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-rw-r--r--src/pathfinder.cpp906
1 files changed, 625 insertions, 281 deletions
diff --git a/src/pathfinder.cpp b/src/pathfinder.cpp
index 8eb52bfd1..57a008ead 100644
--- a/src/pathfinder.cpp
+++ b/src/pathfinder.cpp
@@ -1,6 +1,7 @@
/*
Minetest
Copyright (C) 2013 sapier, sapier at gmx dot net
+Copyright (C) 2016 est31, <MTest31@outlook.com>
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
@@ -23,11 +24,20 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include "pathfinder.h"
#include "environment.h"
+#include "gamedef.h"
+#include "nodedef.h"
#include "map.h"
#include "log.h"
+#include "irr_aabb3d.h"
+//#define PATHFINDER_DEBUG
+//#define PATHFINDER_CALC_TIME
+
+#ifdef PATHFINDER_DEBUG
+ #include <string>
+#endif
#ifdef PATHFINDER_DEBUG
-#include <iomanip>
+ #include <iomanip>
#endif
#ifdef PATHFINDER_CALC_TIME
#include <sys/time.h>
@@ -37,8 +47,6 @@ with this program; if not, write to the Free Software Foundation, Inc.,
/* Typedefs and macros */
/******************************************************************************/
-//#define PATHFINDER_CALC_TIME
-
/** shortcut to print a 3d pos */
#define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"
@@ -51,32 +59,349 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#define ERROR_TARGET std::cout
#else
#define DEBUG_OUT(a) while(0)
-#define INFO_TARGET infostream << "pathfinder: "
-#define VERBOSE_TARGET verbosestream << "pathfinder: "
-#define ERROR_TARGET errorstream << "pathfinder: "
+#define INFO_TARGET infostream << "Pathfinder: "
+#define VERBOSE_TARGET verbosestream << "Pathfinder: "
+#define ERROR_TARGET errorstream << "Pathfinder: "
+#endif
+
+/******************************************************************************/
+/* Class definitions */
+/******************************************************************************/
+
+
+/** representation of cost in specific direction */
+class PathCost {
+public:
+
+ /** default constructor */
+ PathCost();
+
+ /** copy constructor */
+ PathCost(const PathCost &b);
+
+ /** assignment operator */
+ PathCost &operator= (const PathCost &b);
+
+ bool valid; /**< movement is possible */
+ int value; /**< cost of movement */
+ int direction; /**< y-direction of movement */
+ bool updated; /**< this cost has ben calculated */
+
+};
+
+
+/** representation of a mapnode to be used for pathfinding */
+class PathGridnode {
+
+public:
+ /** default constructor */
+ PathGridnode();
+
+ /** copy constructor */
+ PathGridnode(const PathGridnode &b);
+
+ /**
+ * assignment operator
+ * @param b node to copy
+ */
+ PathGridnode &operator= (const PathGridnode &b);
+
+ /**
+ * read cost in a specific direction
+ * @param dir direction of cost to fetch
+ */
+ PathCost getCost(v3s16 dir);
+
+ /**
+ * set cost value for movement
+ * @param dir direction to set cost for
+ * @cost cost to set
+ */
+ void setCost(v3s16 dir, PathCost cost);
+
+ bool valid; /**< node is on surface */
+ bool target; /**< node is target position */
+ bool source; /**< node is stating position */
+ int totalcost; /**< cost to move here from starting point */
+ v3s16 sourcedir; /**< origin of movement for current cost */
+ v3s16 pos; /**< real position of node */
+ PathCost directions[4]; /**< cost in different directions */
+
+ /* debug values */
+ bool is_element; /**< node is element of path detected */
+ char type; /**< type of node */
+};
+
+class Pathfinder;
+
+/** Abstract class to manage the map data */
+class GridNodeContainer {
+public:
+ virtual PathGridnode &access(v3s16 p)=0;
+ virtual ~GridNodeContainer() {}
+protected:
+ Pathfinder *m_pathf;
+
+ void initNode(v3s16 ipos, PathGridnode *p_node);
+};
+
+class ArrayGridNodeContainer : public GridNodeContainer {
+public:
+ virtual ~ArrayGridNodeContainer() {}
+ ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
+ virtual PathGridnode &access(v3s16 p);
+private:
+ v3s16 m_dimensions;
+
+ int m_x_stride;
+ int m_y_stride;
+ std::vector<PathGridnode> m_nodes_array;
+};
+
+class MapGridNodeContainer : public GridNodeContainer {
+public:
+ virtual ~MapGridNodeContainer() {}
+ MapGridNodeContainer(Pathfinder *pathf);
+ virtual PathGridnode &access(v3s16 p);
+private:
+ std::map<v3s16, PathGridnode> m_nodes;
+};
+
+/** class doing pathfinding */
+class Pathfinder {
