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MegaGlest/source/glest_game/ai/path_finder.cpp
Mark Vejvoda 5cfc4d07a0 added logging of threaded unit actions
2013-05-21 05:43:57 +00:00

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// This file is part of Glest (www.glest.org)
//
// Copyright (C) 2001-2008 Martiño Figueroa
//
// You can redistribute this code and/or modify it under
// the terms of the GNU General Public License as published
// by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version
// ==============================================================
#include "path_finder.h"
#include <algorithm>
#include <cassert>
#include "config.h"
#include "map.h"
#include "unit.h"
#include "unit_type.h"
#include "platform_common.h"
#include "command.h"
#include "faction.h"
#include "randomgen.h"
#include "leak_dumper.h"
using namespace std;
using namespace Shared::Graphics;
using namespace Shared::Util;
using namespace Shared::PlatformCommon;
using Shared::Util::RandomGen;
namespace Glest{ namespace Game{
// =====================================================
// class PathFinder
// =====================================================
// ===================== PUBLIC ========================
const int PathFinder::maxFreeSearchRadius = 10;
//const int PathFinder::pathFindNodesMax= 400;
int PathFinder::pathFindNodesAbsoluteMax = 900;
int PathFinder::pathFindNodesMax = 2000;
//const int PathFinder::pathFindRefresh = 10;
const int PathFinder::pathFindBailoutRadius = 20;
const int PathFinder::pathFindExtendRefreshForNodeCount = 25;
const int PathFinder::pathFindExtendRefreshNodeCountMin = 40;
const int PathFinder::pathFindExtendRefreshNodeCountMax = 40;
PathFinder::PathFinder() {
minorDebugPathfinder = false;
factionMutex = new Mutex();
for(int i = 0; i < GameConstants::maxPlayers; ++i) {
factions.push_back(FactionState());
//factions.resize(GameConstants::maxPlayers);
}
map=NULL;
}
int PathFinder::getPathFindExtendRefreshNodeCount(int factionIndex) {
int refreshNodeCount = factions[factionIndex].random.randRange(PathFinder::pathFindExtendRefreshNodeCountMin,PathFinder::pathFindExtendRefreshNodeCountMax);
return refreshNodeCount;
}
PathFinder::PathFinder(const Map *map) {
minorDebugPathfinder = false;
factionMutex = new Mutex();
for(int i = 0; i < GameConstants::maxPlayers; ++i) {
factions.push_back(FactionState());
//factions.resize(GameConstants::maxPlayers);
}
map=NULL;
init(map);
}
void PathFinder::init(const Map *map) {
//PathFinder::pathFindNodesMax = Config::getInstance().getInt("MaxPathfinderNodeCount",intToStr(PathFinder::pathFindNodesMax).c_str());
for(int i = 0; i < GameConstants::maxPlayers; ++i) {
factions[i].nodePool.resize(pathFindNodesAbsoluteMax);
factions[i].useMaxNodeCount = PathFinder::pathFindNodesMax;
}
this->map= map;
}
void PathFinder::init() {
minorDebugPathfinder = false;
factionMutex = NULL;
map=NULL;
}
PathFinder::~PathFinder() {
for(int i = 0; i < GameConstants::maxPlayers; ++i) {
factions[i].nodePool.clear();
}
factions.clear();
map=NULL;
delete factionMutex;
factionMutex = NULL;
}
void PathFinder::clearCaches() {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
for(int i = 0; i < GameConstants::maxPlayers; ++i) {
factions[i].precachedTravelState.clear();
factions[i].precachedPath.clear();
factions[i].badCellList.clear();
}
}
void PathFinder::clearUnitPrecache(Unit *unit) {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
if(unit != NULL && factions.size() > unit->getFactionIndex()) {
factions[unit->getFactionIndex()].precachedTravelState[unit->getId()] = tsImpossible;
factions[unit->getFactionIndex()].precachedPath[unit->getId()].clear();
factions[unit->getFactionIndex()].badCellList.clear();
}
}
void PathFinder::removeUnitPrecache(Unit *unit) {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
if(unit != NULL && factions.size() > unit->getFactionIndex()) {
bool clearTravelState = false;
bool clearPath = false;
if(factions[unit->getFactionIndex()].precachedTravelState.find(unit->getId()) != factions[unit->getFactionIndex()].precachedTravelState.end()) {
factions[unit->getFactionIndex()].precachedTravelState.erase(unit->getId());
clearTravelState = true;
}
if(factions[unit->getFactionIndex()].precachedPath.find(unit->getId()) != factions[unit->getFactionIndex()].precachedPath.end()) {
factions[unit->getFactionIndex()].precachedPath.erase(unit->getId());
clearPath = true;
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[removeUnitPrecache] clearTravelState: %d clearPath: %d",clearTravelState,clearPath);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
}
}
TravelState PathFinder::findPath(Unit *unit, const Vec2i &finalPos, bool *wasStuck, int frameIndex) {
if(map == NULL) {
throw megaglest_runtime_error("map == NULL");
}
unit->setCurrentPathFinderDesiredFinalPos(finalPos);
//printf("Unit Pathfind Unit [%d - %s] from = %s to = %s frameIndex = %d\n",unit->getId(),unit->getType()->getName().c_str(),unit->getPos().getString().c_str(),finalPos.getString().c_str(),frameIndex);
if(frameIndex >= 0) {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[findPath] ");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
clearUnitPrecache(unit);
}
if(unit->getFaction()->canUnitsPathfind() == true) {
unit->getFaction()->addUnitToPathfindingList(unit->getId());
}
else {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"canUnitsPathfind() == false");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"canUnitsPathfind() == false");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return tsBlocked;
}
// if(frameIndex != factions[unit->getFactionIndex()].lastFromToNodeListFrame) {
// if(factions[unit->getFactionIndex()].mapFromToNodeList.size() > 0) {
// printf("clear duplicate list = " MG_SIZE_T_SPECIFIER " for faction = %d frameIndex = %d\n",factions[unit->getFactionIndex()].mapFromToNodeList.size(),unit->getFactionIndex(),frameIndex);
// factions[unit->getFactionIndex()].mapFromToNodeList.clear();
// }
// factions[unit->getFactionIndex()].lastFromToNodeListFrame = frameIndex;
// }
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[findPath] unit->getPos() [%s] finalPos [%s]",
unit->getPos().getString().c_str(),finalPos.getString().c_str());
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
//route cache
if(finalPos == unit->getPos()) {
if(frameIndex < 0) {
//if arrived
unit->setCurrSkill(scStop);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
char szBuf[8096]="";
snprintf(szBuf,8096,"Unit finalPos [%s] == unit->getPos() [%s]",finalPos.getString().c_str(),unit->getPos().getString().c_str());
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
string commandDesc = "none";
Command *command= unit->getCurrCommand();
if(command != NULL && command->getCommandType() != NULL) {
commandDesc = command->getCommandType()->toString();
}
char szBuf[8096]="";
snprintf(szBuf,8096,"State: arrived#1 at pos: %s, command [%s]",finalPos.getString().c_str(),commandDesc.c_str());
unit->setCurrentUnitTitle(szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return tsArrived");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return tsArrived;
}
UnitPathInterface *path= unit->getPath();
if(path->isEmpty() == false) {
if(dynamic_cast<UnitPathBasic *>(path) != NULL) {
//route cache
UnitPathBasic *basicPath = dynamic_cast<UnitPathBasic *>(path);
Vec2i pos= basicPath->pop(frameIndex < 0);
if(map->canMove(unit, unit->getPos(), pos)) {
if(frameIndex < 0) {
unit->setTargetPos(pos);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true) {
char szBuf[8096]="";
snprintf(szBuf,8096,"map->canMove to pos [%s] from [%s]",pos.getString().c_str(),unit->getPos().getString().c_str());
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return tsMoving");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return tsMoving;
}
}
else if(dynamic_cast<UnitPath *>(path) != NULL) {
UnitPath *advPath = dynamic_cast<UnitPath *>(path);
//route cache
