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goto: Handle oversized costs with a special bucket 

This is a bit redundant because the current usage of goto
does not trigger it. It can be triggered by:
* increasing goalRadius
* decreasing NUMQUEUEBUCKETS
* decreasing BM_DIM_STEP
* increasing edge costs
fix-squashed-planets
Rasmus Brönnegård 2022-02-12 14:27:23 +01:00
parent e38835cfd4
commit 2d794d1a32
2 changed files with 55 additions and 4 deletions
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57
src/object/task/taskgoto.cpp
View File

@ -1807,6 +1807,34 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
while (m_bfsQueue[m_bfsQueueMin % NUMQUEUEBUCKETS].empty())
{
m_bfsQueueMin += 1;
if (m_bfsQueueMin % NUMQUEUEBUCKETS == 0 && !m_bfsQueue[NUMQUEUEBUCKETS].empty())
{
// Process nodes with oversized costs.
const size_t countBefore = m_bfsQueue[NUMQUEUEBUCKETS].size();
for (size_t i = 0; i < m_bfsQueue[NUMQUEUEBUCKETS].size();)
{
const uint32_t indexInMap = m_bfsQueue[NUMQUEUEBUCKETS][i];
const int x = indexInMap % m_bmSize;
const int y = indexInMap / m_bmSize;
const int32_t distance = m_bfsDistances[indexInMap];
const int totalDistance = distance + HeuristicDistance(x, y, startX, startY);
if (totalDistance < m_bfsQueueMin + NUMQUEUEBUCKETS)
{
// Move node to a regular bucket.
m_bfsQueue[totalDistance % NUMQUEUEBUCKETS].push_back(indexInMap);
m_bfsQueue[NUMQUEUEBUCKETS][i] = m_bfsQueue[NUMQUEUEBUCKETS].back();
m_bfsQueue[NUMQUEUEBUCKETS].pop_back();
}
else
{
// Look at next node.
i += 1;
}
}
const size_t countAfter = m_bfsQueue[NUMQUEUEBUCKETS].size();
GetLogger()->Debug("Redistributed %lu of %lu nodes from the bucket with oversized costs.\n",
countBefore - countAfter, countBefore);
}
}
auto& bucket = m_bfsQueue[m_bfsQueueMin % NUMQUEUEBUCKETS];
const uint32_t indexInMap = bucket.back();
@ -1820,9 +1848,32 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
if (totalDistance != m_bfsQueueMin)
{
m_bfsQueueCountSkipped += 1;
GetLogger()->Debug("Skipping node with mismatched distance, distance: %d, totalDistance: %d, m_bfsQueueMin: %d\n",
distance, totalDistance, m_bfsQueueMin);
if (totalDistance < m_bfsQueueMin)
{
// This node has been updated to a lower cost and has allready been processed.
m_bfsQueueCountSkipped += 1;
// GetLogger()->Debug("Skipping node with smaller distance, distance: %d, totalDistance: %d, m_bfsQueueMin: %d\n",
// distance, totalDistance, m_bfsQueueMin);
}
else
{
if (totalDistance < m_bfsQueueMin + NUMQUEUEBUCKETS)
{
// Move node to a regular bucket.
m_bfsQueue[totalDistance % NUMQUEUEBUCKETS].push_back(indexInMap);
m_bfsQueueCountPushed += 1;
GetLogger()->Debug("Moving node with bigger distance into regular bucket, distance: %d, totalDistance: %d, m_bfsQueueMin: %d\n",
distance, totalDistance, m_bfsQueueMin);
}
else
{
// Move node to the bucket with oversized costs.
m_bfsQueue[NUMQUEUEBUCKETS].push_back(indexInMap);
m_bfsQueueCountPushed += 1;
GetLogger()->Debug("Moving node with bigger distance into bucket with oversized costs, distance: %d, totalDistance: %d, m_bfsQueueMin: %d\n",
distance, totalDistance, m_bfsQueueMin);
}
}
continue;
}

2
src/object/task/taskgoto.h
View File

@ -144,7 +144,7 @@ protected:
int m_bmLine = 0; // increment line m_bmSize/8
std::unique_ptr<unsigned char[]> m_bmArray; // Bit table
std::unique_ptr<int32_t[]> m_bfsDistances; // Distances to the goal for breadth-first search.
std::array<std::vector<uint32_t>, NUMQUEUEBUCKETS> m_bfsQueue; // Priority queue with indices to nodes. Nodes are sorted into buckets.
std::array<std::vector<uint32_t>, NUMQUEUEBUCKETS + 1> m_bfsQueue; // Priority queue with indices to nodes. Nodes are sorted into buckets. The last bucket contains oversized costs.
int m_bfsQueueMin = 0; // Front of the queue. This value mod 8 is the index to the bucket with the next node to be expanded.
int m_bfsQueueCountPushed = 0; // Number of nodes inserted into the queue.
int m_bfsQueueCountPopped = 0; // Number of nodes extacted from the queue.