Add Dijkstra A* and A* without prefetching pathfind algorithms

1 files changed, 1081 insertions, 0 deletions

diff --git a/src/pathfinder.cpp b/src/pathfinder.cpp
new file mode 100644
index 000000000..c7621177e
--- /dev/null
+++ b/src/pathfinder.cpp
@@ -0,0 +1,1081 @@
+/*
+Minetest
+Copyright (C) 2013 sapier, sapier at gmx dot net
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation; either version 2.1 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with this program; if not, write to the Free Software Foundation, Inc.,
+51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+*/
+
+/******************************************************************************/
+/* Includes                                                                   */
+/******************************************************************************/
+
+#include "pathfinder.h"
+
+#ifdef PATHFINDER_DEBUG
+#include <iomanip>
+#endif
+#ifdef PATHFINDER_CALC_TIME
+	#include <sys/time.h>
+#endif
+
+/******************************************************************************/
+/* Typedefs and macros                                                        */
+/******************************************************************************/
+
+//#define PATHFINDER_CALC_TIME
+
+/** shortcut to print a 3d pos */
+#define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"
+
+#define LVL "(" << level << ")" <<
+
+#ifdef PATHFINDER_DEBUG
+#define DEBUG_OUT(a)     std::cout << a
+#define INFO_TARGET      std::cout
+#define VERBOSE_TARGET   std::cout
+#define ERROR_TARGET     std::cout
+#else
+#define DEBUG_OUT(a)     while(0)
+#define INFO_TARGET      infostream
+#define VERBOSE_TARGET   verbosestream
+#define ERROR_TARGET     errorstream
+#endif
+
+/******************************************************************************/
+/* implementation                                                             */
+/******************************************************************************/
+
+std::vector<v3s16> get_Path(ServerEnvironment* env,
+							v3s16 source,
+							v3s16 destination,
+							unsigned int searchdistance,
+							unsigned int max_jump,
+							unsigned int max_drop,
+							algorithm algo) {
+
+	pathfinder searchclass;
+
+	return searchclass.get_Path(env,
+				source,destination,
+				searchdistance,max_jump,max_drop,algo);
+}
+
+/******************************************************************************/
+path_cost::path_cost()
+:	valid(false),
+	value(0),
+	direction(0),
+	updated(false)
+{
+	//intentionaly empty
+}
+
+/******************************************************************************/
+path_cost::path_cost(const path_cost& b) {
+	valid     = b.valid;
+	direction = b.direction;
+	value     = b.value;
+	updated   = b.updated;
+}
+
+/******************************************************************************/
+path_cost& path_cost::operator= (const path_cost& b) {
+	valid     = b.valid;
+	direction = b.direction;
+	value     = b.value;
+	updated   = b.updated;
+
+	return *this;
+}
+
+/******************************************************************************/
+path_gridnode::path_gridnode()
+:	valid(false),
+	target(false),
+	source(false),
+	totalcost(-1),
+	sourcedir(v3s16(0,0,0)),
+	surfaces(0),
+	pos(v3s16(0,0,0)),
+	is_element(false),
+	type('u')
+{
+	//intentionaly empty
+}
+
+/******************************************************************************/
+path_gridnode::path_gridnode(const path_gridnode& b)
+:	valid(b.valid),
+	target(b.target),
+	source(b.source),
+	totalcost(b.totalcost),
+	sourcedir(b.sourcedir),
+	surfaces(b.surfaces),
+	pos(b.pos),
+	is_element(b.is_element),
+	type(b.type)
+	{
+
+	directions[DIR_XP] = b.directions[DIR_XP];
+	directions[DIR_XM] = b.directions[DIR_XM];
+	directions[DIR_ZP] = b.directions[DIR_ZP];
+	directions[DIR_ZM] = b.directions[DIR_ZM];