Vec2i pos= advPath->peek();
if(map->canMove(unit, unit->getPos(), pos)) {
if(frameIndex < 0) {
advPath->pop();
unit->setTargetPos(pos);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return tsMoving");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return tsMoving;
}
}
else {
throw megaglest_runtime_error("unsupported or missing path finder detected!");
}
}
if(path->isStuck() == true &&
(unit->getLastStuckPos() == finalPos || path->getBlockCount() > 500) &&
unit->isLastStuckFrameWithinCurrentFrameTolerance() == true) {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"path->isStuck() == true unit->getLastStuckPos() [%s] finalPos [%s] path->getBlockCount() [%d] tolerance: %d",unit->getLastStuckPos().getString().c_str(),finalPos.getString().c_str(),path->getBlockCount(),unit->isLastStuckFrameWithinCurrentFrameTolerance());
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"path->isStuck() == true unit->getLastStuckPos() [%s] finalPos [%s] path->getBlockCount() [%d] tolerance: %d",unit->getLastStuckPos().getString().c_str(),finalPos.getString().c_str(),path->getBlockCount(),unit->isLastStuckFrameWithinCurrentFrameTolerance());
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
//printf("$$$$ Unit STILL BLOCKED for [%d - %s]\n",unit->getId(),unit->getFullName().c_str());
return tsBlocked;
}
TravelState ts = tsImpossible;
//route cache miss
int maxNodeCount=-1;
if(unit->getUsePathfinderExtendedMaxNodes() == true) {
const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
if(showConsoleDebugInfo || SystemFlags::VERBOSE_MODE_ENABLED) {
printf("\n\n\n\n### Continued call to AStar with LARGE maxnodes for unit [%d - %s]\n\n",unit->getId(),unit->getFullName().c_str());
}
maxNodeCount= PathFinder::pathFindNodesAbsoluteMax;
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"maxNodeCount: %d",maxNodeCount);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"maxNodeCount: %d",maxNodeCount);
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
}
//int unitFactionIndex = unit->getFactionIndex();
bool minorDebugPathfinderPerformance = false;
Chrono chrono;
//if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled) chrono.start();
if(minorDebugPathfinderPerformance) chrono.start();
uint32 searched_node_count = 0;
minorDebugPathfinder = false;
if(minorDebugPathfinder) printf("Legacy Pathfind Unit [%d - %s] from = %s to = %s frameIndex = %d\n",unit->getId(),unit->getType()->getName().c_str(),unit->getPos().getString().c_str(),finalPos.getString().c_str(),frameIndex);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"calling aStar()");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"calling aStar()");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
ts = aStar(unit, finalPos, false, frameIndex, maxNodeCount,&searched_node_count);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"called aStar() ts: %d",ts);
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
//post actions
switch(ts) {
case tsBlocked:
case tsArrived:
// The unit is stuck (not only blocked but unable to go anywhere for a while)
// We will try to bail out of the immediate area
if( ts == tsBlocked && unit->getInBailOutAttempt() == false &&
path->isStuck() == true) {
//printf("$$$$ Unit START BAILOUT ATTEMPT for [%d - %s]\n",unit->getId(),unit->getFullName().c_str());
if(minorDebugPathfinder) printf("Pathfind Unit [%d - %s] START BAILOUT ATTEMPT frameIndex = %d\n",unit->getId(),unit->getType()->getName().c_str(),frameIndex);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[attempting to BAIL OUT] finalPos [%s] ts [%d]",
finalPos.getString().c_str(),ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(wasStuck != NULL) {
*wasStuck = true;
}
unit->setInBailOutAttempt(true);
//bool useBailoutRadius = Config::getInstance().getBool("EnableBailoutPathfinding","true");
bool useBailoutRadius = true;
if(useBailoutRadius == true) {
bool unitImmediatelyBlocked = false;
// First check if unit currently blocked all around them, if so don't try to pathfind
const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
const Vec2i unitPos = unit->getPos();
int failureCount = 0;
int cellCount = 0;
for(int i = -1; i <= 1; ++i) {
for(int j = -1; j <= 1; ++j) {
Vec2i pos = unitPos + Vec2i(i, j);
if(pos != unitPos) {
bool canUnitMoveToCell = map->aproxCanMove(unit, unitPos, pos);
if(canUnitMoveToCell == false) {
failureCount++;
}
cellCount++;
}
}
}
unitImmediatelyBlocked = (failureCount == cellCount);
if(showConsoleDebugInfo && unitImmediatelyBlocked) {
printf("**Check if src blocked [%d], unit [%d - %s] from [%s] to [%s] unitImmediatelyBlocked = %d, failureCount = %d [%d]\n",
unitImmediatelyBlocked, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), unitImmediatelyBlocked,failureCount,cellCount);
}
if(unitImmediatelyBlocked == false) {
int tryRadius = factions[unit->getFactionIndex()].random.randRange(0,1);
// Try to bail out up to PathFinder::pathFindBailoutRadius cells away
if(tryRadius > 0) {
for(int bailoutX = -PathFinder::pathFindBailoutRadius; bailoutX <= PathFinder::pathFindBailoutRadius && ts == tsBlocked; ++bailoutX) {
for(int bailoutY = -PathFinder::pathFindBailoutRadius; bailoutY <= PathFinder::pathFindBailoutRadius && ts == tsBlocked; ++bailoutY) {
const Vec2i newFinalPos = finalPos + Vec2i(bailoutX,bailoutY);
bool canUnitMove = map->canMove(unit, unit->getPos(), newFinalPos);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[attempting to BAIL OUT] finalPos [%s] newFinalPos [%s] ts [%d] canUnitMove [%d]",
finalPos.getString().c_str(),newFinalPos.getString().c_str(),ts,canUnitMove);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(canUnitMove) {
//printf("$$$$ Unit BAILOUT(1) ASTAR ATTEMPT for [%d - %s] newFinalPos = [%s]\n",unit->getId(),unit->getFullName().c_str(),newFinalPos.getString().c_str());
int maxBailoutNodeCount = (PathFinder::pathFindBailoutRadius * 2);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"calling aStar()");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
ts= aStar(unit, newFinalPos, true, frameIndex, maxBailoutNodeCount,&searched_node_count);
}
}
}
}
else {
for(int bailoutX = PathFinder::pathFindBailoutRadius; bailoutX >= -PathFinder::pathFindBailoutRadius && ts == tsBlocked; --bailoutX) {
for(int bailoutY = PathFinder::pathFindBailoutRadius; bailoutY >= -PathFinder::pathFindBailoutRadius && ts == tsBlocked; --bailoutY) {
const Vec2i newFinalPos = finalPos + Vec2i(bailoutX,bailoutY);
bool canUnitMove = map->canMove(unit, unit->getPos(), newFinalPos);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[attempting to BAIL OUT] finalPos [%s] newFinalPos [%s] ts [%d] canUnitMove [%d]",
finalPos.getString().c_str(),newFinalPos.getString().c_str(),ts,canUnitMove);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(canUnitMove) {
//printf("$$$$ Unit BAILOUT(1) ASTAR ATTEMPT for [%d - %s] newFinalPos = [%s]\n",unit->getId(),unit->getFullName().c_str(),newFinalPos.getString().c_str());
int maxBailoutNodeCount = (PathFinder::pathFindBailoutRadius * 2);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"calling aStar()");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
ts= aStar(unit, newFinalPos, true, frameIndex, maxBailoutNodeCount,&searched_node_count);
}
}
}
}
}
}
unit->setInBailOutAttempt(false);
//printf("$$$$ Unit END BAILOUT ATTEMPT for [%d - %s] ts = %d\n",unit->getId(),unit->getFullName().c_str(),ts);
if(ts == tsBlocked) {
unit->setLastStuckFrameToCurrentFrame();
unit->setLastStuckPos(finalPos);
}
}
if(ts == tsArrived || ts == tsBlocked) {
if(frameIndex < 0) {
unit->setCurrSkill(scStop);
}
}
break;
case tsMoving:
{
if(dynamic_cast<UnitPathBasic *>(path) != NULL) {
UnitPathBasic *basicPath = dynamic_cast<UnitPathBasic *>(path);
Vec2i pos;
if(frameIndex < 0) {
pos = basicPath->pop(frameIndex < 0);
}
else {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
if(factions[unit->getFactionIndex()].precachedPath[unit->getId()].size() <= 0) {
