
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{
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if(turn != Turn)
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{
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turn = Turn;
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if(turn >= turnsInfo.size())
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{
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auto * ti = new TurnInfo(hero, turn);
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turnsInfo.push_back(ti);
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}
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}
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}
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bool CPathfinderHelper::isLayerAvailable(const EPathfindingLayer & layer) const
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{
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switch(layer.toEnum())
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{
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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(canCastFly && options.canUseCast)
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return true;
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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(canCastWaterWalk && options.canUseCast)
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return true;
|
|
|
|
break;
|
|
}
|
|
|
|
return turnsInfo[turn]->isLayerAvailable(layer);
|
|
}
|
|
|
|
const TurnInfo * CPathfinderHelper::getTurnInfo() const
|
|
{
|
|
return turnsInfo[turn];
|
|
}
|
|
|
|
bool CPathfinderHelper::hasBonusOfType(const BonusType type) const
|
|
{
|
|
return turnsInfo[turn]->hasBonusOfType(type);
|
|
}
|
|
|
|
int CPathfinderHelper::getMaxMovePoints(const EPathfindingLayer & layer) const
|
|
{
|
|
return turnsInfo[turn]->getMaxMovePoints(layer);
|
|
}
|
|
|
|
void CPathfinderHelper::getNeighbours(
|
|
const TerrainTile & srcTile,
|
|
const int3 & srcCoord,
|
|
std::vector<int3> & vec,
|
|
const boost::logic::tribool & onLand,
|
|
const bool limitCoastSailing) const
|
|
{
|
|
CMap * map = gs->map;
|
|
|
|
static const int3 dirs[] = {
|
|
int3(-1, +1, +0), int3(0, +1, +0), int3(+1, +1, +0),
|
|
int3(-1, +0, +0), /* source pos */ int3(+1, +0, +0),
|
|
int3(-1, -1, +0), int3(0, -1, +0), int3(+1, -1, +0)
|
|
};
|
|
|
|
for(const auto & dir : dirs)
|
|
{
|
|
const int3 destCoord = srcCoord + dir;
|
|
if(!map->isInTheMap(destCoord))
|
|
continue;
|
|
|
|
const TerrainTile & destTile = map->getTile(destCoord);
|
|
if(!destTile.terType->isPassable())
|
|
continue;
|
|
|
|
// //we cannot visit things from blocked tiles
|
|
// if(srcTile.blocked && !srcTile.visitable && destTile.visitable && srcTile.blockingObjects.front()->ID != HEROI_TYPE)
|
|
// {
|
|
// continue;
|
|
// }
|
|
|
|
/// Following condition let us avoid diagonal movement over coast when sailing
|
|
if(srcTile.terType->isWater() && limitCoastSailing && destTile.terType->isWater() && dir.x && dir.y) //diagonal move through water
|
|
{
|
|
const int3 horizontalNeighbour = srcCoord + int3{dir.x, 0, 0};
|
|
const int3 verticalNeighbour = srcCoord + int3{0, dir.y, 0};
|
|
if(map->getTile(horizontalNeighbour).terType->isLand() || map->getTile(verticalNeighbour).terType->isLand())