+}
+
+/******************************************************************************/
+path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
+	valid      = b.valid;
+	target     = b.target;
+	source     = b.source;
+	is_element = b.is_element;
+	totalcost  = b.totalcost;
+	sourcedir  = b.sourcedir;
+	surfaces   = b.surfaces;
+	pos        = b.pos;
+	type       = b.type;
+
+	directions[DIR_XP] = b.directions[DIR_XP];
+	directions[DIR_XM] = b.directions[DIR_XM];
+	directions[DIR_ZP] = b.directions[DIR_ZP];
+	directions[DIR_ZM] = b.directions[DIR_ZM];
+
+	return *this;
+}
+
+/******************************************************************************/
+path_cost path_gridnode::get_cost(v3s16 dir) {
+	if (dir.X > 0) {
+		return directions[DIR_XP];
+	}
+	if (dir.X < 0) {
+		return directions[DIR_XM];
+	}
+	if (dir.Z > 0) {
+		return directions[DIR_ZP];
+	}
+	if (dir.Z < 0) {
+		return directions[DIR_ZM];
+	}
+	path_cost retval;
+	return retval;
+}
+
+/******************************************************************************/
+void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
+	if (dir.X > 0) {
+		directions[DIR_XP] = cost;
+	}
+	if (dir.X < 0) {
+		directions[DIR_XM] = cost;
+	}
+	if (dir.Z > 0) {
+		directions[DIR_ZP] = cost;
+	}
+	if (dir.Z < 0) {
+		directions[DIR_ZM] = cost;
+	}
+}
+
+/******************************************************************************/
+std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
+							v3s16 source,
+							v3s16 destination,
+							unsigned int searchdistance,
+							unsigned int max_jump,
+							unsigned int max_drop,
+							algorithm algo) {
+#ifdef PATHFINDER_CALC_TIME
+	timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+#endif
+	std::vector<v3s16> retval;
+
+	//check parameters
+	if (env == 0) {
+		std::cout << "missing environment pointer" << std::endl;
+		return retval;
+	}
+
+	m_searchdistance = searchdistance;
+	m_env = env;
+	m_maxjump = max_jump;
+	m_maxdrop = max_drop;
+	m_start       = source;
+	m_destination = destination;
+	m_min_target_distance = -1;
+	m_prefetch = true;
+
+	if (algo == A_PLAIN_NP) {
+		m_prefetch = false;
+	}
+
+	int min_x = MYMIN(source.X,destination.X);
+	int max_x = MYMAX(source.X,destination.X);
+
+	int min_y = MYMIN(source.Y,destination.Y);
+	int max_y = MYMAX(source.Y,destination.Y);
+
+	int min_z = MYMIN(source.Z,destination.Z);
+	int max_z = MYMAX(source.Z,destination.Z);
+
+	m_limits.X.min = min_x - searchdistance;
+	m_limits.X.max = max_x + searchdistance;
+	m_limits.Y.min = min_y - searchdistance;
+	m_limits.Y.max = max_y + searchdistance;
+	m_limits.Z.min = min_z - searchdistance;
+	m_limits.Z.max = max_z + searchdistance;
+
+	m_max_index_x = m_limits.X.max - m_limits.X.min;
+	m_max_index_y = m_limits.Y.max - m_limits.Y.min;
+	m_max_index_z = m_limits.Z.max - m_limits.Z.min;
+
+	//build data map
+	if (!build_costmap()) {
+		std::cout << "failed to build costmap" << std::endl;
+		return retval;
+	}
+#ifdef PATHFINDER_DEBUG
+	print_type();
+	print_cost();
+	print_ydir();
+#endif
+
+	//validate and mark start and end pos
+	v3s16 StartIndex  = getIndexPos(source);
+	v3s16 EndIndex    = getIndexPos(destination);
+
+	path_gridnode& startpos = getIndexElement(StartIndex);
+	path_gridnode& endpos   = getIndexElement(EndIndex);
+
+	if (!startpos.valid) {
+		std::cout << "invalid startpos" <<
+				"Index: " << PPOS(StartIndex) <<
+				"Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
+		return retval;
+	}
+	if (!endpos.valid) {
+		std::cout << "invalid stoppos" <<
+				"Index: " << PPOS(EndIndex) <<
+				"Realpos: " << PPOS(getRealPos(EndIndex)) << std::endl;
+		return retval;
+	}
+
+	endpos.target      = true;
+	startpos.source    = true;
+	startpos.totalcost = 0;
+
+	bool update_cost_retval = false;
+
+	switch (algo) {
+		case DIJKSTRA:
+			update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
+			break;
+		case A_PLAIN_NP:
+		case A_PLAIN:
+			update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0);
+			break;
+		default:
+			std::cout << "missing algorithm"<< std::endl;
+			break;
+	}
+
+	if (update_cost_retval) {
+
+#ifdef PATHFINDER_DEBUG
+		std::cout << "Path to target found!" << std::endl;
+		print_pathlen();
+#endif
+
+		//find path
+		std::vector<v3s16> path;
+		build_path(path,EndIndex,0);
+
+#ifdef PATHFINDER_DEBUG
+		std::cout << "Full index path:" << std::endl;
+		print_path(path);
+#endif
+
+		//optimize path
+		std::vector<v3s16> optimized_path;
+
+		std::vector<v3s16>::iterator startpos = path.begin();
+		optimized_path.push_back(source);
+
+		for (std::vector<v3s16>::iterator i = path.begin();
+					i != path.end(); i++) {
+			if (!m_env->line_of_sight(
+				tov3f(getIndexElement(*startpos).pos),
+				tov3f(getIndexElement(*i).pos))) {
+				optimized_path.push_back(getIndexElement(*(i-1)).pos);
+				startpos = (i-1);
+			}
+		}
+
+		optimized_path.push_back(destination);
+
+#ifdef PATHFINDER_DEBUG
+		std::cout << "Optimized path:" << std::endl;
+		print_path(optimized_path);
+#endif
+#ifdef PATHFINDER_CALC_TIME
+		timespec ts2;
+		clock_gettime(CLOCK_REALTIME, &ts2);
+
+		int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
+		int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
+		int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
+
+
+		std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
+				"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
+#endif
+		return optimized_path;
+	}
+	else {
+#ifdef PATHFINDER_DEBUG
+		print_pathlen();
+#endif
+		std::cout << "failed to update cost map"<< std::endl;
+	}
+
+
+	//return
+	return retval;
+}
+
+/******************************************************************************/
+pathfinder::pathfinder() :
+	m_max_index_x(0),
+	m_max_index_y(0),
+	m_max_index_z(0),
+	m_searchdistance(0),
+	m_maxdrop(0),
+	m_maxjump(0),
+	m_min_target_distance(0),
+	m_prefetch(true),
+	m_start(0,0,0),
+	m_destination(0,0,0),
+	m_limits(),
+	m_data(),
+	m_env(0)
+{
+	//intentionaly empty
+}
+
+/******************************************************************************/
+v3s16 pathfinder::getRealPos(v3s16 ipos) {
+
+	v3s16 retval = ipos;
+
+	retval.X += m_limits.X.min;
+	retval.Y += m_limits.Y.min;
+	retval.Z += m_limits.Z.min;
+
+	return retval;
+}
+
+/******************************************************************************/
+bool pathfinder::build_costmap()
+{
+	INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
+												<< m_limits.Z.min << ") ("
+												<< m_limits.X.max << ","
+												<< m_limits.Z.max << ")"
+												<< std::endl;
+	m_data.resize(m_max_index_x);
+	for (int x = 0; x < m_max_index_x; x++) {
+		m_data[x].resize(m_max_index_z);
+		for (int z = 0; z < m_max_index_z; z++) {
+			m_data[x][z].resize(m_max_index_y);
+
+			int surfaces = 0;
+			for (int y = 0; y < m_max_index_y; y++) {
+				v3s16 ipos(x,y,z);
+
+				v3s16 realpos = getRealPos(ipos);
+
+				MapNode current = m_env->getMap().getNodeNoEx(realpos);
+				MapNode below   = m_env->getMap().getNodeNoEx(realpos + v3s16(0,-1,0));
+
+
+				if ((current.param0 == CONTENT_IGNORE) ||
+						(below.param0 == CONTENT_IGNORE)) {
+					DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
+							" current or below is invalid element" << std::endl);
+					if (current.param0 == CONTENT_IGNORE) {
+						m_data[x][z][y].type = 'i';
+						DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
+					}
+					continue;
+				}
+
+				//don't add anything if it isn't an air node
+				if ((current.param0 != CONTENT_AIR) ||
+						(below.param0 == CONTENT_AIR )) {
+						DEBUG_OUT("Pathfinder: " << PPOS(realpos)
+								<< " not on surface" << std::endl);