throw megaglest_runtime_error("factions[unit->getFactionIndex()].precachedPath[unit->getId()].size() <= 0!");
}
pos = factions[unit->getFactionIndex()].precachedPath[unit->getId()][0];
}
if(map->canMove(unit, unit->getPos(), pos)) {
if(frameIndex < 0) {
unit->setTargetPos(pos);
}
}
else {
if(frameIndex < 0) {
unit->setCurrSkill(scStop);
}
if(minorDebugPathfinderPerformance && chrono.getMillis() >= 1) printf("Unit [%d - %s] astar #2 took [%lld] msecs, ts = %d searched_node_count = %d.\n",unit->getId(),unit->getType()->getName().c_str(),(long long int)chrono.getMillis(),ts,searched_node_count);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"tsBlocked");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
return tsBlocked;
}
}
else if(dynamic_cast<UnitPath *>(path) != NULL) {
UnitPath *advPath = dynamic_cast<UnitPath *>(path);
Vec2i pos= advPath->peek();
if(map->canMove(unit, unit->getPos(), pos)) {
if(frameIndex < 0) {
advPath->pop();
unit->setTargetPos(pos);
}
}
else {
if(frameIndex < 0) {
unit->setCurrSkill(scStop);
}
if(minorDebugPathfinder) printf("Pathfind Unit [%d - %s] INT BAILOUT ATTEMPT BLOCKED frameIndex = %d\n",unit->getId(),unit->getType()->getName().c_str(),frameIndex);
if(minorDebugPathfinderPerformance && chrono.getMillis() >= 1) printf("Unit [%d - %s] astar #3 took [%lld] msecs, ts = %d searched_node_count = %d.\n",unit->getId(),unit->getType()->getName().c_str(),(long long int)chrono.getMillis(),ts,searched_node_count);
return tsBlocked;
}
}
else {
throw megaglest_runtime_error("unsupported or missing path finder detected!");
}
}
break;
}
if(minorDebugPathfinderPerformance && chrono.getMillis() >= 1) printf("Unit [%d - %s] astar took [%lld] msecs, ts = %d searched_node_count = %d.\n",unit->getId(),unit->getType()->getName().c_str(),(long long int)chrono.getMillis(),ts,searched_node_count);
return ts;
}
// ==================== PRIVATE ====================
bool PathFinder::addToOpenSet(Unit *unit, Node *node,const Vec2i finalPos, Vec2i sucPos, bool &nodeLimitReached,int maxNodeCount,Node **newNodeAdded, bool bypassChecks) {
bool result = false;
*newNodeAdded=NULL;
//Vec2i sucPos= node->pos + Vec2i(i, j);
if(bypassChecks == true ||
(canUnitMoveSoon(unit, node->pos, sucPos) == true && openPos(sucPos, factions[unit->getFactionIndex()]) == false)) {
//if node is not open and canMove then generate another node
Node *sucNode= newNode(factions[unit->getFactionIndex()],maxNodeCount);
if(sucNode != NULL) {
sucNode->pos= sucPos;
sucNode->heuristic= heuristic(sucNode->pos, finalPos);
sucNode->prev= node;
sucNode->next= NULL;
sucNode->exploredCell= map->getSurfaceCell(Map::toSurfCoords(sucPos))->isExplored(unit->getTeam());
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
if(factions[unit->getFactionIndex()].openNodesList.find(sucNode->heuristic) == factions[unit->getFactionIndex()].openNodesList.end()) {
factions[unit->getFactionIndex()].openNodesList[sucNode->heuristic].clear();
}
factions[unit->getFactionIndex()].openNodesList[sucNode->heuristic].push_back(sucNode);
factions[unit->getFactionIndex()].openPosList[sucNode->pos] = true;
*newNodeAdded=sucNode;
result = true;
}
else {
nodeLimitReached= true;
}
}
return result;
}
direction PathFinder::directionOfMove(Vec2i to, Vec2i from) const {
if (from.x == to.x) {
if (from.y == to.y)
return 0;
else if (from.y < to.y)
return 4;
else // from.y > to.y
return 0;
}
else if (from.x < to.x) {
if (from.y == to.y)
return 2;
else if (from.y < to.y)
return 3;
else // from.y > to.y
return 1;
}
else { // from.x > to.x
if (from.y == to.y)
return 6;
else if (from.y < to.y)
return 5;
else // from.y > to.y
return 7;
}
}
direction PathFinder::directionWeCameFrom(Vec2i node, Vec2i nodeFrom) const {
direction result = NO_DIRECTION;
if(nodeFrom.x >= 0 && nodeFrom.y >= 0) {
result = directionOfMove(node, nodeFrom);
}
//printf("directionWeCameFrom node [%s] nodeFrom [%s] result = %d\n",node.getString().c_str(),nodeFrom.getString().c_str(),result);
return result;
}
// is this coordinate contained within the map bounds?
bool PathFinder::contained(Vec2i c) {
return (map->isInside(c) == true && map->isInsideSurface(map->toSurfCoords(c)) == true);
}
// is this coordinate within the map bounds, and also walkable?
bool PathFinder::isEnterable(Vec2i coord) {
//node node = getIndex (astar->bounds, coord);
//return contained(coord) && astar->grid[node];
return contained(coord);
}
// the coordinate one tile in the given direction
Vec2i PathFinder::adjustInDirection(Vec2i c, int dir) {
// we want to implement "rotation" - that is, for instance, we can
// subtract 2 from the direction "north" and get "east"
// C's modulo operator doesn't quite behave the right way to do this,
// but for our purposes this kluge should be good enough
switch ((dir + 65536) % 8) {
case 0: return Vec2i(c.x, c.y - 1);
case 1: return Vec2i(c.x + 1, c.y - 1);
case 2: return Vec2i(c.x + 1, c.y );
case 3: return Vec2i(c.x + 1, c.y + 1);
case 4: return Vec2i(c.x, c.y + 1);
case 5: return Vec2i(c.x - 1, c.y + 1);
case 6: return Vec2i(c.x - 1, c.y);
case 7: return Vec2i(c.x - 1, c.y - 1);
}
return Vec2i( -1, -1 );
}
bool PathFinder::directionIsDiagonal(direction dir) const {
return (dir % 2) != 0;
}
// logical implication operator
bool PathFinder::implies(bool a, bool b) const {
return a ? b : true;
}
directionset PathFinder::addDirectionToSet(directionset dirs, direction dir) const {
return dirs | 1 << dir;
}
directionset PathFinder::forcedNeighbours(Vec2i coord,direction dir) {
if (dir == NO_DIRECTION)
return 0;
directionset dirs = 0;
#define ENTERABLE(n) isEnterable(adjustInDirection(coord, (dir + (n)) % 8))
if (directionIsDiagonal(dir)) {
if (!implies (ENTERABLE (6), ENTERABLE (5)))
dirs = addDirectionToSet (dirs, (dir + 6) % 8);
if (!implies (ENTERABLE (2), ENTERABLE (3)))
dirs = addDirectionToSet (dirs, (dir + 2) % 8);
}
else {
if (!implies (ENTERABLE (7), ENTERABLE (6)))
dirs = addDirectionToSet (dirs, (dir + 7) % 8);
if (!implies (ENTERABLE (1), ENTERABLE (2)))
dirs = addDirectionToSet (dirs, (dir + 1) % 8);
}
#undef ENTERABLE
return dirs;
}
directionset PathFinder::naturalNeighbours(direction dir) const {
if (dir == NO_DIRECTION)
return 255;
directionset dirs = 0;
dirs = addDirectionToSet (dirs, dir);
if (directionIsDiagonal (dir)) {
dirs = addDirectionToSet (dirs, (dir + 1) % 8);
dirs = addDirectionToSet (dirs, (dir + 7) % 8);
}
return dirs;
}
// return and remove a direction from the set
// returns NO_DIRECTION if the set was empty
direction PathFinder::nextDirectionInSet(directionset *dirs) const {
for (int i = 0; i < 8; i++) {
char bit = 1 << i;
if (*dirs & bit) {
*dirs ^= bit;
return i;
}
}
return NO_DIRECTION;
}
// directly translated from "algorithm 2" in the paper
Vec2i PathFinder::jump(Vec2i dest, direction dir, Vec2i start,std::vector<Vec2i> &path, int pathLength) {
Vec2i coord = adjustInDirection(start, dir);
//printf("jump dir [%u] start [%s] coord [%s] dest [%s]\n",dir,start.getString().c_str(),coord.getString().c_str(),dest.getString().c_str());
if (!isEnterable(coord))
return Vec2i(-1,-1);
if(path.size() > max(300,pathLength*2)) {
//if(path.size() > 2000) {
//printf("path.size() > pathLength [%d]\n",pathLength);
//return Vec2i(-1,-1);
return coord;
}
path.push_back(coord);
//int node = getIndex (astar->bounds, coord);
if (coord == dest || forcedNeighbours(coord, dir)) {
//path.push_back(coord);
//printf("jump #1 = %d [%d]\n",(int)path.size(),pathLength);
return coord;
}
if(directionIsDiagonal(dir)) {
Vec2i next = jump(dest, (dir + 7) % 8, coord,path,pathLength);
if (next.x >= 0) {
//path.push_back(coord);
//printf("jump #2 = %d [%d]\n",(int)path.size(),pathLength);
return coord;
}
next = jump(dest, (dir + 1) % 8, coord, path,pathLength);
if (next.x >= 0) {
//path.push_back(coord);
//printf("jump #3 = %d [%d]\n",(int)path.size(),pathLength);
return coord;
}
}
//else {
//path.push_back(coord);
//}
return jump(dest, dir, coord, path,pathLength);
}
void PathFinder::astarJPS(std::map<Vec2i,Vec2i> cameFrom, Node *& node,
