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Changes to ship collision avoidance algorithm

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* Change some names and create a seperate procedure for finding ships.
* Check if destiny tile is buoy. If so, distance checking continues.
* Remove water tile check. It was done before and coast can't have 3 way tracks.
* Add a check for map edges.
* Add speed adjustment related to distance between ships
* Do not detect ships on tiles with parallel tracks
This commit is contained in:
HackaLittleBit 2018-01-22 23:49:23 +00:00 committed by Jonathan G Rennison
parent b00b1125be
commit c5888dad9f
1 changed files with 67 additions and 26 deletions
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93
src/ship_cmd.cpp
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@ -509,14 +509,20 @@ static const byte _ship_subcoord[4][6][3] = {
}
};
/* Used to find DiagDirection from tile to next tile if track is followed */
static const DiagDirection _diagdir_to_next_tile[6][4] = {
{ DIAGDIR_NE, DIAGDIR_SE, DIAGDIR_SW, DIAGDIR_NW },
{ DIAGDIR_NE, DIAGDIR_SE, DIAGDIR_SW, DIAGDIR_NW },
{ DIAGDIR_SE, DIAGDIR_NE, DIAGDIR_NW, DIAGDIR_SW },
{ DIAGDIR_SE, DIAGDIR_NW, DIAGDIR_NE, DIAGDIR_SW },
{ DIAGDIR_NW, DIAGDIR_SW, DIAGDIR_SE, DIAGDIR_NE },
{ DIAGDIR_SW, DIAGDIR_NW, DIAGDIR_SE, DIAGDIR_NE }
/* Used for finding tile exit direction using the enter direction and following track */
static const DiagDirection _diagdir_tile_exit[TRACK_END][DIAGDIR_END] = {
{ DIAGDIR_NE , INVALID_DIAGDIR, DIAGDIR_SW , INVALID_DIAGDIR}, // TRACK_X = 0
{ INVALID_DIAGDIR, DIAGDIR_SE , INVALID_DIAGDIR, DIAGDIR_NW }, // TRACK_Y = 1
{ INVALID_DIAGDIR, DIAGDIR_NE , DIAGDIR_NW , INVALID_DIAGDIR}, // TRACK_UPPER = 2
{ DIAGDIR_SE , INVALID_DIAGDIR, INVALID_DIAGDIR, DIAGDIR_SW }, // TRACK_LOWER = 3
{ DIAGDIR_NW , DIAGDIR_SW , INVALID_DIAGDIR, INVALID_DIAGDIR}, // TRACK_LEFT = 4
{ INVALID_DIAGDIR, INVALID_DIAGDIR, DIAGDIR_SE , DIAGDIR_NE } // TRACK_RIGHT = 5
};
struct ShipCollideChecker {
TrackBits track_bits; ///< Trackbits (track that was chosen by the pathfinder converted in trackbits.) .
TileIndex tile; ///< Tile of where ship was found, used to determine distance between ships.
};
/** Helper function for collision avoidance. */
@ -524,9 +530,60 @@ static Vehicle *FindShipOnTile(Vehicle *v, void *data)
{
if (v->type != VEH_SHIP || v->vehstatus & VS_STOPPED) return NULL;
ShipCollideChecker *scc = (ShipCollideChecker*)data;
scc->tile = v->tile;
/* Don't detect vehicles on different parallel tracks. */
TrackBits bits = scc->track_bits | Ship::From(v)->state;
if (bits == TRACK_BIT_HORZ || bits == TRACK_BIT_VERT) return NULL;
return v;
}
/**
* If there is imminent collision or worse, direction and speed will be adjusted.
* @param tile Tile that the ship is about to enter.
* @param v Ship that does the request.
* @param tracks The available tracks that could be followed.
* @param track The track that the pathfinder assigned.
* @param diagdir The DiagDirection that tile will be entered.
* @return The new track if found.
*/
static void CheckDistanceBetweenShips(TileIndex tile, Ship *v, TrackBits tracks, Track *track_old, DiagDirection diagdir)
{
if (!_settings_game.pf.forbid_90_deg || !_settings_game.vehicle.ship_collision_avoidance) return;
if (DistanceManhattan(v->dest_tile, tile) <= 3 && !v->current_order.IsType(OT_GOTO_WAYPOINT)) return; // No checking close to docks and depots.
Track track = *track_old;
TileIndex tile_plus_one = TileAddByDiagDir(tile, _diagdir_tile_exit[track][diagdir]);
if (!IsValidTile(tile_plus_one)) tile_plus_one = tile;
ShipCollideChecker scc;
scc.track_bits = v->state;
bool found = HasVehicleOnPos(tile_plus_one, &scc, &FindShipOnTile);
scc.track_bits = TrackToTrackBits(track);
if (!found) found = HasVehicleOnPos(tile, &scc, &FindShipOnTile);
if (found) {
/* Speed adjustment related to distance. */
v->cur_speed /= scc.tile == tile_plus_one ? 2 : 4;
switch (tracks) {
default: break;
case TRACK_BIT_3WAY_NE: track == TRACK_RIGHT ? track = TRACK_X : track = TRACK_UPPER; break;
case TRACK_BIT_3WAY_SE: track == TRACK_LOWER ? track = TRACK_Y : track = TRACK_RIGHT; break;
case TRACK_BIT_3WAY_SW: track == TRACK_LEFT ? track = TRACK_X : track = TRACK_LOWER; break;
case TRACK_BIT_3WAY_NW: track == TRACK_UPPER ? track = TRACK_Y : track = TRACK_LEFT; break;
}
/* Don't bump in coast, don't get stuck. */
if (track != *track_old && !IsWaterTile(TileAddByDiagDir(tile, _diagdir_tile_exit[track][diagdir]))) return;
*track_old = track;
}
}
static void ShipController(Ship *v)
{
uint32 r;
@ -619,24 +676,8 @@ static void ShipController(Ship *v)
track = ChooseShipTrack(v, gp.new_tile, diagdir, tracks);
if (track == INVALID_TRACK) goto reverse_direction;
/* Try to avoid collision and keep distance between each other. */
if (_settings_game.pf.forbid_90_deg && _settings_game.vehicle.ship_collision_avoidance && DistanceManhattan(v->dest_tile, gp.new_tile) > 3) {
if (HasVehicleOnPos(gp.new_tile, NULL, &FindShipOnTile) ||
HasVehicleOnPos(TileAddByDiagDir(gp.new_tile, _diagdir_to_next_tile[track][diagdir]), NULL, &FindShipOnTile)) {
v->cur_speed /= 4; // Go quarter speed.
Track old = track;
switch (tracks) {
default: break;
case TRACK_BIT_3WAY_NE: track == TRACK_RIGHT ? track = TRACK_X : track = TRACK_UPPER; break;
case TRACK_BIT_3WAY_SE: track == TRACK_LOWER ? track = TRACK_Y : track = TRACK_RIGHT; break;
case TRACK_BIT_3WAY_SW: track == TRACK_LEFT ? track = TRACK_X : track = TRACK_LOWER; break;
case TRACK_BIT_3WAY_NW: track == TRACK_UPPER ? track = TRACK_Y : track = TRACK_LEFT; break;
}
if (!IsWaterTile(gp.new_tile) || !IsWaterTile(TileAddByDiagDir(gp.new_tile, _diagdir_to_next_tile[track][diagdir]))) track = old; // Don't bump in coast, don't get stuck.
}
}
/* Try to avoid collision and keep distance between ships. */
CheckDistanceBetweenShips(gp.new_tile, v, tracks, &track, diagdir);
b = _ship_subcoord[diagdir][track];