+						if (current.param0 != CONTENT_AIR) {
+							m_data[x][z][y].type = 's';
+							DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
+						}
+						else {
+							m_data[x][z][y].type   = '-';
+							DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
+						}
+						continue;
+				}
+
+				surfaces++;
+
+				m_data[x][z][y].valid  = true;
+				m_data[x][z][y].pos    = realpos;
+				m_data[x][z][y].type   = 'g';
+				DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);
+
+				if (m_prefetch) {
+				m_data[x][z][y].directions[DIR_XP] =
+											calc_cost(realpos,v3s16( 1,0, 0));
+				m_data[x][z][y].directions[DIR_XM] =
+											calc_cost(realpos,v3s16(-1,0, 0));
+				m_data[x][z][y].directions[DIR_ZP] =
+											calc_cost(realpos,v3s16( 0,0, 1));
+				m_data[x][z][y].directions[DIR_ZM] =
+											calc_cost(realpos,v3s16( 0,0,-1));
+				}
+
+			}
+
+			if (surfaces >= 1 ) {
+				for (int y = 0; y < m_max_index_y; y++) {
+					if (m_data[x][z][y].valid) {
+						m_data[x][z][y].surfaces = surfaces;
+					}
+				}
+			}
+		}
+	}
+	return true;
+}
+
+/******************************************************************************/
+path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
+	path_cost retval;
+
+	retval.updated = true;
+
+	v3s16 pos2 = pos + dir;
+
+	//check limits
+	if (    (pos2.X < m_limits.X.min) ||
+			(pos2.X >= m_limits.X.max) ||
+			(pos2.Z < m_limits.Z.min) ||
+			(pos2.Z >= m_limits.Z.max)) {
+		DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
+				" no cost -> out of limits" << std::endl);
+		return retval;
+	}
+
+	MapNode node_at_pos2 = m_env->getMap().getNodeNoEx(pos2);
+
+	//did we get information about node?
+	if (node_at_pos2.param0 == CONTENT_IGNORE ) {
+			VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
+					<< PPOS(pos2) << " not loaded";
+			return retval;
+	}
+
+	if (node_at_pos2.param0 == CONTENT_AIR) {
+		MapNode node_below_pos2 =
+							m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));
+
+		//did we get information about node?
+		if (node_below_pos2.param0 == CONTENT_IGNORE ) {
+				VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
+					<< PPOS((pos2 + v3s16(0,-1,0))) << " not loaded";
+				return retval;
+		}
+
+		if (node_below_pos2.param0 != CONTENT_AIR) {
+			retval.valid = true;
+			retval.value = 1;
+			retval.direction = 0;
+			DEBUG_OUT("Pathfinder: "<< PPOS(pos)
+					<< " cost same height found" << std::endl);
+		}
+		else {
+			v3s16 testpos = pos2 - v3s16(0,-1,0);
+			MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
+
+			while ((node_at_pos.param0 != CONTENT_IGNORE) &&
+					(node_at_pos.param0 == CONTENT_AIR) &&
+					(testpos.Y > m_limits.Y.min)) {
+				testpos += v3s16(0,-1,0);
+				node_at_pos = m_env->getMap().getNodeNoEx(testpos);
+			}
+
+			//did we find surface?
+			if ((testpos.Y >= m_limits.Y.min) &&
+					(node_at_pos.param0 != CONTENT_IGNORE) &&
+					(node_at_pos.param0 != CONTENT_AIR)) {
+				if (((pos2.Y - testpos.Y)*-1) <= m_maxdrop) {
+					retval.valid = true;
+					retval.value = 2;
+					//difference of y-pos +1 (target node is ABOVE solid node)
+					retval.direction = ((testpos.Y - pos2.Y) +1);
+					DEBUG_OUT("Pathfinder cost below height found" << std::endl);
+				}
+				else {
+					INFO_TARGET << "Pathfinder:"
+							" distance to surface below to big: "
+							<< (testpos.Y - pos2.Y) << " max: " << m_maxdrop
+							<< std::endl;
+				}
+			}
+			else {
+				DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
+			}
+		}
+	}
+	else {
+		v3s16 testpos = pos2;
+		MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
+
+		while ((node_at_pos.param0 != CONTENT_IGNORE) &&
+				(node_at_pos.param0 != CONTENT_AIR) &&
+				(testpos.Y < m_limits.Y.max)) {
+			testpos += v3s16(0,1,0);
+			node_at_pos = m_env->getMap().getNodeNoEx(testpos);
+		}
+
+		//did we find surface?
