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0ad/source/simulation2/components/CCmpPathfinder.cpp

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/* Copyright (C) 2011 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it 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.
*
* 0 A.D. is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file
* Common code and setup code for CCmpPathfinder.
*/
#include "precompiled.h"
#include "CCmpPathfinder_Common.h"
#include "ps/CLogger.h"
#include "ps/CStr.h"
#include "ps/Profile.h"
#include "renderer/Scene.h"
#include "simulation2/MessageTypes.h"
#include "simulation2/components/ICmpObstructionManager.h"
#include "simulation2/components/ICmpWaterManager.h"
#include "simulation2/serialization/SerializeTemplates.h"
// Default cost to move a single tile is a fairly arbitrary number, which should be big
// enough to be precise when multiplied/divided and small enough to never overflow when
// summing the cost of a whole path.
const int DEFAULT_MOVE_COST = 256;
REGISTER_COMPONENT_TYPE(Pathfinder)
void CCmpPathfinder::Init(const CParamNode& UNUSED(paramNode))
{
m_MapSize = 0;
m_Grid = NULL;
m_ObstructionGrid = NULL;
m_TerrainDirty = true;
m_NextAsyncTicket = 1;
m_DebugOverlay = NULL;
m_DebugGrid = NULL;
m_DebugPath = NULL;
m_SameTurnMovesCount = 0;
// Since this is used as a system component (not loaded from an entity template),
// we can't use the real paramNode (it won't get handled properly when deserializing),
// so load the data from a special XML file.
CParamNode externalParamNode;
CParamNode::LoadXML(externalParamNode, L"simulation/data/pathfinder.xml");
// Previously all move commands during a turn were
// queued up and processed asynchronously at the start
// of the next turn. Now we are processing queued up
// events several times duing the turn. This improves
// responsiveness and units move more smoothly especially.
// when in formation. There is still a call at the
// beginning of a turn to process all outstanding moves -
// this will handle any moves above the MaxSameTurnMoves
// threshold.
//
// TODO - The moves processed at the beginning of the
// turn do not count against the maximum moves per turn
// currently. The thinking is that this will eventually
// happen in another thread. Either way this probably
// will require some adjustment and rethinking.
const CParamNode pathingSettings = externalParamNode.GetChild("Pathfinder");
m_MaxSameTurnMoves = pathingSettings.GetChild("MaxSameTurnMoves").ToInt();
const CParamNode::ChildrenMap& passClasses = externalParamNode.GetChild("Pathfinder").GetChild("PassabilityClasses").GetChildren();
for (CParamNode::ChildrenMap::const_iterator it = passClasses.begin(); it != passClasses.end(); ++it)
{
std::string name = it->first;
ENSURE((int)m_PassClasses.size() <= PASS_CLASS_BITS);
pass_class_t mask = (pass_class_t)(1u << (m_PassClasses.size() + 2));
m_PassClasses.push_back(PathfinderPassability(mask, it->second));
m_PassClassMasks[name] = mask;
}
const CParamNode::ChildrenMap& moveClasses = externalParamNode.GetChild("Pathfinder").GetChild("MovementClasses").GetChildren();
// First find the set of unit classes used by any terrain classes,
// and assign unique tags to terrain classes
