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Add domain checks to HierarchicalPathFinder #21164

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Nov 3, 2023
Merged

Add domain checks to HierarchicalPathFinder #21164

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20 changes: 20 additions & 0 deletions OpenRA.Mods.Common/Pathfinder/HierarchicalPathFinder.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -739,6 +739,9 @@ static Grid GetGrid(CPos cellInGrid, Grid mapBounds)
if (targetAbstractCell == null)
return PathFinder.NoPath;

RebuildDomains();
var targetDomain = abstractDomains[targetAbstractCell.Value];

// Unlike the target cell, the source cell is allowed to be an unreachable location.
// Instead, what matters is whether any cell adjacent to the source cell can be reached.
var sourcesWithReachableNodes = new List<(CPos Source, CPos AdjacentSource)>(sources.Count);
Expand All @@ -752,6 +755,11 @@ static Grid GetGrid(CPos cellInGrid, Grid mapBounds)
var sourceAbstractCell = AbstractCellForLocalCell(source);
if (sourceAbstractCell != null)
{
// If the source and target belong to different domains, there is no path.
var sourceDomain = abstractDomains[sourceAbstractCell.Value];
if (sourceDomain != targetDomain)
continue;

sourcesWithReachableNodes.Add((source, source));
var sourceEdge = EdgeFromLocalToAbstract(source, sourceAbstractCell.Value);
if (sourceEdge != null)
Expand All @@ -770,6 +778,11 @@ static Grid GetGrid(CPos cellInGrid, Grid mapBounds)
if (adjacentSourceAbstractCell == null)
continue;

// If the source and target belong to different domains, there is no path.
var adjacentSourceDomain = abstractDomains[adjacentSourceAbstractCell.Value];
if (adjacentSourceDomain != targetDomain)
continue;

sourcesWithReachableNodes.Add((source, adjacentSource));
var sourceEdge = EdgeFromLocalToAbstract(adjacentSource, adjacentSourceAbstractCell.Value);
if (sourceEdge != null)
Expand Down Expand Up @@ -886,6 +899,13 @@ static Grid GetGrid(CPos cellInGrid, Grid mapBounds)
if (sourceAbstractCell == null)
return FindPath(self, new[] { source }, target, check, heuristicWeightPercentage, customCost, ignoreActor, laneBias, pathFinderOverlay);

// If the source and target belong to different domains, there is no path.
RebuildDomains();
var targetDomain = abstractDomains[targetAbstractCell.Value];
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var sourceDomain = abstractDomains[sourceAbstractCell.Value];
if (sourceDomain != targetDomain)
return PathFinder.NoPath;

var targetEdge = EdgeFromLocalToAbstract(target, targetAbstractCell.Value);
var sourceEdge = EdgeFromLocalToAbstract(source, sourceAbstractCell.Value);

Expand Down