+		if ((testpos.Y <= m_limits.Y.max) &&
+				(node_at_pos.param0 == CONTENT_AIR)) {
+
+			if (testpos.Y - pos2.Y <= m_maxjump) {
+				retval.valid = true;
+				retval.value = 2;
+				retval.direction = (testpos.Y - pos2.Y);
+				DEBUG_OUT("Pathfinder cost above found" << std::endl);
+			}
+			else {
+				DEBUG_OUT("Pathfinder: distance to surface above to big: "
+						<< (testpos.Y - pos2.Y) << " max: " << m_maxjump
+						<< std::endl);
+			}
+		}
+		else {
+			DEBUG_OUT("Pathfinder: no surface above found" << std::endl);
+		}
+	}
+	return retval;
+}
+
+/******************************************************************************/
+v3s16 pathfinder::getIndexPos(v3s16 pos) {
+
+	v3s16 retval = pos;
+	retval.X -= m_limits.X.min;
+	retval.Y -= m_limits.Y.min;
+	retval.Z -= m_limits.Z.min;
+
+	return retval;
+}
+
+/******************************************************************************/
+path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
+	return m_data[ipos.X][ipos.Z][ipos.Y];
+}
+
+/******************************************************************************/
+bool pathfinder::valid_index(v3s16 index) {
+	if (	(index.X < m_max_index_x) &&
+			(index.Y < m_max_index_y) &&
+			(index.Z < m_max_index_z) &&
+			(index.X >= 0) &&
+			(index.Y >= 0) &&
+			(index.Z >= 0))
+		return true;
+
+	return false;
+}
+
+/******************************************************************************/
+v3s16 pathfinder::invert(v3s16 pos) {
+	v3s16 retval = pos;
+
+	retval.X *=-1;
+	retval.Y *=-1;
+	retval.Z *=-1;
+
+	return retval;
+}
+
+/******************************************************************************/
+bool pathfinder::update_all_costs(	v3s16 ipos,
+									v3s16 srcdir,
+									int current_cost,
+									int level) {
+
+	path_gridnode& g_pos = getIndexElement(ipos);
+	g_pos.totalcost = current_cost;
+	g_pos.sourcedir = srcdir;
+
+	level ++;
+
+	//check if target has been found
+	if (g_pos.target) {
+		m_min_target_distance = current_cost;
+		DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
+		return true;
+	}
+
+	bool retval = false;
+
+	std::vector<v3s16> directions;
+
+	directions.push_back(v3s16( 1,0, 0));
+	directions.push_back(v3s16(-1,0, 0));
+	directions.push_back(v3s16( 0,0, 1));
+	directions.push_back(v3s16( 0,0,-1));
+
+	for (unsigned int i=0; i < directions.size(); i++) {
+		if (directions[i] != srcdir) {
+			path_cost cost = g_pos.get_cost(directions[i]);
+
+			if (cost.valid) {
+				directions[i].Y = cost.direction;
+
+				v3s16 ipos2 = ipos + directions[i];
+
+				if (!valid_index(ipos2)) {
+					DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
+							" out of range (" << m_limits.X.max << "," <<
+							m_limits.Y.max << "," << m_limits.Z.max
+							<<")" << std::endl);
+					continue;
+				}
+
+				path_gridnode& g_pos2 = getIndexElement(ipos2);
+
+				if (!g_pos2.valid) {
+					VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
+												<< PPOS(ipos2) << std::endl;
+					continue;
+				}
+
+				assert(cost.value > 0);
+
+				int new_cost = current_cost + cost.value;
+
+				// check if there already is a smaller path
+				if ((m_min_target_distance > 0) &&
+						(m_min_target_distance < new_cost)) {
+					return false;
+				}
+
+				if ((g_pos2.totalcost < 0) ||
+						(g_pos2.totalcost > new_cost)) {
+					int old_cost = g_pos2.totalcost;
+					DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
+							PPOS(ipos2) << " from: " << old_cost << " to "<<
+							new_cost << std::endl);