std::set<std::string> unitClassNames;
unitClassNames.insert("default"); // must always have costs for default
{
size_t i = 0;
for (CParamNode::ChildrenMap::const_iterator it = moveClasses.begin(); it != moveClasses.end(); ++it)
{
std::string terrainClassName = it->first;
m_TerrainCostClassTags[terrainClassName] = (cost_class_t)i;
++i;
const CParamNode::ChildrenMap& unitClasses = it->second.GetChild("UnitClasses").GetChildren();
for (CParamNode::ChildrenMap::const_iterator uit = unitClasses.begin(); uit != unitClasses.end(); ++uit)
unitClassNames.insert(uit->first);
}
}
// For each terrain class, set the costs for every unit class,
// and assign unique tags to unit classes
{
size_t i = 0;
for (std::set<std::string>::const_iterator nit = unitClassNames.begin(); nit != unitClassNames.end(); ++nit)
{
m_UnitCostClassTags[*nit] = (cost_class_t)i;
++i;
std::vector<u32> costs;
std::vector<fixed> speeds;
for (CParamNode::ChildrenMap::const_iterator it = moveClasses.begin(); it != moveClasses.end(); ++it)
{
// Default to the general costs for this terrain class
fixed cost = it->second.GetChild("@Cost").ToFixed();
fixed speed = it->second.GetChild("@Speed").ToFixed();
// Check for specific cost overrides for this unit class
const CParamNode& unitClass = it->second.GetChild("UnitClasses").GetChild(nit->c_str());
if (unitClass.IsOk())
{
cost = unitClass.GetChild("@Cost").ToFixed();
speed = unitClass.GetChild("@Speed").ToFixed();
}
costs.push_back((cost * DEFAULT_MOVE_COST).ToInt_RoundToZero());
speeds.push_back(speed);
}
m_MoveCosts.push_back(costs);
m_MoveSpeeds.push_back(speeds);
}
}
}
void CCmpPathfinder::Deinit()
{
SetDebugOverlay(false); // cleans up memory
ResetDebugPath();
delete m_Grid;
delete m_ObstructionGrid;
}
struct SerializeLongRequest
{
template<typename S>
void operator()(S& serialize, const char* UNUSED(name), AsyncLongPathRequest& value)
{
serialize.NumberU32_Unbounded("ticket", value.ticket);
serialize.NumberFixed_Unbounded("x0", value.x0);
serialize.NumberFixed_Unbounded("z0", value.z0);
SerializeGoal()(serialize, "goal", value.goal);
serialize.NumberU16_Unbounded("pass class", value.passClass);
serialize.NumberU8_Unbounded("cost class", value.costClass);
serialize.NumberU32_Unbounded("notify", value.notify);
}
};
struct SerializeShortRequest
{
template<typename S>
void operator()(S& serialize, const char* UNUSED(name), AsyncShortPathRequest& value)
{
serialize.NumberU32_Unbounded("ticket", value.ticket);
serialize.NumberFixed_Unbounded("x0", value.x0);
serialize.NumberFixed_Unbounded("z0", value.z0);
serialize.NumberFixed_Unbounded("r", value.r);
serialize.NumberFixed_Unbounded("range", value.range);
SerializeGoal()(serialize, "goal", value.goal);
serialize.NumberU16_Unbounded("pass class", value.passClass);
serialize.Bool("avoid moving units", value.avoidMovingUnits);
serialize.NumberU32_Unbounded("group", value.group);
serialize.NumberU32_Unbounded("notify", value.notify);
}
};
void CCmpPathfinder::Serialize(ISerializer& serialize)
{
SerializeVector<SerializeLongRequest>()(serialize, "long requests", m_AsyncLongPathRequests);
SerializeVector<SerializeShortRequest>()(serialize, "short requests", m_AsyncShortPathRequests);
serialize.NumberU32_Unbounded("next ticket", m_NextAsyncTicket);