+
+public:
+ /**
+ * default constructor
+ */
+ Pathfinder();
+
+ ~Pathfinder();
+
+ /**
+ * path evaluation function
+ * @param env environment to look for path
+ * @param source origin of path
+ * @param destination end position of path
+ * @param searchdistance maximum number of nodes to look in each direction
+ * @param max_jump maximum number of blocks a path may jump up
+ * @param max_drop maximum number of blocks a path may drop
+ * @param algo Algorithm to use for finding a path
+ */
+ std::vector<v3s16> getPath(ServerEnvironment *env,
+ v3s16 source,
+ v3s16 destination,
+ unsigned int searchdistance,
+ unsigned int max_jump,
+ unsigned int max_drop,
+ PathAlgorithm algo);
+
+private:
+ /* helper functions */
+
+ /**
+ * transform index pos to mappos
+ * @param ipos a index position
+ * @return map position
+ */
+ v3s16 getRealPos(v3s16 ipos);
+
+ /**
+ * transform mappos to index pos
+ * @param pos a real pos
+ * @return index position
+ */
+ v3s16 getIndexPos(v3s16 pos);
+
+ /**
+ * get gridnode at a specific index position
+ * @param ipos index position
+ * @return gridnode for index
+ */
+ PathGridnode &getIndexElement(v3s16 ipos);
+
+ /**
+ * Get gridnode at a specific index position
+ * @return gridnode for index
+ */
+ PathGridnode &getIdxElem(s16 x, s16 y, s16 z);
+
+ /**
+ * invert a 3d position
+ * @param pos 3d position
+ * @return pos *-1
+ */
+ v3s16 invert(v3s16 pos);
+
+ /**
+ * check if a index is within current search area
+ * @param index position to validate
+ * @return true/false
+ */
+ bool isValidIndex(v3s16 index);
+
+ /**
+ * translate position to float position
+ * @param pos integer position
+ * @return float position
+ */
+ v3f tov3f(v3s16 pos);
+
+
+ /* algorithm functions */
+
+ /**
+ * calculate 2d manahttan distance to target on the xz plane
+ * @param pos position to calc distance
+ * @return integer distance
+ */
+ int getXZManhattanDist(v3s16 pos);
+
+ /**
+ * get best direction based uppon heuristics
+ * @param directions list of unchecked directions
+ * @param g_pos mapnode to start from
+ * @return direction to check
+ */
+ v3s16 getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos);
+
+ /**
+ * build internal data representation of search area
+ * @return true/false if costmap creation was successfull
+ */
+ bool buildCostmap();
+
+ /**
+ * calculate cost of movement
+ * @param pos real world position to start movement
+ * @param dir direction to move to
+ * @return cost information
+ */
+ PathCost calcCost(v3s16 pos, v3s16 dir);
+
+ /**
+ * recursive update whole search areas total cost information
+ * @param ipos position to check next
+ * @param srcdir positionc checked last time
+ * @param total_cost cost of moving to ipos
+ * @param level current recursion depth
+ * @return true/false path to destination has been found
+ */
+ bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int total_cost, int level);
+
+ /**
+ * recursive try to find a patrh to destionation
+ * @param ipos position to check next
+ * @param srcdir positionc checked last time
+ * @param total_cost cost of moving to ipos
+ * @param level current recursion depth
+ * @return true/false path to destination has been found
+ */
+ bool updateCostHeuristic(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
+
+ /**
+ * recursive build a vector containing all nodes from source to destination
+ * @param path vector to add nodes to
+ * @param pos pos to check next
+ * @param level recursion depth
+ */
+ void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
+
+ /* variables */
+ int m_max_index_x; /**< max index of search area in x direction */
+ int m_max_index_y; /**< max index of search area in y direction */
+ int m_max_index_z; /**< max index of search area in z direction */
+
+
+ int m_searchdistance; /**< max distance to search in each direction */
+ int m_maxdrop; /**< maximum number of blocks a path may drop */
+ int m_maxjump; /**< maximum number of blocks a path may jump */
+ int m_min_target_distance; /**< current smalest path to target */
+
+ bool m_prefetch; /**< prefetch cost data */
+
+ v3s16 m_start; /**< source position */
+ v3s16 m_destination; /**< destination position */
+
+ core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
+
+ /** contains all map data already collected and analyzed.