const Vec2i & finalPos, std::map<Vec2i,bool> closedNodes,
std::map<std::pair<Vec2i,Vec2i> ,bool> canAddNode, Unit *& unit,
bool & nodeLimitReached, int & maxNodeCount) {
Vec2i cameFromPos(-1, -1);
if(cameFrom.find(node->pos) != cameFrom.end()) {
cameFromPos = cameFrom[node->pos];
}
direction from = directionWeCameFrom(node->pos, cameFromPos);
directionset dirs = forcedNeighbours(node->pos, from) | naturalNeighbours(from);
bool canAddEntirePath = false;
bool foundQuickRoute = false;
for (int dir = nextDirectionInSet(&dirs); dir != NO_DIRECTION; dir = nextDirectionInSet(&dirs)) {
//for (int dir = 0; dir < 8; dir++) {
std::vector<Vec2i> path;
Vec2i newNode = jump(finalPos, dir, node->pos,path,(int)node->pos.dist(finalPos));
//Vec2i newNode = adjustInDirection(node->pos, dir);
//printf("examine node from [%u][%u] - current node [%s] next possible node [%s]\n",from,dirs,node->pos.getString().c_str(),newNode.getString().c_str());
//coord_t newCoord = getCoord (bounds, newNode);
// this'll also bail out if jump() returned -1
if (!contained(newNode))
continue;
if(closedNodes.find(newNode) != closedNodes.end())
continue;
//if(factions[unit->getFactionIndex()].closedNodesList.find(node->heuristic) == factions[unit->getFactionIndex()].closedNodesList.end()) {
//addToOpenSet (&astar, newNode, node);
//printf("JPS #2 node->pos [%s] newNode [%s] path.size() [%d] pos [%s]\n",node->pos.getString().c_str(),newNode.getString().c_str(),(int)path.size(),path[0].getString().c_str());
Vec2i newPath = path[0];
//bool canUnitMoveToCell = map->aproxCanMove(unit, node->pos, newPath);
//bool posOpen = (openPos(newPath, factions[unit->getFactionIndex()]) == false);
//bool isFreeCell = map->isFreeCell(newPath,unit->getType()->getField());
if(canAddNode.find(make_pair(node->pos,newPath)) == canAddNode.end()) {
Node *newNode=NULL;
if(addToOpenSet(unit, node, finalPos, newPath, nodeLimitReached, maxNodeCount,&newNode,false) == true) {
//cameFrom = node->pos;
cameFrom[newPath]=node->pos;
foundQuickRoute = true;
if(path.size() > 1 && path[path.size()-1] == finalPos) {
canAddEntirePath = true;
for(unsigned int x = 1; x < path.size(); ++x) {
Vec2i futureNode = path[x];
bool canUnitMoveToCell = canUnitMoveSoon(unit, newNode->pos, futureNode);
if(canUnitMoveToCell != true || openPos(futureNode, factions[unit->getFactionIndex()]) == true) {
canAddEntirePath = false;
canAddNode[make_pair(node->pos,futureNode)]=false;
//printf("COULD NOT ADD ENTIRE PATH! canUnitMoveToCell = %d\n",canUnitMoveToCell);
break;
}
}
if(canAddEntirePath == true) {
//printf("add node - ENTIRE PATH!\n");
for(unsigned int x = 1; x < path.size(); ++x) {
Vec2i futureNode = path[x];
Node *newNode2=NULL;
addToOpenSet(unit, newNode, finalPos, futureNode, nodeLimitReached, maxNodeCount,&newNode2, true);
newNode=newNode2;
}
//Node *result = factions[unit->getFactionIndex()].openNodesList.begin()->second[0];
//if(result->pos == finalPos || result->exploredCell == false) {
// printf("Will break out of pathfinding now!\n");
//}
}
}
//printf("add node - current node [%s] next possible node [%s] canUnitMoveToCell [%d] posOpen [%d] isFreeCell [%d]\n",node->pos.getString().c_str(),newPath.getString().c_str(),canUnitMoveToCell,posOpen,isFreeCell);
}
else {
//printf("COULD NOT add node - current node [%s] next possible node [%s] canUnitMoveToCell [%d] posOpen [%d] isFreeCell [%d]\n",node->pos.getString().c_str(),newPath.getString().c_str(),canUnitMoveToCell,posOpen,isFreeCell);
canAddNode[make_pair(node->pos,newPath)]=false;
}
}
//if(canAddEntirePath == true) {
// break;
//}
}
if(foundQuickRoute == false) {
for (int dir = 0; dir < 8; dir++) {
Vec2i newNode = adjustInDirection(node->pos, dir);
//printf("examine node from [%u][%u] - current node [%s] next possible node [%s]\n",from,dirs,node->pos.getString().c_str(),newNode.getString().c_str());
//coord_t newCoord = getCoord (bounds, newNode);
// this'll also bail out if jump() returned -1
if (!contained(newNode))
continue;
if(closedNodes.find(newNode) != closedNodes.end())
continue;
//if(factions[unit->getFactionIndex()].closedNodesList.find(node->heuristic) == factions[unit->getFactionIndex()].closedNodesList.end()) {
//addToOpenSet (&astar, newNode, node);
//printf("JPS #3 node->pos [%s] newNode [%s]\n",node->pos.getString().c_str(),newNode.getString().c_str());
Vec2i newPath = newNode;
//bool canUnitMoveToCell = map->aproxCanMove(unit, node->pos, newPath);
//bool posOpen = (openPos(newPath, factions[unit->getFactionIndex()]) == false);
//bool isFreeCell = map->isFreeCell(newPath,unit->getType()->getField());
if(canAddNode.find(make_pair(node->pos,newPath)) == canAddNode.end()) {
Node *newNode=NULL;
if(addToOpenSet(unit, node, finalPos, newPath, nodeLimitReached, maxNodeCount,&newNode, false) == true) {
//cameFrom = node->pos;
cameFrom[newPath]=node->pos;
//foundQuickRoute = true;
//printf("#2 add node - current node [%s] next possible node [%s] canUnitMoveToCell [%d] posOpen [%d] isFreeCell [%d]\n",node->pos.getString().c_str(),newPath.getString().c_str(),canUnitMoveToCell,posOpen,isFreeCell);
}
else {
//printf("#2 COULD NOT add node - current node [%s] next possible node [%s] canUnitMoveToCell [%d] posOpen [%d] isFreeCell [%d]\n",node->pos.getString().c_str(),newPath.getString().c_str(),canUnitMoveToCell,posOpen,isFreeCell);
canAddNode[make_pair(node->pos,newPath)]=false;
}
}
}
}
}
//route a unit using A* algorithm
TravelState PathFinder::aStar(Unit *unit, const Vec2i &targetPos, bool inBailout,
int frameIndex, int maxNodeCount, uint32 *searched_node_count) {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"In aStar()");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
Chrono chrono;
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled) chrono.start();
if(map == NULL) {
throw megaglest_runtime_error("map == NULL");
}
const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
//const bool tryLastPathCache = Config::getInstance().getBool("EnablePathfinderCache","false");
const bool tryLastPathCache = false;
if(maxNodeCount < 0) {
maxNodeCount = factions[unit->getFactionIndex()].useMaxNodeCount;
//printf("AStar set maxNodeCount = %d\n",maxNodeCount);
}
if(maxNodeCount >= 1 && unit->getPathfindFailedConsecutiveFrameCount() >= 3) {
//int orgmaxNodeCount = maxNodeCount;
maxNodeCount = 200;
//printf("AStar maxpath cut for unit [%d - %s] to %d [orig: %d] [unit->getPathfindFailedConsecutiveFrameCount(): %d]\n",unit->getId(),unit->getFullName().c_str(), maxNodeCount,orgmaxNodeCount,unit->getPathfindFailedConsecutiveFrameCount());
}
UnitPathInterface *path= unit->getPath();
int unitFactionIndex = unit->getFactionIndex();
factions[unitFactionIndex].nodePoolCount= 0;
factions[unitFactionIndex].openNodesList.clear();
factions[unitFactionIndex].openPosList.clear();
factions[unitFactionIndex].closedNodesList.clear();
TravelState ts = tsImpossible;
// check the pre-cache to see if we can re-use a cached path
if(frameIndex < 0) {
if(factions[unitFactionIndex].precachedTravelState.find(unit->getId()) != factions[unitFactionIndex].precachedTravelState.end()) {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"factions[unitFactionIndex].precachedTravelState[unit->getId()]: %d",factions[unitFactionIndex].precachedTravelState[unit->getId()]);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(factions[unitFactionIndex].precachedTravelState[unit->getId()] == tsMoving) {
bool canMoveToCells = true;
Vec2i lastPos = unit->getPos();
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
for(int i=0; i < factions[unitFactionIndex].precachedPath[unit->getId()].size(); i++) {
Vec2i nodePos = factions[unitFactionIndex].precachedPath[unit->getId()][i];
if(map->isInside(nodePos) == false || map->isInsideSurface(map->toSurfCoords(nodePos)) == false) {
throw megaglest_runtime_error("Pathfinder invalid node path position = " + nodePos.getString() + " i = " + intToStr(i));
}
//if(i < pathFindRefresh ||