serialize.NumberU16_Unbounded("same turn moves count", m_SameTurnMovesCount);
}
void CCmpPathfinder::Deserialize(const CParamNode& paramNode, IDeserializer& deserialize)
{
Init(paramNode);
SerializeVector<SerializeLongRequest>()(deserialize, "long requests", m_AsyncLongPathRequests);
SerializeVector<SerializeShortRequest>()(deserialize, "short requests", m_AsyncShortPathRequests);
deserialize.NumberU32_Unbounded("next ticket", m_NextAsyncTicket);
deserialize.NumberU16_Unbounded("same turn moves count", m_SameTurnMovesCount);
}
void CCmpPathfinder::HandleMessage(const CMessage& msg, bool UNUSED(global))
{
switch (msg.GetType())
{
case MT_RenderSubmit:
{
const CMessageRenderSubmit& msgData = static_cast<const CMessageRenderSubmit&> (msg);
RenderSubmit(msgData.collector);
break;
}
case MT_TerrainChanged:
{
// TODO: we ought to only bother updating the dirtied region
m_TerrainDirty = true;
break;
}
case MT_TurnStart:
{
m_SameTurnMovesCount = 0;
break;
}
}
}
void CCmpPathfinder::RenderSubmit(SceneCollector& collector)
{
for (size_t i = 0; i < m_DebugOverlayShortPathLines.size(); ++i)
collector.Submit(&m_DebugOverlayShortPathLines[i]);
}
fixed CCmpPathfinder::GetMovementSpeed(entity_pos_t x0, entity_pos_t z0, u8 costClass)
{
UpdateGrid();
u16 i, j;
NearestTile(x0, z0, i, j);
TerrainTile tileTag = m_Grid->get(i, j);
return m_MoveSpeeds.at(costClass).at(GET_COST_CLASS(tileTag));
}
ICmpPathfinder::pass_class_t CCmpPathfinder::GetPassabilityClass(const std::string& name)
{
if (m_PassClassMasks.find(name) == m_PassClassMasks.end())
{
LOGERROR(L"Invalid passability class name '%hs'", name.c_str());
return 0;
}
return m_PassClassMasks[name];
}
std::map<std::string, ICmpPathfinder::pass_class_t> CCmpPathfinder::GetPassabilityClasses()
{
return m_PassClassMasks;
}
ICmpPathfinder::cost_class_t CCmpPathfinder::GetCostClass(const std::string& name)
{
if (m_UnitCostClassTags.find(name) == m_UnitCostClassTags.end())
{
LOGERROR(L"Invalid unit cost class name '%hs'", name.c_str());
return m_UnitCostClassTags["default"];
}
return m_UnitCostClassTags[name];
}
fixed CCmpPathfinder::DistanceToGoal(CFixedVector2D pos, const CCmpPathfinder::Goal& goal)
{
switch (goal.type)
{
case CCmpPathfinder::Goal::POINT:
return (pos - CFixedVector2D(goal.x, goal.z)).Length();
case CCmpPathfinder::Goal::CIRCLE:
return ((pos - CFixedVector2D(goal.x, goal.z)).Length() - goal.hw).Absolute();
case CCmpPathfinder::Goal::SQUARE:
{
CFixedVector2D halfSize(goal.hw, goal.hh);
CFixedVector2D d(pos.X - goal.x, pos.Y - goal.z);
return Geometry::DistanceToSquare(d, goal.u, goal.v, halfSize);
}
default:
debug_warn(L"invalid type");
return fixed::Zero();
}
}
const Grid<u16>& CCmpPathfinder::GetPassabilityGrid()
{
UpdateGrid();
return *m_Grid;
}
void CCmpPathfinder::UpdateGrid()
{
// If the terrain was resized then delete the old grid data
if (m_Grid && m_MapSize != GetSimContext().GetTerrain().GetTilesPerSide())
{
SAFE_DELETE(m_Grid);
SAFE_DELETE(m_ObstructionGrid);
m_TerrainDirty = true;
}
// Initialise the terrain data when first needed
if (!m_Grid)
{
// TOOD: these bits should come from ICmpTerrain
ssize_t size = GetSimContext().GetTerrain().GetTilesPerSide();
ENSURE(size >= 1 && size <= 0xffff); // must fit in 16 bits
m_MapSize = size;
