0ad/binaries/data/mods/public/simulation/ai/common-api/terrain-analysis.js

import { InfoMap } from "simulation/ai/common-api/map-module.js";
import * as terrainStates from "simulation/ai/common-api/terrain-states.js";

/**
 * TerrainAnalysis, inheriting from the Map Component.
 *
 * This creates a suitable passability map.
 * This is part of the Shared Script, and thus should only be used for things that are non-player specific.
 * This.map is a map of the world, where particular stuffs are pointed with a value
 * For example, impassable land is 0, water is 200, areas near tree (ie forest grounds) are 41…
 * This is intended for use with 8 bit maps for reduced memory usage.
 * Upgraded from QuantumState's original TerrainAnalysis for qBot.
 */
export class TerrainAnalysis extends InfoMap
{
	constructor(sharedScript, rawState)
	{
		const passabilityMap = rawState.passabilityMap;

		const obstructionMaskLand = rawState.passabilityClasses["default-terrain-only"];
		const obstructionMaskWater = rawState.passabilityClasses["ship-terrain-only"];

		const obstructionTiles = new Uint8Array(passabilityMap.data.length);


		for (let i = 0; i < passabilityMap.data.length; ++i)
		{
			obstructionTiles[i] = (passabilityMap.data[i] & obstructionMaskLand) ?
				terrainStates.IMPASSABLE : terrainStates.LAND;

			if (!(passabilityMap.data[i] & obstructionMaskWater) &&
				obstructionTiles[i] === terrainStates.IMPASSABLE)
			{
				obstructionTiles[i] = terrainStates.DEEP_WATER;
			}
			else if (!(passabilityMap.data[i] & obstructionMaskWater) &&
				obstructionTiles[i] === terrainStates.LAND)
			{
				obstructionTiles[i] = terrainStates.SHALLOW_WATER;
			}
		}

		super(rawState, "passability", obstructionTiles);
		this.width = passabilityMap.width;
		this.height = passabilityMap.height;
		this.cellSize = passabilityMap.cellSize;
	}
}

/**
 * Accessibility inherits from TerrainAnalysis
 *
 * This can easily and efficiently determine if any two points are connected.
 * it can also determine if any point is "probably" reachable, assuming the unit can get close enough
 * for optimizations it's called after the TerrainAnalyser has finished initializing his map
 * so this can use the land regions already.
 */
export class Accessibility extends InfoMap
{
	constructor(rawState, terrainAnalyser)
	{
		super(rawState, "passability", terrainAnalyser.map);
		this.landPassMap = new Uint16Array(terrainAnalyser.length);
		this.navalPassMap = new Uint16Array(terrainAnalyser.length);
		this.maxRegions = 65535;
		this.regionSize = [];
		this.regionType = []; // "inaccessible", "land" or "water";
		// ID of the region associated with an array of region IDs.
		this.regionLinks = [];

		// initialized to 0, it's more optimized to start at 1 (I'm checking that if it's not 0, then it's already aprt of a region, don't touch);
		// However I actually store all unpassable as region 1 (because if I don't, on some maps the toal nb of region is over 256, and it crashes as the mapis 8bit.)
		// So start at 2.
		this.regionID = 2;

		for (let i = 0; i < this.landPassMap.length; ++i)
		{
			if (this.map[i] !== terrainStates.IMPASSABLE)
			{	// any non-painted, non-inacessible area.
				if (this.landPassMap[i] == 0 && this.floodFill(i, this.regionID, false))
					this.regionType[this.regionID++] = "land";
				if (this.navalPassMap[i] == 0 && this.floodFill(i, this.regionID, true))
					this.regionType[this.regionID++] = "water";
			}
			else if (this.landPassMap[i] == 0)
			{	// any non-painted, inacessible area.
				this.floodFill(i, 1, false);
				this.floodFill(i, 1, true);
			}
		}

