TEST(StaticVectorTest, push_get) {
StaticVector<int> sVect;
auto ref1 = sVect.push_back(23);
auto ref2 = sVect.push_back(24);
auto ref3 = sVect.push_back(25);
ASSERT_EQ(23, ref1.get());
ASSERT_EQ(24, ref2.get());
ASSERT_EQ(25, ref3.get());
ASSERT_EQ(size_t(3), sVect.activeSize());
sVect.remove(ref2);
ASSERT_EQ(size_t(2), sVect.activeSize());
auto ref4 = sVect.push_back(45);
ASSERT_EQ(45, ref4.get());
ASSERT_EQ(size_t(3), sVect.activeSize());
auto findInsert = [] ( int const& it ) -> bool {return it > 30;};
auto ref5 = sVect.push(55, findInsert);
ASSERT_EQ(55, ref5.get());
// we expect it at positon 2
ASSERT_EQ(55, sVect.get(2));
ASSERT_EQ(45, sVect.get(3));
}
void completeGame(GoState& s, StaticVector<GoMove, MAX_GAME_LENGTH>& move_seq, RNG &rng) {
bool game_over = false;
unsigned int moves = 0;
while (!game_over) {
moves++;
GoMove move = selectMove(s, rng);
assert(s.isValidMove(move));
if (move.isPass() && s.getPreviousMoveWasPass()) {
game_over = true;
}
s.makeMove(move);
move_seq.push_back(move);
}
}
static void FindHubAreas()
{
if (!hubAreas.empty())
return;
AiAasWorld *aasWorld = AiAasWorld::Instance();
if (!aasWorld->IsLoaded())
return;
// Select not more than hubAreas.capacity() grounded areas that have highest connectivity to other areas.
struct AreaAndReachCount
{
int area, reachCount;
AreaAndReachCount(int area_, int reachCount_): area(area_), reachCount(reachCount_) {}
// Ensure that area with lowest reachCount will be evicted in pop_heap(), so use >
bool operator<(const AreaAndReachCount &that) const { return reachCount > that.reachCount; }
};
StaticVector<AreaAndReachCount, hubAreas.capacity() + 1> bestAreasHeap;
for (int i = 1; i < aasWorld->NumAreas(); ++i)
{
const auto &areaSettings = aasWorld->AreaSettings()[i];
if (!(areaSettings.areaflags & AREA_GROUNDED))
continue;
if (areaSettings.areaflags & AREA_DISABLED)
continue;
if (areaSettings.contents & (AREACONTENTS_DONOTENTER|AREACONTENTS_LAVA|AREACONTENTS_SLIME|AREACONTENTS_WATER))
continue;
// Reject degenerate areas, pass only relatively large areas
const auto &area = aasWorld->Areas()[i];
if (area.maxs[0] - area.mins[0] < 128.0f)
continue;
if (area.maxs[1] - area.mins[1] < 128.0f)
continue;
// Count as useful only several kinds of reachabilities
int usefulReachCount = 0;
int reachNum = areaSettings.firstreachablearea;
int lastReachNum = areaSettings.firstreachablearea + areaSettings.numreachableareas - 1;
while (reachNum <= lastReachNum)
{
const auto &reach = aasWorld->Reachabilities()[reachNum];
if (reach.traveltype == TRAVEL_WALK || reach.traveltype == TRAVEL_WALKOFFLEDGE)
usefulReachCount++;
++reachNum;
}
// Reject early to avoid more expensive call to push_heap()
if (!usefulReachCount)
continue;
bestAreasHeap.push_back(AreaAndReachCount(i, usefulReachCount));
std::push_heap(bestAreasHeap.begin(), bestAreasHeap.end());
// bestAreasHeap size should be always less than its capacity:
// 1) to ensure that there is a free room for next area;
// 2) to ensure that hubAreas capacity will not be exceeded.
if (bestAreasHeap.size() == bestAreasHeap.capacity())
{
std::pop_heap(bestAreasHeap.begin(), bestAreasHeap.end());
bestAreasHeap.pop_back();
}
}
static_assert(bestAreasHeap.capacity() == hubAreas.capacity() + 1, "");
for (const auto &areaAndReachCount: bestAreasHeap)
hubAreas.push_back(areaAndReachCount.area);
}
void Bot::RegisterVisibleEnemies()
{
if(G_ISGHOSTING(self) || GS_MatchState() == MATCH_STATE_COUNTDOWN || GS_ShootingDisabled())
return;
CheckIsInThinkFrame(__FUNCTION__);
// Compute look dir before loop
vec3_t lookDir;
AngleVectors(self->s.angles, lookDir, nullptr, nullptr);
float fov = 110.0f + 69.0f * Skill();
float dotFactor = cosf((float)DEG2RAD(fov / 2));
struct EntAndDistance
{
int entNum;
float distance;
EntAndDistance(int entNum_, float distance_): entNum(entNum_), distance(distance_) {}
bool operator<(const EntAndDistance &that) const { return distance < that.distance; }
};
// Do not call inPVS() and G_Visible() for potential targets inside a loop for all clients.