+ Access it via the getIndexElement/getIdxElem methods. */
+ friend class GridNodeContainer;
+ GridNodeContainer *m_nodes_container;
+
+ ServerEnvironment *m_env; /**< minetest environment pointer */
+
+#ifdef PATHFINDER_DEBUG
+
+ /**
+ * print collected cost information
+ */
+ void printCost();
+
+ /**
+ * print collected cost information in a specific direction
+ * @param dir direction to print
+ */
+ void printCost(PathDirections dir);
+
+ /**
+ * print type of node as evaluated
+ */
+ void printType();
+
+ /**
+ * print pathlenght for all nodes in search area
+ */
+ void printPathLen();
+
+ /**
+ * print a path
+ * @param path path to show
+ */
+ void printPath(std::vector<v3s16> path);
+
+ /**
+ * print y direction for all movements
+ */
+ void printYdir();
+
+ /**
+ * print y direction for moving in a specific direction
+ * @param dir direction to show data
+ */
+ void printYdir(PathDirections dir);
+
+ /**
+ * helper function to translate a direction to speaking text
+ * @param dir direction to translate
+ * @return textual name of direction
+ */
+ std::string dirToName(PathDirections dir);
#endif
+};
/******************************************************************************/
/* implementation */
/******************************************************************************/
-std::vector<v3s16> get_Path(ServerEnvironment* env,
+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;
+ PathAlgorithm algo)
+{
+ Pathfinder searchclass;
- return searchclass.get_Path(env,
- source,destination,
- searchdistance,max_jump,max_drop,algo);
+ return searchclass.getPath(env,
+ source, destination,
+ searchdistance, max_jump, max_drop, algo);
}
/******************************************************************************/
-path_cost::path_cost()
+PathCost::PathCost()
: valid(false),
value(0),
direction(0),
@@ -86,7 +411,8 @@ path_cost::path_cost()
}
/******************************************************************************/
-path_cost::path_cost(const path_cost& b) {
+PathCost::PathCost(const PathCost &b)
+{
valid = b.valid;
direction = b.direction;
value = b.value;
@@ -94,7 +420,8 @@ path_cost::path_cost(const path_cost& b) {
}
/******************************************************************************/
-path_cost& path_cost::operator= (const path_cost& b) {
+PathCost &PathCost::operator= (const PathCost &b)
+{
valid = b.valid;
direction = b.direction;
value = b.value;
@@ -104,14 +431,13 @@ path_cost& path_cost::operator= (const path_cost& b) {
}
/******************************************************************************/
-path_gridnode::path_gridnode()
+PathGridnode::PathGridnode()
: valid(false),
target(false),
source(false),
totalcost(-1),
- sourcedir(v3s16(0,0,0)),
- surfaces(0),
- pos(v3s16(0,0,0)),
+ sourcedir(v3s16(0, 0, 0)),
+ pos(v3s16(0, 0, 0)),
is_element(false),
type('u')
{
@@ -119,17 +445,16 @@ path_gridnode::path_gridnode()
}
/******************************************************************************/
-path_gridnode::path_gridnode(const path_gridnode& b)
+PathGridnode::PathGridnode(const PathGridnode &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];
@@ -138,14 +463,14 @@ path_gridnode::path_gridnode(const path_gridnode& b)
}
/******************************************************************************/
-path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
+PathGridnode &PathGridnode::operator= (const PathGridnode &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;
@@ -158,7 +483,8 @@ path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
}
/******************************************************************************/
-path_cost path_gridnode::get_cost(v3s16 dir) {
+PathCost PathGridnode::getCost(v3s16 dir)
+{
if (dir.X > 0) {
return directions[DIR_XP];
}
@@ -171,12 +497,13 @@ path_cost path_gridnode::get_cost(v3s16 dir) {
if (dir.Z < 0) {
return directions[DIR_ZM];
}
- path_cost retval;
+ PathCost retval;
return retval;
}
/******************************************************************************/
-void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