if(i < unit->getPathFindRefreshCellCount() ||
(factions[unitFactionIndex].precachedPath[unit->getId()].size() >= pathFindExtendRefreshForNodeCount &&
i < getPathFindExtendRefreshNodeCount(unitFactionIndex))) {
//!!! Test MV
if(canUnitMoveSoon(unit, lastPos, nodePos) == false) {
canMoveToCells = false;
break;
}
lastPos = nodePos;
}
else {
break;
}
}
safeMutex.ReleaseLock();
if(canMoveToCells == true) {
path->clear();
UnitPathBasic *basicPathFinder = dynamic_cast<UnitPathBasic *>(path);
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex1(factionMutex,mutexOwnerId);
for(int i=0; i < factions[unitFactionIndex].precachedPath[unit->getId()].size(); i++) {
Vec2i nodePos = factions[unitFactionIndex].precachedPath[unit->getId()][i];
if(map->isInside(nodePos) == false || map->isInsideSurface(map->toSurfCoords(nodePos)) == false) {
throw megaglest_runtime_error("Pathfinder invalid node path position = " + nodePos.getString() + " i = " + intToStr(i));
}
//if(i < pathFindRefresh ||
if(i < unit->getPathFindRefreshCellCount() ||
(factions[unitFactionIndex].precachedPath[unit->getId()].size() >= pathFindExtendRefreshForNodeCount &&
i < getPathFindExtendRefreshNodeCount(unitFactionIndex))) {
path->add(nodePos);
}
//else if(tryLastPathCache == false) {
// break;
//}
//if(tryLastPathCache == true && basicPathFinder) {
if(basicPathFinder) {
basicPathFinder->addToLastPathCache(nodePos);
}
}
unit->setUsePathfinderExtendedMaxNodes(false);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return factions[unitFactionIndex].precachedTravelState[unit->getId()];");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return factions[unitFactionIndex].precachedTravelState[unit->getId()];");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return factions[unitFactionIndex].precachedTravelState[unit->getId()];
}
else {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"clearUnitPrecache(unit);");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
clearUnitPrecache(unit);
}
}
else {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex1(factionMutex,mutexOwnerId);
if(factions[unitFactionIndex].precachedTravelState[unit->getId()] == tsBlocked) {
path->incBlockCount();
unit->setUsePathfinderExtendedMaxNodes(false);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return factions[unitFactionIndex].precachedTravelState[unit->getId()];");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return factions[unitFactionIndex].precachedTravelState[unit->getId()];");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return factions[unitFactionIndex].precachedTravelState[unit->getId()];
}
}
}
}
else {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"clearUnitPrecache(unit);");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
clearUnitPrecache(unit);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[clearUnitPrecache]");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
}
const Vec2i unitPos = unit->getPos();
const Vec2i finalPos= computeNearestFreePos(unit, targetPos);
float dist= unitPos.dist(finalPos);
factions[unitFactionIndex].useMaxNodeCount = PathFinder::pathFindNodesMax;
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
// Check the previous path find cache for the unit to see if its good to
// use
if(showConsoleDebugInfo || tryLastPathCache) {
if(showConsoleDebugInfo && dist > 60) printf("Distance from [%d - %s] to destination is %.2f tryLastPathCache = %d\n",unit->getId(),unit->getFullName().c_str(), dist,tryLastPathCache);
if(tryLastPathCache == true && path != NULL) {
UnitPathBasic *basicPathFinder = dynamic_cast<UnitPathBasic *>(path);
if(basicPathFinder != NULL && basicPathFinder->getLastPathCacheQueueCount() > 0) {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"basicPathFinder->getLastPathCacheQueueCount(): %d",basicPathFinder->getLastPathCacheQueueCount());
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
vector<Vec2i> cachedPath= basicPathFinder->getLastPathCacheQueue();
for(int i = 0; i < cachedPath.size(); ++i) {
Vec2i &pos1 = cachedPath[i];
// Looking to find if the unit is in one of the cells in the cached path
if(unitPos == pos1) {
// Now see if we can re-use this path to get to the final destination
for(int j = i+1; j < cachedPath.size(); ++j) {
Vec2i &pos2 = cachedPath[j];
bool canUnitMoveToCell = map->aproxCanMove(unit, pos1, pos2);
if(canUnitMoveToCell == true) {
if(pos2 == finalPos) {
//on the way
ts= tsMoving;
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
//store path
if(frameIndex < 0) {
basicPathFinder->clear();
}
int pathCount=0;
for(int k=i+1; k <= j; k++) {
if(k >= cachedPath.size()) {
throw megaglest_runtime_error("k >= cachedPath.size() k = " + intToStr(k) + " cachedPath.size() = " + intToStr(cachedPath.size()));
}
if(frameIndex >= 0) {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
factions[unitFactionIndex].precachedPath[unit->getId()].push_back(cachedPath[k]);
}
else {
//if(pathCount < pathFindRefresh) {
if(pathCount < unit->getPathFindRefreshCellCount()) {
basicPathFinder->add(cachedPath[k]);
}
basicPathFinder->addToLastPathCache(cachedPath[k]);
}
pathCount++;
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[Setting new path for unit] openNodesList.size() [" MG_SIZE_T_SPECIFIER "] openPosList.size() [" MG_SIZE_T_SPECIFIER "] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
factions[unitFactionIndex].openNodesList.size(),factions[unitFactionIndex].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
string commandDesc = "none";
Command *command= unit->getCurrCommand();
if(command != NULL && command->getCommandType() != NULL) {
commandDesc = command->getCommandType()->toString();
}
char szBuf[8096]="";
snprintf(szBuf,8096,"State: moving, cmd [%s] pos: %s dest pos: %s, Queue= %d",commandDesc.c_str(),unit->getPos().getString().c_str(), targetPos.getString().c_str(),path->getQueueCount());
unit->setCurrentUnitTitle(szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
unit->setUsePathfinderExtendedMaxNodes(false);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return ts: %d",ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return ts: %d",ts);
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return ts;
}
//else if(j - i > pathFindRefresh) {
else if(j - i > unit->getPathFindRefreshCellCount()) {
//on the way
ts= tsMoving;
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
//store path
if(frameIndex < 0) {
basicPathFinder->clear();
}
int pathCount=0;
for(int k=i+1; k < cachedPath.size(); k++) {
if(k >= cachedPath.size()) {
throw megaglest_runtime_error("#2 k >= cachedPath.size() k = " + intToStr(k) + " cachedPath.size() = " + intToStr(cachedPath.size()));
}
if(frameIndex >= 0) {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
factions[unitFactionIndex].precachedPath[unit->getId()].push_back(cachedPath[k]);
}
else {
//if(pathCount < pathFindRefresh) {
if(pathCount < unit->getPathFindRefreshCellCount()) {
basicPathFinder->add(cachedPath[k]);
}
basicPathFinder->addToLastPathCache(cachedPath[k]);
}
pathCount++;
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[Setting new path for unit] openNodesList.size() [" MG_SIZE_T_SPECIFIER "] openPosList.size() [" MG_SIZE_T_SPECIFIER "] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
factions[unitFactionIndex].openNodesList.size(),factions[unitFactionIndex].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
string commandDesc = "none";
Command *command= unit->getCurrCommand();
if(command != NULL && command->getCommandType() != NULL) {
commandDesc = command->getCommandType()->toString();
}
char szBuf[8096]="";
snprintf(szBuf,8096,"State: moving, cmd [%s] pos: %s dest pos: %s, Queue= %d",commandDesc.c_str(),unit->getPos().getString().c_str(), targetPos.getString().c_str(),path->getQueueCount());
unit->setCurrentUnitTitle(szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