// In worst case when all bots may see each other we get N^2 traces and PVS tests
// First, select all candidate targets along with distance to a bot.
// Then choose not more than BotBrain::maxTrackedEnemies nearest enemies for calling OnEnemyViewed()
// It may cause data loss (far enemies may have higher logical priority),
// but in a common good case (when there are few visible enemies) it preserves data,
// and in the worst case mentioned above it does not act weird from player POV and prevents server hang up.
// Note: non-client entities also may be candidate targets.
StaticVector<EntAndDistance, MAX_EDICTS> candidateTargets;
for (int i = 1; i < game.numentities; ++i)
{
edict_t *ent = game.edicts + i;
if (botBrain.MayNotBeFeasibleEnemy(ent))
continue;
// Reject targets quickly by fov
Vec3 toTarget(ent->s.origin);
toTarget -= self->s.origin;
float squareDistance = toTarget.SquaredLength();
if (squareDistance < 1)
continue;
float invDistance = Q_RSqrt(squareDistance);
toTarget *= invDistance;
if (toTarget.Dot(lookDir) < dotFactor)
continue;
// It seams to be more instruction cache-friendly to just add an entity to a plain array
// and sort it once after the loop instead of pushing an entity in a heap on each iteration
candidateTargets.emplace_back(EntAndDistance(ENTNUM(ent), 1.0f / invDistance));
}
std::sort(candidateTargets.begin(), candidateTargets.end());
// Select inPVS/visible targets first to aid instruction cache, do not call callbacks in loop
StaticVector<edict_t *, MAX_CLIENTS> targetsInPVS;
StaticVector<edict_t *, MAX_CLIENTS> visibleTargets;
static_assert(AiBaseEnemyPool::MAX_TRACKED_ENEMIES <= MAX_CLIENTS, "targetsInPVS capacity may be exceeded");
for (int i = 0, end = std::min(candidateTargets.size(), botBrain.MaxTrackedEnemies()); i < end; ++i)
{
edict_t *ent = game.edicts + candidateTargets[i].entNum;
if (trap_inPVS(self->s.origin, ent->s.origin))
targetsInPVS.push_back(ent);
}
for (auto ent: targetsInPVS)
if (G_Visible(self, ent))
visibleTargets.push_back(ent);
// Call bot brain callbacks on visible targets
for (auto ent: visibleTargets)
botBrain.OnEnemyViewed(ent);
botBrain.AfterAllEnemiesViewed();
CheckAlertSpots(visibleTargets);
}
SelectedNavEntity BotItemsSelector::SuggestGoalNavEntity( const SelectedNavEntity &currSelectedNavEntity ) {
UpdateInternalItemAndGoalWeights();
StaticVector<NavEntityAndWeight, MAX_NAVENTS> rawWeightCandidates;
const auto levelTime = level.time;
auto *navEntitiesRegistry = NavEntitiesRegistry::Instance();
for( auto it = navEntitiesRegistry->begin(), end = navEntitiesRegistry->end(); it != end; ++it ) {
const NavEntity *navEnt = *it;
if( navEnt->IsDisabled() ) {
continue;
}
// We cannot just set a zero internal weight for a temporarily disabled nav entity
// (it might be overridden by an external weight, and we should not modify external weights
// as script users expect them remaining the same unless explicitly changed via script API)
if( disabledForSelectionUntil[navEnt->Id()] >= levelTime ) {
continue;
}
// Since movable goals have been introduced (and clients qualify as movable goals), prevent picking itself as a goal.
if( navEnt->Id() == ENTNUM( self ) ) {
continue;
}
if( navEnt->Item() && !G_Gametype_CanPickUpItem( navEnt->Item() ) ) {
continue;
}
// Reject an entity quickly if it looks like blocked by an enemy that is close to the entity.
// Note than passing this test does not guarantee that entire path to the entity is not blocked by enemies.
if( self->ai->botRef->routeCache->AreaDisabled( navEnt->AasAreaNum() ) ) {
continue;
}
// This is a coarse and cheap test, helps to reject recently picked armors and powerups
unsigned spawnTime = navEnt->SpawnTime();
// A feasible spawn time (non-zero) always >= level.time.
if( !spawnTime || level.time - spawnTime > 15000 ) {
continue;
}
float weight = GetEntityWeight( navEnt->Id() );
if( weight > 0 ) {
rawWeightCandidates.push_back( NavEntityAndWeight( navEnt, weight ) );
}
}
// Sort all pre-selected candidates by their raw weights
std::sort( rawWeightCandidates.begin(), rawWeightCandidates.end() );
// Try checking whether the bot is in some floor cluster to give a greater weight for items in the same cluster
int currFloorClusterNum = 0;
const auto &entityPhysicsState = self->ai->botRef->EntityPhysicsState();
const auto *aasFloorClusterNums = AiAasWorld::Instance()->AreaFloorClusterNums();
if( aasFloorClusterNums[entityPhysicsState->CurrAasAreaNum()] ) {
currFloorClusterNum = aasFloorClusterNums[entityPhysicsState->CurrAasAreaNum()];
} else if( aasFloorClusterNums[entityPhysicsState->DroppedToFloorAasAreaNum()] ) {
currFloorClusterNum = aasFloorClusterNums[entityPhysicsState->DroppedToFloorAasAreaNum()];
}
const NavEntity *currGoalNavEntity = currSelectedNavEntity.navEntity;
float currGoalEntWeight = 0.0f;
float currGoalEntCost = 0.0f;
const NavEntity *bestNavEnt = nullptr;
float bestWeight = 0.000001f;
float bestNavEntCost = 0.0f;
// Test not more than 16 best pre-selected by raw weight candidates.