+void PathGridnode::setCost(v3s16 dir, PathCost cost)
+{
if (dir.X > 0) {
directions[DIR_XP] = cost;
}
@@ -191,14 +518,105 @@ void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
}
}
+void GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
+{
+ INodeDefManager *ndef = m_pathf->m_env->getGameDef()->ndef();
+ PathGridnode &elem = *p_node;
+
+ v3s16 realpos = m_pathf->getRealPos(ipos);
+
+ MapNode current = m_pathf->m_env->getMap().getNodeNoEx(realpos);
+ MapNode below = m_pathf->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) {
+ elem.type = 'i';
+ DEBUG_OUT(PPOS(ipos) << ": " << 'i' << std::endl);
+ }
+ return;
+ }
+
+ //don't add anything if it isn't an air node
+ if (ndef->get(current).walkable || !ndef->get(below).walkable) {
+ DEBUG_OUT("Pathfinder: " << PPOS(realpos)
+ << " not on surface" << std::endl);
+ if (ndef->get(current).walkable) {
+ elem.type = 's';
+ DEBUG_OUT(PPOS(ipos) << ": " << 's' << std::endl);
+ } else {
+ elem.type = '-';
+ DEBUG_OUT(PPOS(ipos) << ": " << '-' << std::endl);
+ }
+ return;
+ }
+
+ elem.valid = true;
+ elem.pos = realpos;
+ elem.type = 'g';
+ DEBUG_OUT(PPOS(ipos) << ": " << 'a' << std::endl);
+
+ if (m_pathf->m_prefetch) {
+ elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
+ elem.directions[DIR_XM] = m_pathf->calcCost(realpos, v3s16(-1, 0, 0));
+ elem.directions[DIR_ZP] = m_pathf->calcCost(realpos, v3s16( 0, 0, 1));
+ elem.directions[DIR_ZM] = m_pathf->calcCost(realpos, v3s16( 0, 0,-1));
+ }
+}
+
+ArrayGridNodeContainer::ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions) :
+ m_x_stride(dimensions.Y * dimensions.Z),
+ m_y_stride(dimensions.Z)
+{
+ m_pathf = pathf;
+
+ m_nodes_array.resize(dimensions.X * dimensions.Y * dimensions.Z);
+ INFO_TARGET << "Pathfinder ArrayGridNodeContainer constructor." << std::endl;
+ for (int x = 0; x < dimensions.X; x++) {
+ for (int y = 0; y < dimensions.Y; y++) {
+ for (int z= 0; z < dimensions.Z; z++) {
+ v3s16 ipos(x, y, z);
+ initNode(ipos, &access(ipos));
+ }
+ }
+ }
+}
+
+PathGridnode &ArrayGridNodeContainer::access(v3s16 p)
+{
+ return m_nodes_array[p.X * m_x_stride + p.Y * m_y_stride + p.Z];
+}
+
+MapGridNodeContainer::MapGridNodeContainer(Pathfinder *pathf)
+{
+ m_pathf = pathf;
+}
+
+PathGridnode &MapGridNodeContainer::access(v3s16 p)
+{
+ std::map<v3s16, PathGridnode>::iterator it = m_nodes.find(p);
+ if (it != m_nodes.end()) {
+ return it->second;
+ }
+ PathGridnode &n = m_nodes[p];
+ initNode(p, &n);
+ return n;
+}
+
+
+
/******************************************************************************/
-std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
+std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
- algorithm algo) {
+ PathAlgorithm algo)
+{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
@@ -220,47 +638,51 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
m_min_target_distance = -1;
m_prefetch = true;
- if (algo == A_PLAIN_NP) {
+ if (algo == PA_PLAIN_NP) {
m_prefetch = false;
}
- int min_x = MYMIN(source.X,destination.X);
- int max_x = MYMAX(source.X,destination.X);
+ 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_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);
+ 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_limits.MinEdge.X = min_x - searchdistance;
+ m_limits.MinEdge.Y = min_y - searchdistance;
+ m_limits.MinEdge.Z = min_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;
+ m_limits.MaxEdge.X = max_x + searchdistance;
+ m_limits.MaxEdge.Y = max_y + searchdistance;
+ m_limits.MaxEdge.Z = max_z + searchdistance;
- //build data map
- if (!build_costmap()) {
- ERROR_TARGET << "failed to build costmap" << std::endl;
- return retval;
+ v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
+
+ m_max_index_x = diff.X;
+ m_max_index_y = diff.Y;
+ m_max_index_z = diff.Z;
+
+ delete m_nodes_container;
+ if (diff.getLength() > 5) {
+ m_nodes_container = new MapGridNodeContainer(this);
+ } else {
+ m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
- print_type();
- print_cost();
- print_ydir();
+ printType();
+ printCost();
+ printYdir();
