Ticket #3790: remove_planning.patch

source/simulation2/components/CCmpUnitMotion.cpp

@@ -1 @@
-/* Copyright (C) 2015 Wildfire Games.
+/* Copyright (C) 2016 Wildfire Games.
  * This file is part of 0 A.D.
  *
  * 0 A.D. is free software: you can redistribute it and/or modify
@@ -109 +109 @@
 static const CColor OVERLAY_COLOR_LONG_PATH(1, 1, 1, 1);
 static const CColor OVERLAY_COLOR_SHORT_PATH(1, 0, 0, 1);
 
-struct SUnitMotionPlanning
-{
-    WaypointPath nextStepShortPath; // if !nextStepClean, store a short path for the next step here
-    u32 expectedPathTicket;
-    bool nextStepClean; // is there any obstruction between the next two long waypoints?
-
-    SUnitMotionPlanning() : expectedPathTicket(0), nextStepClean(true) {}
-};
-
-/**
- * Serialization helper template for SUnitMotionPlanning
- */
-struct SerializeUnitMotionPlanning
-{
-    template<typename S>
-    void operator()(S& serialize, const char* UNUSED(name), SUnitMotionPlanning& value)
-    {
-        SerializeVector<SerializeWaypoint>()(serialize, "next step short path", value.nextStepShortPath.m_Waypoints);
-        serialize.NumberU32_Unbounded("expected path ticket", value.expectedPathTicket);
-        serialize.Bool("next step clean", value.nextStepClean);
-    }
-};
-
 class CCmpUnitMotion : public ICmpUnitMotion
 {
 public:
@@ -264 +241 @@
 
     // Motion planning
     u8 m_Tries; // how many tries we've done to get to our current Final Goal.
-    SUnitMotionPlanning m_Planning;
 
     PathGoal m_FinalGoal;
 
@@ -336 +312 @@
         m_ExpectedPathTicket = 0;
 
         m_Tries = 0;
-        m_Planning = SUnitMotionPlanning();
-        
+
         m_TargetEntity = INVALID_ENTITY;
 
         m_FinalGoal.type = PathGoal::POINT;
@@ -377 +352 @@
         SerializeVector<SerializeWaypoint>()(serialize, "long path", m_LongPath.m_Waypoints);
         SerializeVector<SerializeWaypoint>()(serialize, "short path", m_ShortPath.m_Waypoints);
 
-        SerializeUnitMotionPlanning()(serialize, "planning", m_Planning);
-
         SerializeGoal()(serialize, "goal", m_FinalGoal);
     }
 
@@ -599 +572 @@
         CmpPtr<ICmpObstruction> cmpObstruction(GetEntityHandle());
         if (cmpObstruction)
             cmpObstruction->SetMovingFlag(true);
-        
+
         m_Moving = true;
-        
+
         CMessageMotionChanged msg(true, false);
         GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
     }
@@ -634 +607 @@
     void Move(fixed dt);
 
     /**
-     * Analyze our current path, and check if we expect to be obstructed soon
-     * If yes, try to anticipate.
-     * TODO: remove this and use a more general "pushing" manager.
-     */
-    void PlanNextStep(const CFixedVector2D& pos, const CFixedVector2D& currentOffset);
-
-    /**
      * Decide whether to approximate the given range from a square target as a circle,
      * rather than as a square.
      */
@@ -697 +663 @@
      * noTarget is true only when used inside tryGoingStraightToTargetEntity, 
      * in which case we do not want the target obstruction otherwise it would always fail
      */
-    ControlGroupMovementObstructionFilter GetObstructionFilter(bool forceAvoidMovingUnits = false, bool noTarget = false) const;
+    ControlGroupMovementObstructionFilter GetObstructionFilter(bool noTarget = false) const;
 
     /**
      * Start moving to the given goal, from our current position 'from'.
@@ -735 +701 @@
 
     m_Moving = false;
 
-    if (ticket == m_Planning.expectedPathTicket)
-    {
-        // If no path was found, better cancel the planning
-        if (path.m_Waypoints.empty())
-            m_Planning = SUnitMotionPlanning();
-
-        m_Planning.nextStepShortPath = path;
-        return;
-    }
-
     // Ignore obsolete path requests
     if (ticket != m_ExpectedPathTicket)
         return;
@@ -785 +741 @@
 
         if (cmpObstruction)
             cmpObstruction->SetMovingFlag(true);
-        
+
         m_Moving = true;
     }
     else if (m_PathState == PATHSTATE_WAITING_REQUESTING_SHORT || m_PathState == PATHSTATE_FOLLOWING_REQUESTING_SHORT)
@@ -808 +764 @@
                 GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
                 return;
             }
-            
+
             CMessageMotionChanged msg(false, false);
             GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
 