// (We try to avoid too many expensive FindTravelTimeToGoalArea() calls,
// thats why we start from the best item to avoid wasting these calls for low-priority items)
for( unsigned i = 0, end = std::min( rawWeightCandidates.size(), 16U ); i < end; ++i ) {
const NavEntity *navEnt = rawWeightCandidates[i].goal;
float weight = rawWeightCandidates[i].weight;
unsigned moveDuration = 1;
unsigned waitDuration = 1;
if( self->ai->botRef->CurrAreaNum() != navEnt->AasAreaNum() ) {
// We ignore cost of traveling in goal area, since:
// 1) to estimate it we have to retrieve reachability to goal area from last area before the goal area
// 2) it is relative low compared to overall travel cost, and movement in areas is cheap anyway
moveDuration = self->ai->botRef->botBrain.FindTravelTimeToGoalArea( navEnt->AasAreaNum() ) * 10U;
// AAS functions return 0 as a "none" value, 1 as a lowest feasible value
if( !moveDuration ) {
continue;
}
if( navEnt->IsDroppedEntity() ) {
// Do not pick an entity that is likely to dispose before it may be reached
if( navEnt->Timeout() <= level.time + moveDuration ) {
continue;
}
}
}
unsigned spawnTime = navEnt->SpawnTime();
// The entity is not spawned and respawn time is unknown
if( !spawnTime ) {
continue;
}
// Entity origin may be reached at this time
unsigned reachTime = level.time + moveDuration;
if( reachTime < spawnTime ) {
waitDuration = spawnTime - reachTime;
}
if( waitDuration > navEnt->MaxWaitDuration() ) {
continue;
}
float moveCost = MOVE_TIME_WEIGHT * moveDuration * navEnt->CostInfluence();
float cost = 0.0001f + moveCost + WAIT_TIME_WEIGHT * waitDuration * navEnt->CostInfluence();
weight = ( 1000 * weight ) / cost;
// If the bot is inside a floor cluster
if( currFloorClusterNum ) {
// Greatly increase weight for items in the same floor cluster
if( currFloorClusterNum == aasFloorClusterNums[navEnt->AasAreaNum()] ) {
weight *= 4.0f;
}
}
// Store current weight of the current goal entity
if( currGoalNavEntity == navEnt ) {
currGoalEntWeight = weight;
// Waiting time is handled by the planner for wait actions separately.
currGoalEntCost = moveCost;
}
if( weight > bestWeight ) {
bestNavEnt = navEnt;
bestWeight = weight;
// Waiting time is handled by the planner for wait actions separately.
bestNavEntCost = moveCost;
}
}
if( !bestNavEnt ) {
Debug( "Can't find a feasible long-term goal nav. entity\n" );
return SelectedNavEntity( nullptr, std::numeric_limits<float>::max(), 0.0f, level.time + 200 );
}
// If it is time to pick a new goal (not just re-evaluate current one), do not be too sticky to the current goal
const float currToBestWeightThreshold = currGoalNavEntity != nullptr ? 0.6f : 0.8f;
if( currGoalNavEntity && currGoalNavEntity == bestNavEnt ) {
constexpr const char *format = "current goal entity %s is kept as still having best weight %.3f\n";
Debug( format, currGoalNavEntity->Name(), bestWeight );
return SelectedNavEntity( bestNavEnt, bestNavEntCost, GetGoalWeight( bestNavEnt->Id() ), level.time + 4000 );
} else if( currGoalEntWeight > 0 && currGoalEntWeight / bestWeight > currToBestWeightThreshold ) {
constexpr const char *format =
"current goal entity %s is kept as having weight %.3f good enough to not consider picking another one\n";
// If currGoalEntWeight > 0, currLongTermGoalEnt is guaranteed to be non-null
Debug( format, currGoalNavEntity->Name(), currGoalEntWeight );
return SelectedNavEntity( currGoalNavEntity, currGoalEntCost, GetGoalWeight( bestNavEnt->Id() ), level.time + 2500 );
} else {
if( currGoalNavEntity ) {
const char *format = "suggested %s weighted %.3f as a long-term goal instead of %s weighted now as %.3f\n";
Debug( format, bestNavEnt->Name(), bestWeight, currGoalNavEntity->Name(), currGoalEntWeight );
} else {
Debug( "suggested %s weighted %.3f as a new long-term goal\n", bestNavEnt->Name(), bestWeight );
}
return SelectedNavEntity( bestNavEnt, bestNavEntCost, GetGoalWeight( bestNavEnt->Id() ), level.time + 2500 );
}
}