+					if (update_all_costs(ipos2,invert(directions[i]),
+											new_cost,level)) {
+						retval = true;
+						}
+					}
+				else {
+					DEBUG_OUT(LVL "Pathfinder:"
+							" already found shorter path to: "
+							<< PPOS(ipos2) << std::endl);
+				}
+			}
+			else {
+				DEBUG_OUT(LVL "Pathfinder:"
+						" not moving to invalid direction: "
+						<< PPOS(directions[i]) << std::endl);
+			}
+		}
+	}
+	return retval;
+}
+
+/******************************************************************************/
+int pathfinder::get_manhattandistance(v3s16 pos) {
+
+	int min_x = MYMIN(pos.X,m_destination.X);
+	int max_x = MYMAX(pos.X,m_destination.X);
+	int min_z = MYMIN(pos.Z,m_destination.Z);
+	int max_z = MYMAX(pos.Z,m_destination.Z);
+
+	return (max_x - min_x) + (max_z - min_z);
+}
+
+/******************************************************************************/
+v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos) {
+	int   minscore = -1;
+	v3s16 retdir   = v3s16(0,0,0);
+	v3s16 srcpos = g_pos.pos;
+	DEBUG_OUT("Pathfinder: remaining dirs at beginning:"
+				<< directions.size() << std::endl);
+
+	for (std::vector<v3s16>::iterator iter = directions.begin();
+			iter != directions.end();
+			iter ++) {
+
+		v3s16 pos1 =  v3s16(srcpos.X + iter->X,0,srcpos.Z+iter->Z);
+
+		int cur_manhattan = get_manhattandistance(pos1);
+		path_cost cost    = g_pos.get_cost(*iter);
+
+		if (!cost.updated) {
+			cost = calc_cost(g_pos.pos,*iter);
+			g_pos.set_cost(*iter,cost);
+		}
+
+		if (cost.valid) {
+			int score = cost.value + cur_manhattan;
+
+			if ((minscore < 0)|| (score < minscore)) {
+				minscore = score;
+				retdir = *iter;
+			}
+		}
+	}
+
+	if (retdir != v3s16(0,0,0)) {
+		for (std::vector<v3s16>::iterator iter = directions.begin();
+					iter != directions.end();
+					iter ++) {
+			if(*iter == retdir) {
+				DEBUG_OUT("Pathfinder: removing return direction" << std::endl);
+				directions.erase(iter);
+				break;
+			}
+		}
+	}
+	else {
+		DEBUG_OUT("Pathfinder: didn't find any valid direction clearing"
+					<< std::endl);
+		directions.clear();
+	}
+	DEBUG_OUT("Pathfinder: remaining dirs at end:" << directions.size()
+				<< std::endl);
+	return retdir;
+}
+
+/******************************************************************************/
+bool pathfinder::update_cost_heuristic(	v3s16 ipos,
+									v3s16 srcdir,
+									int current_cost,
+									int level) {
+
+	path_gridnode& g_pos = getIndexElement(ipos);
+	g_pos.totalcost = current_cost;
+	g_pos.sourcedir = srcdir;
+
+	level ++;
+
+	//check if target has been found
+	if (g_pos.target) {
+		m_min_target_distance = current_cost;
+		DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
+		return true;
+	}
+
+	bool retval = false;
+
+	std::vector<v3s16> directions;
+
+	directions.push_back(v3s16( 1,0, 0));
+	directions.push_back(v3s16(-1,0, 0));
+	directions.push_back(v3s16( 0,0, 1));
+	directions.push_back(v3s16( 0,0,-1));
+
+	v3s16 direction = get_dir_heuristic(directions,g_pos);
+
+	while (direction != v3s16(0,0,0) && (!retval)) {
+
+		if (direction != srcdir) {
+			path_cost cost = g_pos.get_cost(direction);
+
+			if (cost.valid) {
+				direction.Y = cost.direction;
+
+				v3s16 ipos2 = ipos + direction;
+
+				if (!valid_index(ipos2)) {
+					DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
+							" out of range (" << m_limits.X.max << "," <<
+							m_limits.Y.max << "," << m_limits.Z.max
+							<<")" << std::endl);
+					continue;
+				}