@@ -815 +771 @@
             CmpPtr<ICmpPosition> cmpPosition(GetEntityHandle());
             if (!cmpPosition || !cmpPosition->IsInWorld())
                 return;
-            
+
             CFixedVector2D pos = cmpPosition->GetPosition2D();
 
             if (ShouldConsiderOurselvesAtDestination(pos))
@@ -829 +785 @@
 
         // else we could, so reset our number of tries.
         m_Tries = 0;
-        
+
         // Now we've got a short path that we can follow
         if (!HasValidPath())
             StartSucceeded();
@@ -842 +798 @@
         m_Moving = true;
     }
     else
-    {
         LOGWARNING("unexpected PathResult (%u %d %d)", GetEntityId(), m_State, m_PathState);
-    }
 }
 
 void CCmpUnitMotion::Move(fixed dt)
@@ -926 +880 @@
 
         fixed timeLeft = dt;
         fixed zero = fixed::Zero();
-        
+
         while (timeLeft > zero)
         {
             // If we ran out of path, we have to stop
@@ -976 +930 @@
                 target = pos + offset;
 
                 if (cmpPathfinder->CheckMovement(GetObstructionFilter(), pos.X, pos.Y, target.X, target.Y, m_Clearance, m_PassClass))
-                {
-                    PlanNextStep(pos, offset);
                     pos = target;
-                    break;
-                }
                 else
-                {
-                    // Error - path was obstructed
-                    wasObstructed = true;
-                    break;
-                }
+                    wasObstructed = true; // Error - path was obstructed
+
+                break;
             }
         }
 
@@ -994 +942 @@
         if (pos != initialPos)
         {
             CFixedVector2D offset = pos - initialPos;
-            
+
             // Face towards the target
             entity_angle_t angle = atan2_approx(offset.X, offset.Y);
             cmpPosition->MoveAndTurnTo(pos.X,pos.Y, angle);
@@ -1002 +950 @@
             // Calculate the mean speed over this past turn.
             m_CurSpeed = cmpPosition->GetDistanceTravelled() / dt;
         }
-        
+
         if (wasObstructed)
         {
             // Oops, we hit something (very likely another unit).
             // This is when we might easily get stuck wrongly.
-            
+
             // check if we've arrived.
             if (ShouldConsiderOurselvesAtDestination(pos))
                 return;
-            
+
             // If we still have long waypoints, try and compute a short path
             // This will get us around units, amongst others.
             // However in some cases a long waypoint will be in located in the obstruction of
@@ -1032 +980 @@
                     square.z = m_LongPath.m_Waypoints.back().z;
                     std::vector<entity_id_t> unitOnGoal;
                     // don't ignore moving units as those might be units like us, ie not really moving.
-                    cmpObstructionManager->GetUnitsOnObstruction(square, unitOnGoal, GetObstructionFilter(false, false), true);
+                    cmpObstructionManager->GetUnitsOnObstruction(square, unitOnGoal, GetObstructionFilter(), true);
                     if (!unitOnGoal.empty())
                         m_LongPath.m_Waypoints.pop_back();
                 }
@@ -1119 +1067 @@
     }
 }
 