		// calculating region links. Regions only touching diagonaly are not linked.
		// since we're checking all of them, we'll check from the top left to the bottom right
		const w = this.width;
		for (let x = 0; x < this.width-1; ++x)
		{
			for (let y = 0; y < this.height-1; ++y)
			{
				// checking right.
				const thisLID = this.landPassMap[x+y*w];
				const thisNID = this.navalPassMap[x+y*w];
				const rightLID = this.landPassMap[x+1+y*w];
				const rightNID = this.navalPassMap[x+1+y*w];
				const bottomLID = this.landPassMap[x+y*w+w];
				const bottomNID = this.navalPassMap[x+y*w+w];
				if (thisLID > 1)
				{
					if (rightNID > 1)
						if (this.regionLinks[thisLID].indexOf(rightNID) === -1)
							this.regionLinks[thisLID].push(rightNID);
					if (bottomNID > 1)
						if (this.regionLinks[thisLID].indexOf(bottomNID) === -1)
							this.regionLinks[thisLID].push(bottomNID);
				}
				if (thisNID > 1)
				{
					if (rightLID > 1)
						if (this.regionLinks[thisNID].indexOf(rightLID) === -1)
							this.regionLinks[thisNID].push(rightLID);
					if (bottomLID > 1)
						if (this.regionLinks[thisNID].indexOf(bottomLID) === -1)
							this.regionLinks[thisNID].push(bottomLID);
					if (thisLID > 1)
						if (this.regionLinks[thisNID].indexOf(thisLID) === -1)
							this.regionLinks[thisNID].push(thisLID);
				}
			}
		}

		// Engine.DumpImage("LandPassMap.png", this.landPassMap, this.width, this.height, 255);
		// Engine.DumpImage("NavalPassMap.png", this.navalPassMap, this.width, this.height, 255);
	}

	getAccessValue(position, onWater)
	{
		const gamePos = this.gamePosToMapPos(position);
		if (onWater)
			return this.navalPassMap[gamePos[0] + this.width*gamePos[1]];
		let ret = this.landPassMap[gamePos[0] + this.width*gamePos[1]];
		if (ret === 1)
		{
			// quick spiral search.
			const indx = [ [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1], [1, 0], [1, -1], [0, -1]];
			for (const i of indx)
			{
				const id0 = gamePos[0] + i[0];
				const id1 = gamePos[1] + i[1];
				if (id0 < 0 || id0 >= this.width || id1 < 0 || id1 >= this.width)
					continue;
				ret = this.landPassMap[id0 + this.width*id1];
				if (ret !== 1)
					return ret;
			}
		}
		return ret;
	}

	getTrajectTo(start, end)
	{
		const pstart = this.gamePosToMapPos(start);
		const istart = pstart[0] + pstart[1]*this.width;
		const pend = this.gamePosToMapPos(end);
		const iend = pend[0] + pend[1]*this.width;

		let onLand = true;
		if (this.landPassMap[istart] <= 1 && this.navalPassMap[istart] > 1)
			onLand = false;
		if (this.landPassMap[istart] <= 1 && this.navalPassMap[istart] <= 1)
			return false;

		let endRegion = this.landPassMap[iend];
		if (endRegion <= 1 && this.navalPassMap[iend] > 1)
			endRegion = this.navalPassMap[iend];
		else if (endRegion <= 1)
			return false;

		const startRegion = onLand ? this.landPassMap[istart] : this.navalPassMap[istart];
		return this.getTrajectToIndex(startRegion, endRegion);
	}

	/**
	 * Return a "path" of accessibility indexes from one point to another, including the start and the end indexes
	 * this can tell you what sea zone you need to have a dock on, for example.
	 * assumes a land unit unless start point is over deep water.
	 */
	getTrajectToIndex(istart, iend)
	{
		if (istart === iend)
			return [istart];

		const trajects = new Set();
		const explored = new Set();
		trajects.add([istart]);
		explored.add(istart);
		while (trajects.size)
		{
			for (const traj of trajects)
			{
				const ilast = traj[traj.length-1];
				for (const inew of this.regionLinks[ilast])
				{
					if (inew === iend)
						return traj.concat(iend);
					if (explored.has(inew))
						continue;
					trajects.add(traj.concat(inew));
					explored.add(inew);
				}
				trajects.delete(traj);
			}
		}
		return undefined;
	}

	getRegionSize(position, onWater)
	{
		const pos = this.gamePosToMapPos(position);
		const index = pos[0] + pos[1]*this.width;
		const ID = onWater === true ? this.navalPassMap[index] : this.landPassMap[index];
		if (this.regionSize[ID] === undefined)
			return 0;
		return this.regionSize[ID];
	}

	getRegionSizei(index, onWater)
	{
		if (this.regionSize[this.landPassMap[index]] === undefined && (!onWater || this.regionSize[this.navalPassMap[index]] === undefined))
			return 0;
		if (onWater && this.regionSize[this.navalPassMap[index]] > this.regionSize[this.landPassMap[index]])
			return this.regionSize[this.navalPassMap[index]];
		return this.regionSize[this.landPassMap[index]];
	}