#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);
+ PathGridnode &startpos = getIndexElement(StartIndex);
+ PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
@@ -282,15 +704,15 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
bool update_cost_retval = false;
switch (algo) {
- case DIJKSTRA:
- update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
+ case PA_DIJKSTRA:
+ update_cost_retval = updateAllCosts(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);
+ case PA_PLAIN_NP:
+ case PA_PLAIN:
+ update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
- ERROR_TARGET << "missing algorithm"<< std::endl;
+ ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
@@ -298,28 +720,28 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
- print_pathlen();
+ printPathLen();
#endif
//find path
std::vector<v3s16> path;
- build_path(path,EndIndex,0);
+ buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
- print_path(path);
+ printPath(path);
#endif
//finalize path
std::vector<v3s16> full_path;
for (std::vector<v3s16>::iterator i = path.begin();
- i != path.end(); i++) {
+ i != path.end(); ++i) {
full_path.push_back(getIndexElement(*i).pos);
}
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
- print_path(full_path);
+ printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
@@ -337,7 +759,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
}
else {
#ifdef PATHFINDER_DEBUG
- print_pathlen();
+ printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
@@ -348,7 +770,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
}
/******************************************************************************/
-pathfinder::pathfinder() :
+Pathfinder::Pathfinder() :
m_max_index_x(0),
m_max_index_y(0),
m_max_index_z(0),
@@ -357,123 +779,36 @@ pathfinder::pathfinder() :
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_start(0, 0, 0),
+ m_destination(0, 0, 0),
+ m_nodes_container(NULL),
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;
+Pathfinder::~Pathfinder()
+{
+ delete m_nodes_container;
}
-
/******************************************************************************/
-bool pathfinder::build_costmap()
+v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
- 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;
+ return m_limits.MinEdge + ipos;
}
/******************************************************************************/
-path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
- path_cost retval;
+PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
+{
+ INodeDefManager *ndef = m_env->getGameDef()->ndef();
+ PathCost 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)) {
+ if (!m_limits.isPointInside(pos2)) {
DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
" no cost -> out of limits" << std::endl);
return retval;
@@ -488,18 +823,18 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
return retval;
}
- if (node_at_pos2.param0 == CONTENT_AIR) {
+ if (!ndef->get(node_at_pos2).walkable) {
MapNode node_below_pos2 =
- m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));
+ 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";
+ << PPOS((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
- if (node_below_pos2.param0 != CONTENT_AIR) {
+ if (ndef->get(node_below_pos2).walkable) {
retval.valid = true;
retval.value = 1;
retval.direction = 0;
@@ -507,20 +842,20 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
<< " cost same height found" << std::endl);
}
else {
- v3s16 testpos = pos2 - v3s16(0,-1,0);
+ 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);
+ (!ndef->get(node_at_pos).walkable) &&
+ (testpos.Y > m_limits.MinEdge.Y)) {
+ testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
- if ((testpos.Y >= m_limits.Y.min) &&
+ if ((testpos.Y >= m_limits.MinEdge.Y) &&
(node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 != CONTENT_AIR)) {
+ (ndef->get(node_at_pos).walkable)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
retval.valid = true;
retval.value = 2;
@@ -545,15 +880,15 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
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);