m_Grid = new Grid<TerrainTile>(m_MapSize, m_MapSize);
m_ObstructionGrid = new Grid<u8>(m_MapSize, m_MapSize);
}
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
bool obstructionsDirty = cmpObstructionManager->Rasterise(*m_ObstructionGrid);
if (obstructionsDirty && !m_TerrainDirty)
{
PROFILE("UpdateGrid obstructions");
// Obstructions changed - we need to recompute passability
// Since terrain hasn't changed we only need to update the obstruction bits
// and can skip the rest of the data
// TODO: if ObstructionManager::SetPassabilityCircular was called at runtime
// (which should probably never happen, but that's not guaranteed),
// then TILE_OUTOFBOUNDS will change and we can't use this fast path, but
// currently it'll just set obstructionsDirty and we won't notice
for (u16 j = 0; j < m_MapSize; ++j)
{
for (u16 i = 0; i < m_MapSize; ++i)
{
TerrainTile& t = m_Grid->get(i, j);
u8 obstruct = m_ObstructionGrid->get(i, j);
if (obstruct & ICmpObstructionManager::TILE_OBSTRUCTED_PATHFINDING)
t |= 1;
else
t &= ~1;
if (obstruct & ICmpObstructionManager::TILE_OBSTRUCTED_FOUNDATION)
t |= 2;
else
t &= ~2;
}
}
++m_Grid->m_DirtyID;
}
else if (obstructionsDirty || m_TerrainDirty)
{
PROFILE("UpdateGrid full");
// Obstructions or terrain changed - we need to recompute passability
// TODO: only bother recomputing the region that has actually changed
CmpPtr<ICmpWaterManager> cmpWaterMan(GetSimContext(), SYSTEM_ENTITY);
CTerrain& terrain = GetSimContext().GetTerrain();
for (u16 j = 0; j < m_MapSize; ++j)
{
for (u16 i = 0; i < m_MapSize; ++i)
{
fixed x, z;
TileCenter(i, j, x, z);
TerrainTile t = 0;
u8 obstruct = m_ObstructionGrid->get(i, j);
fixed height = terrain.GetVertexGroundLevelFixed(i, j); // TODO: should use tile centre
fixed water;
if (!cmpWaterMan.null())
water = cmpWaterMan->GetWaterLevel(x, z);
fixed depth = water - height;
fixed slope = terrain.GetSlopeFixed(i, j);
if (obstruct & ICmpObstructionManager::TILE_OBSTRUCTED_PATHFINDING)
t |= 1;
if (obstruct & ICmpObstructionManager::TILE_OBSTRUCTED_FOUNDATION)
t |= 2;
if (obstruct & ICmpObstructionManager::TILE_OUTOFBOUNDS)
{
// If out of bounds, nobody is allowed to pass
for (size_t n = 0; n < m_PassClasses.size(); ++n)
t |= m_PassClasses[n].m_Mask;
}
else
{
for (size_t n = 0; n < m_PassClasses.size(); ++n)
{
if (!m_PassClasses[n].IsPassable(depth, slope))
t |= m_PassClasses[n].m_Mask;
}
}
std::string moveClass = terrain.GetMovementClass(i, j);
if (m_TerrainCostClassTags.find(moveClass) != m_TerrainCostClassTags.end())
t |= COST_CLASS_MASK(m_TerrainCostClassTags[moveClass]);
m_Grid->set(i, j, t);
}
}
m_TerrainDirty = false;
++m_Grid->m_DirtyID;
}
}
//////////////////////////////////////////////////////////
// Async path requests:
u32 CCmpPathfinder::ComputePathAsync(entity_pos_t x0, entity_pos_t z0, const Goal& goal, pass_class_t passClass, cost_class_t costClass, entity_id_t notify)
{
AsyncLongPathRequest req = { m_NextAsyncTicket++, x0, z0, goal, passClass, costClass, notify };
m_AsyncLongPathRequests.push_back(req);
return req.ticket;
}
u32 CCmpPathfinder::ComputeShortPathAsync(entity_pos_t x0, entity_pos_t z0, entity_pos_t r, entity_pos_t range, const Goal& goal, pass_class_t passClass, bool avoidMovingUnits, entity_id_t group, entity_id_t notify)
{
