1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536
|
/*
* CPathfinder.h, part of VCMI engine
*
* Authors: listed in file AUTHORS in main folder
*
* License: GNU General Public License v2.0 or later
* Full text of license available in license.txt file, in main folder
*
*/
#pragma once
#include "VCMI_Lib.h"
#include "IGameCallback.h"
#include "HeroBonus.h"
#include "int3.h"
#include <boost/heap/priority_queue.hpp>
class CGHeroInstance;
class CGObjectInstance;
struct TerrainTile;
class CPathfinderHelper;
class CMap;
class CGWhirlpool;
class CPathfinderHelper;
class CPathfinder;
class PathfinderConfig;
struct DLL_LINKAGE CGPathNode
{
typedef EPathfindingLayer ELayer;
enum ENodeAction : ui8
{
UNKNOWN = 0,
EMBARK = 1,
DISEMBARK,
NORMAL,
BATTLE,
VISIT,
BLOCKING_VISIT,
TELEPORT_NORMAL,
TELEPORT_BLOCKING_VISIT,
TELEPORT_BATTLE
};
enum EAccessibility : ui8
{
NOT_SET = 0,
ACCESSIBLE = 1, //tile can be entered and passed
VISITABLE, //tile can be entered as the last tile in path
BLOCKVIS, //visitable from neighboring tile but not passable
FLYABLE, //can only be accessed in air layer
BLOCKED //tile can't be entered nor visited
};
CGPathNode * theNodeBefore;
int3 coord; //coordinates
ELayer layer;
ui32 moveRemains; //remaining movement points after hero reaches the tile
float cost; //total cost of the path to this tile measured in turns with fractions
ui8 turns; //how many turns we have to wait before reaching the tile - 0 means current turn
EAccessibility accessible;
ENodeAction action;
bool locked;
CGPathNode()
: coord(-1),
layer(ELayer::WRONG)
{
reset();
}
STRONG_INLINE
void reset()
{
locked = false;
accessible = NOT_SET;
moveRemains = 0;
cost = std::numeric_limits<float>::max();
turns = 255;
theNodeBefore = nullptr;
action = UNKNOWN;
}
STRONG_INLINE
void update(const int3 & Coord, const ELayer Layer, const EAccessibility Accessible)
{
if(layer == ELayer::WRONG)
{
coord = Coord;
layer = Layer;
}
else
{
reset();
}
accessible = Accessible;
}
STRONG_INLINE
bool reachable() const
{
return turns < 255;
}
};
struct DLL_LINKAGE CGPath
{
std::vector<CGPathNode> nodes; //just get node by node
int3 startPos() const; // start point
int3 endPos() const; //destination point
void convert(ui8 mode); //mode=0 -> from 'manifest' to 'object'
};
struct DLL_LINKAGE CPathsInfo
{
typedef EPathfindingLayer ELayer;
const CGHeroInstance * hero;
int3 hpos;
int3 sizes;
boost::multi_array<CGPathNode, 4> nodes; //[w][h][level][layer]
CPathsInfo(const int3 & Sizes, const CGHeroInstance * hero_);
~CPathsInfo();
const CGPathNode * getPathInfo(const int3 & tile) const;
bool getPath(CGPath & out, const int3 & dst) const;
const CGPathNode * getNode(const int3 & coord) const;
STRONG_INLINE
CGPathNode * getNode(const int3 & coord, const ELayer layer)
{
return &nodes[coord.x][coord.y][coord.z][layer];
}
};
struct DLL_LINKAGE PathNodeInfo
{
CGPathNode * node;
const CGObjectInstance * nodeObject;
const TerrainTile * tile;
int3 coord;
bool guarded;
PlayerRelations::PlayerRelations objectRelations;
PathNodeInfo();
virtual void setNode(CGameState * gs, CGPathNode * n, bool excludeTopObject = false);
bool isNodeObjectVisitable() const;
};
struct DLL_LINKAGE CDestinationNodeInfo : public PathNodeInfo
{
CGPathNode::ENodeAction action;
int turn;
int movementLeft;
float cost; //same as CGPathNode::cost
bool blocked;
bool isGuardianTile;
CDestinationNodeInfo();
virtual void setNode(CGameState * gs, CGPathNode * n, bool excludeTopObject = false) override;
virtual bool isBetterWay() const;
};
class IPathfindingRule
{
public:
virtual void process(
const PathNodeInfo & source,
CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
CPathfinderHelper * pathfinderHelper) const = 0;
};
class DLL_LINKAGE MovementCostRule : public IPathfindingRule
{
public:
virtual void process(