+
+				path_gridnode& g_pos2 = getIndexElement(ipos2);
+
+				if (!g_pos2.valid) {
+					VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
+												<< PPOS(ipos2) << std::endl;
+					continue;
+				}
+
+				assert(cost.value > 0);
+
+				int new_cost = current_cost + cost.value;
+
+				// check if there already is a smaller path
+				if ((m_min_target_distance > 0) &&
+						(m_min_target_distance < new_cost)) {
+					DEBUG_OUT(LVL "Pathfinder:"
+							" already longer than best already found path "
+							<< PPOS(ipos2) << std::endl);
+					return false;
+				}
+
+				if ((g_pos2.totalcost < 0) ||
+						(g_pos2.totalcost > new_cost)) {
+					int old_cost = g_pos2.totalcost;
+					DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
+							PPOS(ipos2) << " from: " << old_cost << " to "<<
+							new_cost << " srcdir=" <<
+							PPOS(invert(direction))<< std::endl);
+					if (update_cost_heuristic(ipos2,invert(direction),
+											new_cost,level)) {
+						retval = true;
+						}
+					}
+				else {
+					DEBUG_OUT(LVL "Pathfinder:"
+							" already found shorter path to: "
+							<< PPOS(ipos2) << std::endl);
+				}
+			}
+			else {
+				DEBUG_OUT(LVL "Pathfinder:"
+						" not moving to invalid direction: "
+						<< PPOS(direction) << std::endl);
+			}
+		}
+		else {
+			DEBUG_OUT(LVL "Pathfinder:"
+							" skipping srcdir: "
+							<< PPOS(direction) << std::endl);
+		}
+		direction = get_dir_heuristic(directions,g_pos);
+	}
+	return retval;
+}
+
+/******************************************************************************/
+void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
+	level ++;
+	if (level > 1000) {
+		ERROR_TARGET
+		<< LVL "Pathfinder: path is too long aborting" << std::endl;
+		return;
+	}
+
+	path_gridnode& g_pos = getIndexElement(pos);
+	if (!g_pos.valid) {
+		ERROR_TARGET
+		<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
+		return;
+	}
+
+	g_pos.is_element = true;
+
+	//check if source reached
+	if (g_pos.source) {
+		path.push_back(pos);
+		return;
+	}
+
+	build_path(path,pos + g_pos.sourcedir,level);
+	path.push_back(pos);
+}
+
+/******************************************************************************/
+v3f pathfinder::tov3f(v3s16 pos) {
+	return v3f(BS*pos.X,BS*pos.Y,BS*pos.Z);
+}
+
+#ifdef PATHFINDER_DEBUG
+
+/******************************************************************************/
+void pathfinder::print_cost() {
+	print_cost(DIR_XP);
+	print_cost(DIR_XM);
+	print_cost(DIR_ZP);
+	print_cost(DIR_ZM);
+}
+
+/******************************************************************************/
+void pathfinder::print_ydir() {
+	print_ydir(DIR_XP);
+	print_ydir(DIR_XM);
+	print_ydir(DIR_ZP);
+	print_ydir(DIR_ZM);
+}
+
+/******************************************************************************/
+void pathfinder::print_cost(path_directions dir) {
+
+	std::cout << "Cost in direction: " << dir_to_name(dir) << std::endl;
+	std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
+	std::cout << std::setfill(' ');
+	for (int y = 0; y < m_max_index_y; y++) {
+
+		std::cout << "Level: " << y << std::endl;
+
+		std::cout << std::setw(4) << " " << "  ";
+		for (int x = 0; x < m_max_index_x; x++) {
+			std::cout << std::setw(4) << x;
+		}
+		std::cout << std::endl;
+
+		for (int z = 0; z < m_max_index_z; z++) {
+			std::cout << std::setw(4) << z <<": ";
+			for (int x = 0; x < m_max_index_x; x++) {
+				if (m_data[x][z][y].directions[dir].valid)
+					std::cout << std::setw(4)