unit->setUsePathfinderExtendedMaxNodes(false);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return ts: %d",ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return ts: %d",ts);
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return ts;
}
}
pos1 = pos2;
}
break;
}
}
}
}
}
//path find algorithm
//a) push starting pos into openNodes
Node *firstNode= newNode(factions[unitFactionIndex],maxNodeCount);
assert(firstNode != NULL);
if(firstNode == NULL) {
throw megaglest_runtime_error("firstNode == NULL");
}
firstNode->next= NULL;
firstNode->prev= NULL;
firstNode->pos= unitPos;
firstNode->heuristic= heuristic(unitPos, finalPos);
firstNode->exploredCell= true;
if(factions[unitFactionIndex].openNodesList.find(firstNode->heuristic) == factions[unitFactionIndex].openNodesList.end()) {
factions[unitFactionIndex].openNodesList[firstNode->heuristic].clear();
}
factions[unitFactionIndex].openNodesList[firstNode->heuristic].push_back(firstNode);
factions[unitFactionIndex].openPosList[firstNode->pos] = true;
//b) loop
bool pathFound = true;
bool nodeLimitReached = false;
Node *node = NULL;
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
// First check if unit currently blocked all around them, if so don't try to pathfind
if(inBailout == false && unitPos != finalPos) {
int failureCount = 0;
int cellCount = 0;
for(int i = -1; i <= 1; ++i) {
for(int j = -1; j <= 1; ++j) {
Vec2i pos = unitPos + Vec2i(i, j);
if(pos != unitPos) {
//!!! Test MV
bool canUnitMoveToCell = canUnitMoveSoon(unit, unitPos, pos);
if(canUnitMoveToCell == false) {
failureCount++;
}
cellCount++;
}
}
}
nodeLimitReached = (failureCount == cellCount);
pathFound = !nodeLimitReached;
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"nodeLimitReached: %d failureCount: %d cellCount: %d",nodeLimitReached,failureCount,cellCount);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] **Check if dest blocked, distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount);
if(showConsoleDebugInfo && nodeLimitReached) {
printf("**Check if src blocked [%d - %d], unit [%d - %s] from [%s] to [%s] distance %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d [%d]\n",
nodeLimitReached, inBailout, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount,cellCount);
}
if(nodeLimitReached == false) {
// First check if final destination blocked
failureCount = 0;
cellCount = 0;
for(int i = -1; i <= 1; ++i) {
for(int j = -1; j <= 1; ++j) {
Vec2i pos = finalPos + Vec2i(i, j);
if(pos != finalPos) {
//!!! Test MV
bool canUnitMoveToCell = canUnitMoveSoon(unit, pos, finalPos);
if(canUnitMoveToCell == false) {
failureCount++;
}
cellCount++;
}
}
}
nodeLimitReached = (failureCount == cellCount);
pathFound = !nodeLimitReached;
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"nodeLimitReached: %d failureCount: %d cellCount: %d",nodeLimitReached,failureCount,cellCount);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] **Check if dest blocked, distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount);
if(showConsoleDebugInfo && nodeLimitReached) {
printf("**Check if dest blocked [%d - %d], unit [%d - %s] from [%s] to [%s] distance %.2f took msecs: %lld nodeLimitReached = %d, failureCount = %d [%d]\n",
nodeLimitReached, inBailout, unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,failureCount,cellCount);
}
}
}
else {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"inBailout: %d unitPos: [%s] finalPos [%s]",inBailout,unitPos.getString().c_str(), finalPos.getString().c_str());
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
}
//
// START
//Vec2i cameFrom= unit->getPos();
//Vec2i cameFrom(-1,-1);
std::map<std::pair<Vec2i,Vec2i> ,bool> canAddNode;
std::map<Vec2i,bool> closedNodes;
std::map<Vec2i,Vec2i> cameFrom;
cameFrom[unitPos] = Vec2i(-1,-1);
//cameFrom[unitPos] = unit->getPos();
// Do the a-star base pathfind work if required
int whileLoopCount = 0;
if(nodeLimitReached == false) {
//printf("\n\n\n====== START AStar-JPS Pathfinder start [%s] end [%s]\n",unitPos.getString().c_str(),finalPos.getString().c_str());
const bool tryJPSPathfinder = false;
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"Calling doAStarPathSearch nodeLimitReached: %d whileLoopCount: %d unitFactionIndex: %d pathFound: %d finalPos [%s] maxNodeCount: %d frameIndex: %d",nodeLimitReached, whileLoopCount, unitFactionIndex,
pathFound, finalPos.getString().c_str(), maxNodeCount,frameIndex);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
doAStarPathSearch(nodeLimitReached, whileLoopCount, unitFactionIndex,
pathFound, node, finalPos, tryJPSPathfinder,
closedNodes, cameFrom, canAddNode, unit, maxNodeCount,frameIndex);
if(searched_node_count != NULL) {
*searched_node_count = whileLoopCount;
}
// Now see if the unit is eligble for pathfind max nodes boost?
if(nodeLimitReached == true) {
unit->incrementPathfindFailedConsecutiveFrameCount();
}
else {
unit->resetPathfindFailedConsecutiveFrameCount();
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"Calling doAStarPathSearch nodeLimitReached: %d whileLoopCount: %d unitFactionIndex: %d pathFound: %d finalPos [%s] maxNodeCount: %d pathFindNodesAbsoluteMax: %d frameIndex: %d",nodeLimitReached, whileLoopCount, unitFactionIndex,
pathFound, finalPos.getString().c_str(), maxNodeCount,pathFindNodesAbsoluteMax,frameIndex);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(nodeLimitReached == true && maxNodeCount != pathFindNodesAbsoluteMax) {
if(unit->isLastPathfindFailedFrameWithinCurrentFrameTolerance() == true) {
if(frameIndex < 0) {
unit->setLastPathfindFailedFrameToCurrentFrame();
unit->setLastPathfindFailedPos(finalPos);
}
if(showConsoleDebugInfo || SystemFlags::VERBOSE_MODE_ENABLED) {
printf("\n\n\n\n$$$ Calling AStar with LARGE maxnodes for unit [%d - %s]\n\n",unit->getId(),unit->getFullName().c_str());
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"calling aStar()");
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"calling aStar()");
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return aStar(unit, targetPos, false, frameIndex, pathFindNodesAbsoluteMax);
}
}
}
else {
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"nodeLimitReached: %d",nodeLimitReached);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"nodeLimitReached: %d",nodeLimitReached);
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 1) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld nodeLimitReached = %d whileLoopCount = %d nodePoolCount = %d\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis(),nodeLimitReached,whileLoopCount,factions[unitFactionIndex].nodePoolCount);
if(showConsoleDebugInfo && chrono.getMillis() > 2) {
printf("Distance for unit [%d - %s] from [%s] to [%s] is %.2f took msecs: %lld nodeLimitReached = %d whileLoopCount = %d nodePoolCount = %d\n",unit->getId(),unit->getFullName().c_str(), unitPos.getString().c_str(), finalPos.getString().c_str(), dist,(long long int)chrono.getMillis(),nodeLimitReached,whileLoopCount,factions[unitFactionIndex].nodePoolCount);
}
Node *lastNode= node;
//if consumed all nodes find best node (to avoid strange behaviour)
if(nodeLimitReached == true) {
if(factions[unitFactionIndex].closedNodesList.size() > 0) {
float bestHeuristic = factions[unitFactionIndex].closedNodesList.begin()->first;
if(bestHeuristic < lastNode->heuristic) {
lastNode= factions[unitFactionIndex].closedNodesList.begin()->second[0];
}
}
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
//check results of path finding
ts = tsImpossible;
if(pathFound == false || lastNode == firstNode) {
if(minorDebugPathfinder) printf("Legacy Pathfind Unit [%d - %s] NOT FOUND PATH count = %d frameIndex = %d\n",unit->getId(),unit->getType()->getName().c_str(),whileLoopCount,frameIndex);
//blocked
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
string commandDesc = "none";
Command *command= unit->getCurrCommand();
if(command != NULL && command->getCommandType() != NULL) {
commandDesc = command->getCommandType()->toString();
}
std::pair<Vec2i,int> lastHarvest = unit->getLastHarvestResourceTarget();