const PathNodeInfo & source,
CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
CPathfinderHelper * pathfinderHelper) const override;
};
class DLL_LINKAGE LayerTransitionRule : public IPathfindingRule
{
public:
virtual void process(
const PathNodeInfo & source,
CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
CPathfinderHelper * pathfinderHelper) const override;
};
class DLL_LINKAGE DestinationActionRule : public IPathfindingRule
{
public:
virtual void process(
const PathNodeInfo & source,
CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
CPathfinderHelper * pathfinderHelper) const override;
};
class DLL_LINKAGE PathfinderBlockingRule : public IPathfindingRule
{
public:
virtual void process(
const PathNodeInfo & source,
CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
CPathfinderHelper * pathfinderHelper) const override
{
auto blockingReason = getBlockingReason(source, destination, pathfinderConfig, pathfinderHelper);
destination.blocked = blockingReason != BlockingReason::NONE;
}
protected:
enum class BlockingReason
{
NONE = 0,
SOURCE_GUARDED = 1,
DESTINATION_GUARDED = 2,
SOURCE_BLOCKED = 3,
DESTINATION_BLOCKED = 4,
DESTINATION_BLOCKVIS = 5,
DESTINATION_VISIT = 6
};
virtual BlockingReason getBlockingReason(
const PathNodeInfo & source,
const CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) const = 0;
};
class DLL_LINKAGE MovementAfterDestinationRule : public PathfinderBlockingRule
{
public:
virtual void process(
const PathNodeInfo & source,
CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
CPathfinderHelper * pathfinderHelper) const override;
protected:
virtual BlockingReason getBlockingReason(
const PathNodeInfo & source,
const CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) const override;
};
class DLL_LINKAGE MovementToDestinationRule : public PathfinderBlockingRule
{
protected:
virtual BlockingReason getBlockingReason(
const PathNodeInfo & source,
const CDestinationNodeInfo & destination,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) const override;
};
struct DLL_LINKAGE PathfinderOptions
{
bool useFlying;
bool useWaterWalking;
bool useEmbarkAndDisembark;
bool useTeleportTwoWay; // Two-way monoliths and Subterranean Gate
bool useTeleportOneWay; // One-way monoliths with one known exit only
bool useTeleportOneWayRandom; // One-way monoliths with more than one known exit
bool useTeleportWhirlpool; // Force enabled if hero protected or unaffected (have one stack of one creature)
/// TODO: Find out with client and server code, merge with normal teleporters.
/// Likely proper implementation would require some refactoring of CGTeleport.
/// So for now this is unfinished and disabled by default.
bool useCastleGate;
/// If true transition into air layer only possible from initial node.
/// This is drastically decrease path calculation complexity (and time).
/// Downside is less MP effective paths calculation.
///
/// TODO: If this option end up useful for slow devices it's can be improved:
/// - Allow transition into air layer not only from initial position, but also from teleporters.
/// Movement into air can be also allowed when hero disembarked.
/// - Other idea is to allow transition into air within certain radius of N tiles around hero.
/// Patrol support need similar functionality so it's won't be ton of useless code.
/// Such limitation could be useful as it's can be scaled depend on device performance.
bool lightweightFlyingMode;
/// This option enable one turn limitation for flying and water walking.
/// So if we're out of MP while cp is blocked or water tile we won't add dest tile to queue.
///
/// Following imitation is default H3 mechanics, but someone may want to disable it in mods.
/// After all this limit should benefit performance on maps with tons of water or blocked tiles.