	/** Implementation of a fast flood fill. Reasonably good performances for JS. */
	floodFill(startIndex, value, onWater)
	{
		if (value > this.maxRegions)
		{
			error("AI accessibility map: too many regions.");
			this.landPassMap[startIndex] = 1;
			this.navalPassMap[startIndex] = 1;
			return false;
		}

		if (!onWater && this.landPassMap[startIndex] != 0 || onWater && this.navalPassMap[startIndex] != 0)
			return false;	// already painted.

		let floodFor = "land";
		if (this.map[startIndex] === terrainStates.IMPASSABLE)
		{
			this.landPassMap[startIndex] = 1;
			this.navalPassMap[startIndex] = 1;
			return false;
		}

		if (onWater === true)
		{
			if (this.map[startIndex] !== terrainStates.DEEP_WATER &&
				this.map[startIndex] !== terrainStates.SHALLOW_WATER)
			{
				this.navalPassMap[startIndex] = 1;	// impassable for naval
				return false;	// do nothing
			}
			floodFor = "water";
		}
		else if (this.map[startIndex] === terrainStates.DEEP_WATER)
		{
			this.landPassMap[startIndex] = 1;	// impassable for land
			return false;
		}

		// here we'll be able to start.
		for (let i = this.regionSize.length; i <= value; ++i)
		{
			this.regionLinks.push([]);
			this.regionSize.push(0);
			this.regionType.push("inaccessible");
		}
		const w = this.width;
		const h = this.height;

		// Get x and y from index
		const IndexArray = [startIndex];
		let newIndex;
		while (IndexArray.length)
		{
			newIndex = IndexArray.pop();

			let y = 0;
			// vertical iteration
			while (true)
			{
				--y;
				const index = newIndex + w*y;
				if (index < 0)
					break;
				if (floodFor === "land" && this.landPassMap[index] === 0 &&
					this.map[index] !== terrainStates.IMPASSABLE &&
					this.map[index] !== terrainStates.DEEP_WATER)
				{
					continue;
				}
				if (floodFor === "water" && this.navalPassMap[index] === 0 &&
					(this.map[index] === terrainStates.DEEP_WATER ||
					this.map[index] === terrainStates.SHALLOW_WATER))
				{
					continue;
				}
				break;
			} // should actually break
			++y;
			let reachLeft = false;
			let reachRight = false;
			let index;
			do
			{
				index = newIndex + w*y;

				if (floodFor === "land" && this.landPassMap[index] === 0 &&
					this.map[index] !== terrainStates.IMPASSABLE &&
					this.map[index] !== terrainStates.DEEP_WATER)
				{
					this.landPassMap[index] = value;
					this.regionSize[value]++;
				}
				else if (floodFor === "water" && this.navalPassMap[index] === 0 &&
					(this.map[index] === terrainStates.DEEP_WATER ||
					this.map[index] === terrainStates.SHALLOW_WATER))
				{
					this.navalPassMap[index] = value;
					this.regionSize[value]++;
				}
				else
					break;

				if (index%w > 0)
				{
					if (floodFor === "land" && this.landPassMap[index -1] === 0 &&
						this.map[index -1] !== terrainStates.IMPASSABLE &&
						this.map[index -1] !== terrainStates.DEEP_WATER)
					{
						if (!reachLeft)
						{
							IndexArray.push(index -1);
							reachLeft = true;
						}
					}
					else if (floodFor === "water" && this.navalPassMap[index -1] === 0 &&
						(this.map[index -1] === terrainStates.DEEP_WATER ||
						this.map[index -1] === terrainStates.SHALLOW_WATER))
					{
						if (!reachLeft)
						{
							IndexArray.push(index -1);
							reachLeft = true;
						}
					}
					else if (reachLeft)
						reachLeft = false;
				}

				if (index%w < w - 1)
				{
					if (floodFor === "land" && this.landPassMap[index +1] === 0 &&
						this.map[index +1] !== terrainStates.IMPASSABLE &&
						this.map[index +1] !== terrainStates.DEEP_WATER)
					{
						if (!reachRight)
						{
							IndexArray.push(index +1);
							reachRight = true;
						}
					}
					else if (floodFor === "water" && this.navalPassMap[index +1] === 0 &&
						(this.map[index +1] === terrainStates.DEEP_WATER ||
						this.map[index +1] === terrainStates.SHALLOW_WATER))
					{
						if (!reachRight)
						{
							IndexArray.push(index +1);
							reachRight = true;
						}
					}
					else if (reachRight)
						reachRight = false;
				}
				++y;
			} while (index/w < h-1);	// should actually break
		}
		return true;
	}
}