char szBuf[8096]="";
snprintf(szBuf,8096,"State: blocked, cmd [%s] pos: [%s], dest pos: [%s], lastHarvest = [%s - %d], reason A= %d, B= %d, C= %d, D= %d, E= %d, F = %d",commandDesc.c_str(),unit->getPos().getString().c_str(), targetPos.getString().c_str(),lastHarvest.first.getString().c_str(),lastHarvest.second, pathFound,(lastNode == firstNode),path->getBlockCount(), path->isBlocked(), nodeLimitReached,path->isStuck());
unit->setCurrentUnitTitle(szBuf);
}
if(frameIndex < 0) {
unit->setUsePathfinderExtendedMaxNodes(false);
}
ts= tsBlocked;
if(frameIndex < 0) {
path->incBlockCount();
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[path for unit BLOCKED] openNodesList.size() [" MG_SIZE_T_SPECIFIER "] openPosList.size() [" MG_SIZE_T_SPECIFIER "] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
factions[unitFactionIndex].openNodesList.size(),factions[unitFactionIndex].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
}
else {
if(minorDebugPathfinder) printf("Legacy Pathfind Unit [%d - %s] FOUND PATH count = %d frameIndex = %d\n",unit->getId(),unit->getType()->getName().c_str(),whileLoopCount,frameIndex);
//on the way
ts= tsMoving;
//build next pointers
Node *currNode= lastNode;
while(currNode->prev != NULL) {
currNode->prev->next= currNode;
currNode= currNode->prev;
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
if(frameIndex < 0) {
if(maxNodeCount == pathFindNodesAbsoluteMax) {
unit->setUsePathfinderExtendedMaxNodes(true);
}
else {
unit->setUsePathfinderExtendedMaxNodes(false);
}
}
//store path
if(frameIndex < 0) {
path->clear();
}
if(pathFound == true) {
//printf("FULL PATH FOUND from [%s] to [%s]\n",unitPos.getString().c_str(),finalPos.getString().c_str());
}
UnitPathBasic *basicPathFinder = dynamic_cast<UnitPathBasic *>(path);
currNode= firstNode;
for(int i=0; currNode->next != NULL; currNode= currNode->next, i++) {
Vec2i nodePos = currNode->next->pos;
if(map->isInside(nodePos) == false || map->isInsideSurface(map->toSurfCoords(nodePos)) == false) {
throw megaglest_runtime_error("Pathfinder invalid node path position = " + nodePos.getString() + " i = " + intToStr(i));
}
//printf("nodePos [%s]\n",nodePos.getString().c_str());
if(minorDebugPathfinder) printf("nodePos [%s]\n",nodePos.getString().c_str());
if(frameIndex >= 0) {
static string mutexOwnerId = string(__FILE__) + string("_") + intToStr(__LINE__);
MutexSafeWrapper safeMutex(factionMutex,mutexOwnerId);
factions[unitFactionIndex].precachedPath[unit->getId()].push_back(nodePos);
}
else {
//if(i < pathFindRefresh ||
if(i < unit->getPathFindRefreshCellCount() ||
(whileLoopCount >= pathFindExtendRefreshForNodeCount &&
i < getPathFindExtendRefreshNodeCount(unitFactionIndex))) {
path->add(nodePos);
}
//else if(tryLastPathCache == false) {
// break;
//}
//if(tryLastPathCache == true && basicPathFinder) {
if(basicPathFinder) {
basicPathFinder->addToLastPathCache(nodePos);
}
}
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"[Setting new path for unit] openNodesList.size() [" MG_SIZE_T_SPECIFIER "] openPosList.size() [" MG_SIZE_T_SPECIFIER "] finalPos [%s] targetPos [%s] inBailout [%d] ts [%d]",
factions[unitFactionIndex].openNodesList.size(),factions[unitFactionIndex].openPosList.size(),finalPos.getString().c_str(),targetPos.getString().c_str(),inBailout,ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
string pathToTake = "";
for(int i = 0; i < path->getQueueCount(); ++i) {
Vec2i &pos = path->getQueue()[i];
if(pathToTake != "") {
pathToTake += ", ";
}
pathToTake += pos.getString();
}
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
snprintf(szBuf,8096,"Path for unit to take = %s",pathToTake.c_str());
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPathFinder).enabled == true) {
string commandDesc = "none";
Command *command= unit->getCurrCommand();
if(command != NULL && command->getCommandType() != NULL) {
commandDesc = command->getCommandType()->toString();
}
char szBuf[8096]="";
snprintf(szBuf,8096,"State: moving, cmd [%s] pos: %s dest pos: %s, Queue= %d",commandDesc.c_str(),unit->getPos().getString().c_str(), targetPos.getString().c_str(),path->getQueueCount());
unit->setCurrentUnitTitle(szBuf);
}
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s Line: %d] took msecs: %lld\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
}
factions[unitFactionIndex].openNodesList.clear();
factions[unitFactionIndex].openPosList.clear();
factions[unitFactionIndex].closedNodesList.clear();
if(SystemFlags::getSystemSettingType(SystemFlags::debugPerformance).enabled == true && chrono.getMillis() > 4) SystemFlags::OutputDebug(SystemFlags::debugPerformance,"In [%s::%s] Line: %d took msecs: %lld --------------------------- [END OF METHOD] ---------------------------\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,chrono.getMillis());
if(frameIndex >= 0) {
factions[unitFactionIndex].precachedTravelState[unit->getId()] = ts;
}
else {
if(SystemFlags::VERBOSE_MODE_ENABLED && chrono.getMillis() >= 5) printf("In [%s::%s Line: %d] astar took [%lld] msecs, ts = %d.\n",extractFileFromDirectoryPath(__FILE__).c_str(),__FUNCTION__,__LINE__,(long long int)chrono.getMillis(),ts);
}
//printf("$$$$ Path for Unit [%d - %s] return value = %d inBailout = %d\n",unit->getId(),unit->getFullName().c_str(),ts,inBailout);
if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex < 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return ts: %d",ts);
unit->logSynchData(extractFileFromDirectoryPath(__FILE__).c_str(),__LINE__,szBuf);
}
else if(SystemFlags::getSystemSettingType(SystemFlags::debugWorldSynch).enabled == true && frameIndex >= 0) {
char szBuf[8096]="";
snprintf(szBuf,8096,"return ts: %d",ts);
unit->logSynchDataThreaded(__FILE__,__LINE__,szBuf);
}
return ts;
}
void PathFinder::processNearestFreePos(const Vec2i &finalPos, int i, int j, int size, Field field, int teamIndex,Vec2i unitPos, Vec2i &nearestPos, float &nearestDist) {
Vec2i currPos= finalPos + Vec2i(i, j);
if(map->isAproxFreeCells(currPos, size, field, teamIndex)) {
float dist= currPos.dist(finalPos);
//if nearer from finalPos
if(dist < nearestDist){
nearestPos= currPos;
nearestDist= dist;
}
//if the distance is the same compare distance to unit
else if(dist == nearestDist){
if(currPos.dist(unitPos) < nearestPos.dist(unitPos)) {
nearestPos= currPos;
}
}
}
}
Vec2i PathFinder::computeNearestFreePos(const Unit *unit, const Vec2i &finalPos) {
if(map == NULL) {
throw megaglest_runtime_error("map == NULL");
}
//unit data
int size= unit->getType()->getSize();
Field field= unit->getCurrField();
int teamIndex= unit->getTeam();
//if finalPos is free return it
if(map->isAproxFreeCells(finalPos, size, field, teamIndex)) {
return finalPos;
}
//find nearest pos
Vec2i unitPos= unit->getPosNotThreadSafe();
Vec2i nearestPos= unitPos;
float nearestDist= unitPos.dist(finalPos);
for(int i= -maxFreeSearchRadius; i <= maxFreeSearchRadius; ++i) {
for(int j= -maxFreeSearchRadius; j <= maxFreeSearchRadius; ++j) {
processNearestFreePos(finalPos, i, j, size, field, teamIndex, unitPos, nearestPos, nearestDist);
}
}
return nearestPos;
}
int PathFinder::findNodeIndex(Node *node, Nodes &nodeList) {
int index = -1;
if(node != NULL) {
for(unsigned int i = 0; i < nodeList.size(); ++i) {
Node *curnode = nodeList[i];
if(node == curnode) {
index = i;
break;
}
}
}
return index;
}
int PathFinder::findNodeIndex(Node *node, std::vector<Node> &nodeList) {
int index = -1;
if(node != NULL) {
for(unsigned int i = 0; i < nodeList.size(); ++i) {
Node &curnode = nodeList[i];
if(node == &curnode) {
index = i;
break;
}
}
}
return index;
}
bool PathFinder::unitCannotMove(Unit *unit) {
bool unitImmediatelyBlocked = false;
// First check if unit currently blocked all around them, if so don't try to pathfind
const bool showConsoleDebugInfo = Config::getInstance().getBool("EnablePathfinderDistanceOutput","false");
const Vec2i unitPos = unit->getPos();
int failureCount = 0;
int cellCount = 0;