///
/// TODO:
/// - Behavior when option is disabled not implemented and will lead to crashes.
bool oneTurnSpecialLayersLimit;
/// VCMI have different movement rules to solve flaws original engine has.
/// If this option enabled you'll able to do following things in fly:
/// - Move from blocked tiles to visitable one
/// - Move from guarded tiles to blockvis tiles without being attacked
/// - Move from guarded tiles to guarded visitable tiles with being attacked after
/// TODO:
/// - Option should also allow same tile land <-> air layer transitions.
/// Current implementation only allow go into (from) air layer only to neighbour tiles.
/// I find it's reasonable limitation, but it's will make some movements more expensive than in H3.
bool originalMovementRules;
PathfinderOptions();
};
class DLL_LINKAGE INodeStorage
{
public:
using ELayer = EPathfindingLayer;
virtual CGPathNode * getInitialNode() = 0;
virtual std::vector<CGPathNode *> calculateNeighbours(
const PathNodeInfo & source,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) = 0;
virtual std::vector<CGPathNode *> calculateTeleportations(
const PathNodeInfo & source,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) = 0;
virtual void commit(CDestinationNodeInfo & destination, const PathNodeInfo & source) = 0;
virtual void initialize(const PathfinderOptions & options, const CGameState * gs, const CGHeroInstance * hero) = 0;
};
class DLL_LINKAGE NodeStorage : public INodeStorage
{
private:
CPathsInfo & out;
STRONG_INLINE
void resetTile(const int3 & tile, EPathfindingLayer layer, CGPathNode::EAccessibility accessibility);
public:
NodeStorage(CPathsInfo & pathsInfo, const CGHeroInstance * hero);
STRONG_INLINE
CGPathNode * getNode(const int3 & coord, const EPathfindingLayer layer)
{
return out.getNode(coord, layer);
}
void initialize(const PathfinderOptions & options, const CGameState * gs, const CGHeroInstance * hero) override;
virtual CGPathNode * getInitialNode() override;
virtual std::vector<CGPathNode *> calculateNeighbours(
const PathNodeInfo & source,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) override;
virtual std::vector<CGPathNode *> calculateTeleportations(
const PathNodeInfo & source,
const PathfinderConfig * pathfinderConfig,
const CPathfinderHelper * pathfinderHelper) override;
virtual void commit(CDestinationNodeInfo & destination, const PathNodeInfo & source) override;
};
class DLL_LINKAGE PathfinderConfig
{
public:
std::shared_ptr<INodeStorage> nodeStorage;
std::vector<std::shared_ptr<IPathfindingRule>> rules;
PathfinderOptions options;
PathfinderConfig(
std::shared_ptr<INodeStorage> nodeStorage,
std::vector<std::shared_ptr<IPathfindingRule>> rules);
};
class CPathfinder : private CGameInfoCallback
{
public:
friend class CPathfinderHelper;
CPathfinder(CPathsInfo & _out, CGameState * _gs, const CGHeroInstance * _hero);
CPathfinder(
CGameState * _gs,
const CGHeroInstance * _hero,
std::shared_ptr<PathfinderConfig> config);
void calculatePaths(); //calculates possible paths for hero, uses current hero position and movement left; returns pointer to newly allocated CPath or nullptr if path does not exists
private:
typedef EPathfindingLayer ELayer;
const CGHeroInstance * hero;
std::unique_ptr<CPathfinderHelper> hlp;
std::shared_ptr<PathfinderConfig> config;
enum EPatrolState {
PATROL_NONE = 0,
PATROL_LOCKED = 1,
PATROL_RADIUS
} patrolState;
std::unordered_set<int3, ShashInt3> patrolTiles;
struct NodeComparer
{
STRONG_INLINE
bool operator()(const CGPathNode * lhs, const CGPathNode * rhs) const
{
return lhs->cost > rhs->cost;
}
};
boost::heap::priority_queue<CGPathNode *, boost::heap::compare<NodeComparer> > pq;