+						<< m_data[x][z][y].directions[dir].value;
+				else
+					std::cout << std::setw(4) << "-";
+				}
+			std::cout << std::endl;
+		}
+		std::cout << std::endl;
+	}
+}
+
+/******************************************************************************/
+void pathfinder::print_ydir(path_directions dir) {
+
+	std::cout << "Height difference in direction: " << dir_to_name(dir) << std::endl;
+	std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
+	std::cout << std::setfill(' ');
+	for (int y = 0; y < m_max_index_y; y++) {
+
+		std::cout << "Level: " << y << std::endl;
+
+		std::cout << std::setw(4) << " " << "  ";
+		for (int x = 0; x < m_max_index_x; x++) {
+			std::cout << std::setw(4) << x;
+		}
+		std::cout << std::endl;
+
+		for (int z = 0; z < m_max_index_z; z++) {
+			std::cout << std::setw(4) << z <<": ";
+			for (int x = 0; x < m_max_index_x; x++) {
+				if (m_data[x][z][y].directions[dir].valid)
+					std::cout << std::setw(4)
+						<< m_data[x][z][y].directions[dir].direction;
+				else
+					std::cout << std::setw(4) << "-";
+				}
+			std::cout << std::endl;
+		}
+		std::cout << std::endl;
+	}
+}
+
+/******************************************************************************/
+void pathfinder::print_type() {
+	std::cout << "Type of node:" << std::endl;
+	std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
+	std::cout << std::setfill(' ');
+	for (int y = 0; y < m_max_index_y; y++) {
+
+		std::cout << "Level: " << y << std::endl;
+
+		std::cout << std::setw(3) << " " << "  ";
+		for (int x = 0; x < m_max_index_x; x++) {
+			std::cout << std::setw(3) << x;
+		}
+		std::cout << std::endl;
+
+		for (int z = 0; z < m_max_index_z; z++) {
+			std::cout << std::setw(3) << z <<": ";
+			for (int x = 0; x < m_max_index_x; x++) {
+				char toshow = m_data[x][z][y].type;
+				std::cout << std::setw(3) << toshow;
+			}
+			std::cout << std::endl;
+		}
+		std::cout << std::endl;
+	}
+	std::cout << std::endl;
+}
+
+/******************************************************************************/
+void pathfinder::print_pathlen() {
+	std::cout << "Pathlen:" << std::endl;
+		std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
+		std::cout << std::setfill(' ');
+		for (int y = 0; y < m_max_index_y; y++) {
+
+			std::cout << "Level: " << y << std::endl;
+
+			std::cout << std::setw(3) << " " << "  ";
+			for (int x = 0; x < m_max_index_x; x++) {
+				std::cout << std::setw(3) << x;
+			}
+			std::cout << std::endl;
+
+			for (int z = 0; z < m_max_index_z; z++) {
+				std::cout << std::setw(3) << z <<": ";
+				for (int x = 0; x < m_max_index_x; x++) {
+					std::cout << std::setw(3) << m_data[x][z][y].totalcost;
+				}
+				std::cout << std::endl;
+			}
+			std::cout << std::endl;
+		}
+		std::cout << std::endl;
+}
+
+/******************************************************************************/
+std::string pathfinder::dir_to_name(path_directions dir) {
+	switch (dir) {
+	case DIR_XP:
+		return "XP";
+		break;
+	case DIR_XM:
+		return "XM";
+		break;
+	case DIR_ZP:
+		return "ZP";
+		break;
+	case DIR_ZM:
+		return "ZM";
+		break;
+	default:
+		return "UKN";
+	}
+}
+
+/******************************************************************************/
+void pathfinder::print_path(std::vector<v3s16> path) {
+
+	unsigned int current = 0;
+	for (std::vector<v3s16>::iterator i = path.begin();
+			i != path.end(); i++) {
+		std::cout << std::setw(3) << current << ":" << PPOS((*i)) << std::endl;
+		current++;
+	}
+}
+
+#endif