AsyncShortPathRequest req = { m_NextAsyncTicket++, x0, z0, r, range, goal, passClass, avoidMovingUnits, group, notify };
m_AsyncShortPathRequests.push_back(req);
return req.ticket;
}
void CCmpPathfinder::FinishAsyncRequests()
{
// Save the request queue in case it gets modified while iterating
std::vector<AsyncLongPathRequest> longRequests;
m_AsyncLongPathRequests.swap(longRequests);
std::vector<AsyncShortPathRequest> shortRequests;
m_AsyncShortPathRequests.swap(shortRequests);
// TODO: we should only compute one path per entity per turn
// TODO: this computation should be done incrementally, spread
// across multiple frames (or even multiple turns)
ProcessLongRequests(longRequests);
ProcessShortRequests(shortRequests);
}
void CCmpPathfinder::ProcessLongRequests(const std::vector<AsyncLongPathRequest>& longRequests)
{
for (size_t i = 0; i < longRequests.size(); ++i)
{
const AsyncLongPathRequest& req = longRequests[i];
Path path;
ComputePath(req.x0, req.z0, req.goal, req.passClass, req.costClass, path);
CMessagePathResult msg(req.ticket, path);
GetSimContext().GetComponentManager().PostMessage(req.notify, msg);
}
}
void CCmpPathfinder::ProcessShortRequests(const std::vector<AsyncShortPathRequest>& shortRequests)
{
for (size_t i = 0; i < shortRequests.size(); ++i)
{
const AsyncShortPathRequest& req = shortRequests[i];
Path path;
ControlGroupMovementObstructionFilter filter(req.avoidMovingUnits, req.group);
ComputeShortPath(filter, req.x0, req.z0, req.r, req.range, req.goal, req.passClass, path);
CMessagePathResult msg(req.ticket, path);
GetSimContext().GetComponentManager().PostMessage(req.notify, msg);
}
}
void CCmpPathfinder::ProcessSameTurnMoves()
{
u32 moveCount;
if (!m_AsyncLongPathRequests.empty())
{
// Figure out how many moves we can do this time
moveCount = m_MaxSameTurnMoves - m_SameTurnMovesCount;
if (moveCount <= 0)
return;
// Copy the long request elements we are going to process into a new array
std::vector<AsyncLongPathRequest> longRequests;
if (m_AsyncLongPathRequests.size() <= moveCount)
{
m_AsyncLongPathRequests.swap(longRequests);
moveCount = longRequests.size();
}
else
{
longRequests.resize(moveCount);
copy(m_AsyncLongPathRequests.begin(), m_AsyncLongPathRequests.begin() + moveCount, longRequests.begin());
m_AsyncLongPathRequests.erase(m_AsyncLongPathRequests.begin(), m_AsyncLongPathRequests.begin() + moveCount);
}
ProcessLongRequests(longRequests);
m_SameTurnMovesCount += moveCount;
}
if (!m_AsyncShortPathRequests.empty())
{
// Figure out how many moves we can do now
moveCount = m_MaxSameTurnMoves - m_SameTurnMovesCount;
if (moveCount <= 0)
return;
// Copy the short request elements we are going to process into a new array
std::vector<AsyncShortPathRequest> shortRequests;
if (m_AsyncShortPathRequests.size() <= moveCount)
{
m_AsyncShortPathRequests.swap(shortRequests);
moveCount = shortRequests.size();
}
else
{
shortRequests.resize(moveCount);
copy(m_AsyncShortPathRequests.begin(), m_AsyncShortPathRequests.begin() + moveCount, shortRequests.begin());
m_AsyncShortPathRequests.erase(m_AsyncShortPathRequests.begin(), m_AsyncShortPathRequests.begin() + moveCount);
}
ProcessShortRequests(shortRequests);
m_SameTurnMovesCount += moveCount;
}
}
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