PathNodeInfo source; //current (source) path node -> we took it from the queue
CDestinationNodeInfo destination; //destination node -> it's a neighbour of source that we consider
bool isHeroPatrolLocked() const;
bool isPatrolMovementAllowed(const int3 & dst) const;
bool isLayerTransitionPossible() const;
CGPathNode::ENodeAction getTeleportDestAction() const;
bool isSourceInitialPosition() const;
bool isSourceGuarded() const;
bool isDestinationGuarded() const;
bool isDestinationGuardian() const;
void initializePatrol();
void initializeGraph();
};
struct DLL_LINKAGE TurnInfo
{
/// This is certainly not the best design ever and certainly can be improved
/// Unfortunately for pathfinder that do hundreds of thousands calls onus system add too big overhead
struct BonusCache {
std::vector<bool> noTerrainPenalty;
bool freeShipBoarding;
bool flyingMovement;
int flyingMovementVal;
bool waterWalking;
int waterWalkingVal;
BonusCache(TBonusListPtr bonusList);
};
std::unique_ptr<BonusCache> bonusCache;
const CGHeroInstance * hero;
TBonusListPtr bonuses;
mutable int maxMovePointsLand;
mutable int maxMovePointsWater;
int nativeTerrain;
TurnInfo(const CGHeroInstance * Hero, const int Turn = 0);
bool isLayerAvailable(const EPathfindingLayer layer) const;
bool hasBonusOfType(const Bonus::BonusType type, const int subtype = -1) const;
int valOfBonuses(const Bonus::BonusType type, const int subtype = -1) const;
int getMaxMovePoints(const EPathfindingLayer layer) const;
};
class DLL_LINKAGE CPathfinderHelper : private CGameInfoCallback
{
public:
int turn;
const CGHeroInstance * hero;
std::vector<TurnInfo *> turnsInfo;
const PathfinderOptions & options;
CPathfinderHelper(CGameState * gs, const CGHeroInstance * Hero, const PathfinderOptions & Options);
~CPathfinderHelper();
void updateTurnInfo(const int turn = 0);
bool isLayerAvailable(const EPathfindingLayer layer) const;
const TurnInfo * getTurnInfo() const;
bool hasBonusOfType(const Bonus::BonusType type, const int subtype = -1) const;
int getMaxMovePoints(const EPathfindingLayer layer) const;
std::vector<int3> getCastleGates(const PathNodeInfo & source) const;
bool isAllowedTeleportEntrance(const CGTeleport * obj) const;
std::vector<int3> getAllowedTeleportChannelExits(TeleportChannelID channelID) const;
bool addTeleportTwoWay(const CGTeleport * obj) const;
bool addTeleportOneWay(const CGTeleport * obj) const;
bool addTeleportOneWayRandom(const CGTeleport * obj) const;
bool addTeleportWhirlpool(const CGWhirlpool * obj) const;
bool canMoveBetween(const int3 & a, const int3 & b) const; //checks only for visitable objects that may make moving between tiles impossible, not other conditions (like tiles itself accessibility)
std::vector<int3> getNeighbourTiles(const PathNodeInfo & source) const;
std::vector<int3> getTeleportExits(const PathNodeInfo & source) const;
void getNeighbours(
const TerrainTile & srct,
const int3 & tile,
std::vector<int3> & vec,
const boost::logic::tribool & onLand,
const bool limitCoastSailing) const;
int getMovementCost(
const int3 & src,
const int3 & dst,
const TerrainTile * ct,
const TerrainTile * dt,
const int remainingMovePoints =- 1,
const bool checkLast = true) const;
int getMovementCost(
const PathNodeInfo & src,
const PathNodeInfo & dst,
const int remainingMovePoints = -1,
const bool checkLast = true) const
{
return getMovementCost(
src.coord,
dst.coord,
src.tile,
dst.tile,
remainingMovePoints,
checkLast
);
}
int movementPointsAfterEmbark(int movement, int basicCost, bool disembark) const;
bool passOneTurnLimitCheck(const PathNodeInfo & source) const;
};
|