|
|
continue;
|
|
}
|
|
|
|
if(indeterminate(onLand) || onLand == destTile.terType->isLand())
|
|
{
|
|
vec.push_back(destCoord);
|
|
}
|
|
}
|
|
}
|
|
|
|
int CPathfinderHelper::getMovementCost(
|
|
const PathNodeInfo & src,
|
|
const PathNodeInfo & dst,
|
|
const int remainingMovePoints,
|
|
const bool checkLast) const
|
|
{
|
|
return getMovementCost(
|
|
src.coord,
|
|
dst.coord,
|
|
src.tile,
|
|
dst.tile,
|
|
remainingMovePoints,
|
|
checkLast,
|
|
dst.node->layer == EPathfindingLayer::SAIL,
|
|
dst.node->layer == EPathfindingLayer::WATER
|
|
);
|
|
}
|
|
|
|
int CPathfinderHelper::getMovementCost(
|
|
const int3 & src,
|
|
const int3 & dst,
|
|
const TerrainTile * ct,
|
|
const TerrainTile * dt,
|
|
const int remainingMovePoints,
|
|
const bool checkLast,
|
|
boost::logic::tribool isDstSailLayer,
|
|
boost::logic::tribool isDstWaterLayer) const
|
|
{
|
|
if(src == dst) //same tile
|
|
return 0;
|
|
|
|
const auto * ti = getTurnInfo();
|
|
|
|
if(ct == nullptr || dt == nullptr)
|
|
{
|
|
ct = hero->cb->getTile(src);
|
|
dt = hero->cb->getTile(dst);
|
|
}
|
|
|
|
bool isSailLayer;
|
|
if(indeterminate(isDstSailLayer))
|
|
isSailLayer = hero->boat && hero->boat->layer == EPathfindingLayer::SAIL && dt->terType->isWater();
|
|
else
|
|
isSailLayer = static_cast<bool>(isDstSailLayer);
|
|
|
|
bool isWaterLayer;
|
|
if(indeterminate(isDstWaterLayer))
|
|
isWaterLayer = ((hero->boat && hero->boat->layer == EPathfindingLayer::WATER) || ti->hasBonusOfType(BonusType::WATER_WALKING)) && dt->terType->isWater();
|
|
else
|
|
isWaterLayer = static_cast<bool>(isDstWaterLayer);
|
|
|
|
bool isAirLayer = (hero->boat && hero->boat->layer == EPathfindingLayer::AIR) || ti->hasBonusOfType(BonusType::FLYING_MOVEMENT);
|
|
|
|
int ret = hero->getTileMovementCost(*dt, *ct, ti);
|
|
if(isSailLayer)
|
|
{
|
|
if(ct->hasFavorableWinds())
|
|
ret = static_cast<int>(ret * 2.0 / 3);
|
|
}
|
|
else if(isAirLayer)
|
|
vstd::amin(ret, GameConstants::BASE_MOVEMENT_COST + ti->valOfBonuses(BonusType::FLYING_MOVEMENT));
|
|
else if(isWaterLayer && ti->hasBonusOfType(BonusType::WATER_WALKING))
|
|
ret = static_cast<int>(ret * (100.0 + ti->valOfBonuses(BonusType::WATER_WALKING)) / 100.0);
|
|
|
|
if(src.x != dst.x && src.y != dst.y) //it's diagonal move
|
|
{
|
|
int old = ret;
|
|
ret = static_cast<int>(ret * M_SQRT2);
|
|
//diagonal move costs too much but normal move is possible - allow diagonal move for remaining move points
|
|
// https://heroes.thelazy.net/index.php/Movement#Diagonal_move_exception
|
|
if(ret > remainingMovePoints && remainingMovePoints >= old)
|
|
{
|
|
return remainingMovePoints;
|
|
}
|
|
}
|
|
|
|
const int left = remainingMovePoints - ret;
|
|
constexpr auto maxCostOfOneStep = static_cast<int>(175 * M_SQRT2); // diagonal move on Swamp - 247 MP
|
|
if(checkLast && left > 0 && left <= maxCostOfOneStep) //it might be the last tile - if no further move possible we take all move points
|
|
{
|
|
std::vector<int3> vec;
|
|
vec.reserve(8); //optimization
|
|
getNeighbours(*dt, dst, vec, ct->terType->isLand(), true);
|
|
for(const auto & elem : vec)
|
|
{
|
|
int fcost = getMovementCost(dst, elem, nullptr, nullptr, left, false);
|
|
if(fcost <= left)
|
|
{
|
|
return ret;
|
|
}
|
|
}
|
|
ret = remainingMovePoints;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
VCMI_LIB_NAMESPACE_END
|