-void CCmpUnitMotion::PlanNextStep(const CFixedVector2D& pos, const CFixedVector2D& currentOffset)
-{
-    if (m_LongPath.m_Waypoints.empty())
-        return;
-    
-    CmpPtr<ICmpPathfinder> cmpPathfinder(GetSystemEntity());
-    CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSystemEntity());
-    if (!cmpPathfinder || !cmpObstructionManager)
-        return;
-    
-    m_Planning = SUnitMotionPlanning();
-    
-    // see 2 turns in advance, otherwise this would start to lag in MP
-    CFixedVector2D futurePos = pos + currentOffset*2;
-    
-    // Don't actually use CheckMovement since we want to check against units only, we assume the rest is taken care of.
-    if (!cmpObstructionManager->TestLine(GetObstructionFilter(true, false), pos.X, pos.Y, futurePos.X, futurePos.Y, m_Clearance, true))
-        return;
-    
-    // we will run into a static unit obstruction. Try to shortpath around it.
-    PathGoal goal;
-    if (m_LongPath.m_Waypoints.size() > 1 || m_FinalGoal.DistanceToPoint(pos) > LONG_PATH_MIN_DIST)
-        goal = { PathGoal::POINT, m_LongPath.m_Waypoints.back().x, m_LongPath.m_Waypoints.back().z };
-    else
-    {
-        UpdateFinalGoal();
-        goal = m_FinalGoal;
-        m_LongPath.m_Waypoints.clear();
-        CFixedVector2D target = goal.NearestPointOnGoal(pos);
-        m_LongPath.m_Waypoints.emplace_back(Waypoint{ target.X, target.Y });
-    }
-    RequestShortPath(pos, goal, false);
-    m_PathState = PATHSTATE_FOLLOWING_REQUESTING_SHORT;
-}
-
 bool CCmpUnitMotion::ComputeTargetPosition(CFixedVector2D& out)
 {
     if (m_TargetEntity == INVALID_ENTITY)
@@ -1230 +1143 @@
     CFixedVector2D goalPos = goal.NearestPointOnGoal(from);
 
     // Check if there's any collisions on that route
-    if (!cmpPathfinder->CheckMovement(GetObstructionFilter(false, true), from.X, from.Y, goalPos.X, goalPos.Y, m_Clearance, m_PassClass))
+    if (!cmpPathfinder->CheckMovement(GetObstructionFilter(true), from.X, from.Y, goalPos.X, goalPos.Y, m_Clearance, m_PassClass))
         return false;
 
     // That route is okay, so update our path
@@ -1309 +1222 @@
 {
     if (m_TargetEntity != INVALID_ENTITY || m_FinalGoal.DistanceToPoint(from) > SHORT_PATH_GOAL_RADIUS)
         return false;
-    
+
     StopMoving();
     MoveSucceeded();
-        
+
     if (m_FacePointAfterMove)
         FaceTowardsPointFromPos(from, m_FinalGoal.x, m_FinalGoal.z);
     return true;
@@ -1365 +1278 @@
     }
 }
 
-ControlGroupMovementObstructionFilter CCmpUnitMotion::GetObstructionFilter(bool forceAvoidMovingUnits, bool noTarget) const
+ControlGroupMovementObstructionFilter CCmpUnitMotion::GetObstructionFilter(bool noTarget) const
 {
     entity_id_t group = noTarget ? m_TargetEntity : GetGroup();
-    return ControlGroupMovementObstructionFilter(forceAvoidMovingUnits || ShouldAvoidMovingUnits(), group);
+    return ControlGroupMovementObstructionFilter(ShouldAvoidMovingUnits(), group);
 }
 
 
@@ -1377 +1290 @@
 {
     // reset our state for sanity.
     m_ExpectedPathTicket = 0;
-    
+
     CmpPtr<ICmpObstruction> cmpObstruction(GetEntityHandle());
     if (cmpObstruction)
         cmpObstruction->SetMovingFlag(false);
-    
+
     m_Moving = false;
 
     m_PathState = PATHSTATE_NONE;
@@ -1470 +1383 @@
         searchRange = std::min(goal.hw, SHORT_PATH_MIN_SEARCH_RANGE * 2);
     if (searchRange > SHORT_PATH_MAX_SEARCH_RANGE)
         searchRange = SHORT_PATH_MAX_SEARCH_RANGE;
-    
+
     m_ExpectedPathTicket = cmpPathfinder->ComputeShortPathAsync(from.X, from.Y, m_Clearance, searchRange, goal, m_PassClass, avoidMovingUnits, GetGroup(), GetEntityId());
 }
 
@@ -1559 +1472 @@
     CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSystemEntity());
     ICmpObstructionManager::ObstructionSquare obstruction;
 //TODO  if (cmpObstructionManager)
-//      hasObstruction = cmpObstructionManager->FindMostImportantObstruction(GetObstructionFilter(true), x, z, m_Radius, obstruction);
+//      hasObstruction = cmpObstructionManager->FindMostImportantObstruction(GetObstructionFilter(), x, z, m_Radius, obstruction);
 
     if (minRange.IsZero() && maxRange.IsZero() && hasObstruction)
     {