for(int i = -1; i <= 1; ++i) {
for(int j = -1; j <= 1; ++j) {
Vec2i pos = unitPos + Vec2i(i, j);
if(pos != unitPos) {
bool canUnitMoveToCell = map->aproxCanMove(unit, unitPos, pos);
if(canUnitMoveToCell == false) {
failureCount++;
}
cellCount++;
}
}
}
unitImmediatelyBlocked = (failureCount == cellCount);
return unitImmediatelyBlocked;
}
void PathFinder::saveGame(XmlNode *rootNode) {
std::map<string,string> mapTagReplacements;
XmlNode *pathfinderNode = rootNode->addChild("PathFinder");
// static int pathFindNodesMax;
pathfinderNode->addAttribute("pathFindNodesMax",intToStr(pathFindNodesMax), mapTagReplacements);
// static int pathFindNodesAbsoluteMax;
pathfinderNode->addAttribute("pathFindNodesAbsoluteMax",intToStr(pathFindNodesAbsoluteMax), mapTagReplacements);
// FactionStateList factions;
for(unsigned int i = 0; i < factions.size(); ++i) {
FactionState &factionState = factions[i];
XmlNode *factionsNode = pathfinderNode->addChild("factions");
// std::map<Vec2i, bool> openPosList;
// XmlNode *openPosListNode = factionsNode->addChild("openPosList");
// for(std::map<Vec2i, bool>::iterator iterMap = factionState.openPosList.begin();
// iterMap != factionState.openPosList.end(); ++iterMap) {
// openPosListNode->addAttribute("key",iterMap->first.getString(), mapTagReplacements);
// openPosListNode->addAttribute("value",intToStr(iterMap->second), mapTagReplacements);
// }
//// std::map<float, Nodes> openNodesList;
// XmlNode *openNodesListNode = factionsNode->addChild("openNodesList");
// for(std::map<float, Nodes>::iterator iterMap = factionState.openNodesList.begin();
// iterMap != factionState.openNodesList.end(); ++iterMap) {
//
// Nodes &nodeList = iterMap->second;
// for(unsigned int j = 0; j < nodeList.size(); ++j) {
// Node *curNode = nodeList[j];
// XmlNode *openNodesListNodeNode = factionsNode->addChild("openNodesListNode");
// openNodesListNodeNode->addAttribute("key",floatToStr(iterMap->first), mapTagReplacements);
//
//// Vec2i pos;
// openNodesListNodeNode->addAttribute("pos",curNode->pos.getString(), mapTagReplacements);
//// Node *next;
// int nextIdx = findNodeIndex(curNode->next, nodeList);
// openNodesListNodeNode->addAttribute("next",intToStr(nextIdx), mapTagReplacements);
//// Node *prev;
// int prevIdx = findNodeIndex(curNode->prev, nodeList);
// openNodesListNodeNode->addAttribute("prev",intToStr(nextIdx), mapTagReplacements);
//// float heuristic;
// openNodesListNodeNode->addAttribute("heuristic",floatToStr(curNode->heuristic), mapTagReplacements);
//// bool exploredCell;
// openNodesListNodeNode->addAttribute("exploredCell",intToStr(curNode->exploredCell), mapTagReplacements);
// }
// }
//
//// std::map<float, Nodes> closedNodesList;
// XmlNode *closedNodesListNode = factionsNode->addChild("closedNodesList");
// for(std::map<float, Nodes>::iterator iterMap = factionState.closedNodesList.begin();
// iterMap != factionState.closedNodesList.end(); ++iterMap) {
//
// Nodes &nodeList = iterMap->second;
// for(unsigned int j = 0; j < nodeList.size(); ++j) {
// Node *curNode = nodeList[j];
// XmlNode *closedNodesListNodeNode = factionsNode->addChild("closedNodesListNode");
// closedNodesListNodeNode->addAttribute("key",floatToStr(iterMap->first), mapTagReplacements);
//
//// Vec2i pos;
// closedNodesListNodeNode->addAttribute("pos",curNode->pos.getString(), mapTagReplacements);
//// Node *next;
// int nextIdx = findNodeIndex(curNode->next, nodeList);
// closedNodesListNodeNode->addAttribute("next",intToStr(nextIdx), mapTagReplacements);
//// Node *prev;
// int prevIdx = findNodeIndex(curNode->prev, nodeList);
// closedNodesListNodeNode->addAttribute("prev",intToStr(nextIdx), mapTagReplacements);
//// float heuristic;
// closedNodesListNodeNode->addAttribute("heuristic",floatToStr(curNode->heuristic), mapTagReplacements);
//// bool exploredCell;
// closedNodesListNodeNode->addAttribute("exploredCell",intToStr(curNode->exploredCell), mapTagReplacements);
// }
// }
// std::vector<Node> nodePool;
for(unsigned int j = 0; j < factionState.nodePool.size(); ++j) {
Node *curNode = &factionState.nodePool[j];
XmlNode *nodePoolNode = factionsNode->addChild("nodePool");
//closedNodesListNodeNode->addAttribute("key",iterMap->first.getString(), mapTagReplacements);
// Vec2i pos;
nodePoolNode->addAttribute("pos",curNode->pos.getString(), mapTagReplacements);
// Node *next;
int nextIdx = findNodeIndex(curNode->next, factionState.nodePool);
nodePoolNode->addAttribute("next",intToStr(nextIdx), mapTagReplacements);
// Node *prev;
int prevIdx = findNodeIndex(curNode->prev, factionState.nodePool);
nodePoolNode->addAttribute("prev",intToStr(prevIdx), mapTagReplacements);
// float heuristic;
nodePoolNode->addAttribute("heuristic",floatToStr(curNode->heuristic,16), mapTagReplacements);
// bool exploredCell;
nodePoolNode->addAttribute("exploredCell",intToStr(curNode->exploredCell), mapTagReplacements);
}
// int nodePoolCount;
factionsNode->addAttribute("nodePoolCount",intToStr(factionState.nodePoolCount), mapTagReplacements);
// RandomGen random;
factionsNode->addAttribute("random",intToStr(factionState.random.getLastNumber()), mapTagReplacements);
// int useMaxNodeCount;
factionsNode->addAttribute("useMaxNodeCount",intToStr(factionState.useMaxNodeCount), mapTagReplacements);
//
// std::map<int,TravelState> precachedTravelState;
// std::map<int,std::vector<Vec2i> > precachedPath;
}
// const Map *map;
}
void PathFinder::loadGame(const XmlNode *rootNode) {
const XmlNode *pathfinderNode = rootNode->getChild("PathFinder");
//attackWarnRange = unitupdaterNode->getAttribute("attackWarnRange")->getFloatValue();
// static int pathFindNodesMax;
// pathFindNodesMax = pathfinderNode->getAttribute("pathFindNodesMax")->getIntValue();
// // static int pathFindNodesAbsoluteMax;
// pathFindNodesAbsoluteMax = pathfinderNode->getAttribute("pathFindNodesAbsoluteMax")->getIntValue();
//
// for(int i = 0; i < GameConstants::maxPlayers; ++i) {
// factions[i].nodePool.resize(pathFindNodesAbsoluteMax);
// factions[i].useMaxNodeCount = PathFinder::pathFindNodesMax;
// }
vector<XmlNode *> factionsNodeList = pathfinderNode->getChildList("factions");
for(unsigned int i = 0; i < factionsNodeList.size(); ++i) {
XmlNode *factionsNode = factionsNodeList[i];
FactionState &factionState = factions[i];
// std::vector<Node> nodePool;
vector<XmlNode *> nodePoolListNode = factionsNode->getChildList("nodePool");
for(unsigned int j = 0; j < nodePoolListNode.size() && j < pathFindNodesAbsoluteMax; ++j) {
XmlNode *nodePoolNode = nodePoolListNode[j];
Node *curNode = &factionState.nodePool[j];
//closedNodesListNodeNode->addAttribute("key",iterMap->first.getString(), mapTagReplacements);
// Vec2i pos;
curNode->pos = Vec2i::strToVec2(nodePoolNode->getAttribute("pos")->getValue());
// Node *next;
int nextNode = nodePoolNode->getAttribute("next")->getIntValue();
if(nextNode >= 0) {
curNode->next = &factionState.nodePool[nextNode];
}
else {
curNode->next = NULL;
}
// Node *prev;
int prevNode = nodePoolNode->getAttribute("prev")->getIntValue();
if(prevNode >= 0) {
curNode->prev = &factionState.nodePool[prevNode];
}
else {
curNode->prev = NULL;
}
// float heuristic;
curNode->heuristic = nodePoolNode->getAttribute("heuristic")->getFloatValue();
// bool exploredCell;
curNode->exploredCell = nodePoolNode->getAttribute("exploredCell")->getIntValue() != 0;
}
// int nodePoolCount;
factionState.nodePoolCount = factionsNode->getAttribute("nodePoolCount")->getIntValue();
// RandomGen random;
factionState.random.setLastNumber(factionsNode->getAttribute("random")->getIntValue());
// int useMaxNodeCount;
//factionState.useMaxNodeCount = factionsNode->getAttribute("useMaxNodeCount")->getIntValue();
factionState.useMaxNodeCount = PathFinder::pathFindNodesMax;
//
// std::map<int,TravelState> precachedTravelState;
// std::map<int,std::vector<Vec2i> > precachedPath;
}
// const Map *map;
}
}} //end namespace
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