+ (ndef->get(node_at_pos).walkable) &&
+ (testpos.Y < m_limits.MaxEdge.Y)) {
+ 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 <= m_limits.MaxEdge.Y) &&
+ (!ndef->get(node_at_pos).walkable)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
retval.valid = true;
@@ -575,23 +910,26 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
}
/******************************************************************************/
-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;
+v3s16 Pathfinder::getIndexPos(v3s16 pos)
+{
+ return pos - m_limits.MinEdge;
+}
- return retval;
+/******************************************************************************/
+PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
+{
+ return m_nodes_container->access(ipos);
}
/******************************************************************************/
-path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
- return m_data[ipos.X][ipos.Z][ipos.Y];
+inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z)
+{
+ return m_nodes_container->access(v3s16(x,y,z));
}
/******************************************************************************/
-bool pathfinder::valid_index(v3s16 index) {
+bool Pathfinder::isValidIndex(v3s16 index)
+{
if ( (index.X < m_max_index_x) &&
(index.Y < m_max_index_y) &&
(index.Z < m_max_index_z) &&
@@ -604,7 +942,8 @@ bool pathfinder::valid_index(v3s16 index) {
}
/******************************************************************************/
-v3s16 pathfinder::invert(v3s16 pos) {
+v3s16 Pathfinder::invert(v3s16 pos)
+{
v3s16 retval = pos;
retval.X *=-1;
@@ -615,12 +954,12 @@ v3s16 pathfinder::invert(v3s16 pos) {
}
/******************************************************************************/
-bool pathfinder::update_all_costs( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
-
- path_gridnode& g_pos = getIndexElement(ipos);
+bool Pathfinder::updateAllCosts(v3s16 ipos,
+ v3s16 srcdir,
+ int current_cost,
+ int level)
+{
+ PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
@@ -644,22 +983,20 @@ bool pathfinder::update_all_costs( v3s16 ipos,
for (unsigned int i=0; i < directions.size(); i++) {
if (directions[i] != srcdir) {
- path_cost cost = g_pos.get_cost(directions[i]);
+ PathCost cost = g_pos.getCost(directions[i]);
if (cost.valid) {
directions[i].Y = cost.direction;
v3s16 ipos2 = ipos + directions[i];
- if (!valid_index(ipos2)) {
+ if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range (" << m_limits.X.max << "," <<
- m_limits.Y.max << "," << m_limits.Z.max
- <<")" << std::endl);
+ " out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
continue;
}
- path_gridnode& g_pos2 = getIndexElement(ipos2);
+ PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
@@ -682,8 +1019,8 @@ bool pathfinder::update_all_costs( v3s16 ipos,
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl);
- if (update_all_costs(ipos2,invert(directions[i]),
- new_cost,level)) {
+ if (updateAllCosts(ipos2, invert(directions[i]),
+ new_cost, level)) {
retval = true;
}
}
@@ -704,36 +1041,37 @@ bool pathfinder::update_all_costs( v3s16 ipos,
}
/******************************************************************************/
-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);
+int Pathfinder::getXZManhattanDist(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) {
+v3s16 Pathfinder::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos)
+{
int minscore = -1;
- v3s16 retdir = v3s16(0,0,0);
+ 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 ++) {
+ ++iter) {
- v3s16 pos1 = v3s16(srcpos.X + iter->X,0,srcpos.Z+iter->Z);
+ 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);
+ int cur_manhattan = getXZManhattanDist(pos1);
+ PathCost cost = g_pos.getCost(*iter);
if (!cost.updated) {
- cost = calc_cost(g_pos.pos,*iter);
- g_pos.set_cost(*iter,cost);
+ cost = calcCost(g_pos.pos, *iter);
+ g_pos.setCost(*iter, cost);
}
if (cost.valid) {
@@ -746,10 +1084,10 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
}
}
- if (retdir != v3s16(0,0,0)) {
+ if (retdir != v3s16(0, 0, 0)) {
for (std::vector<v3s16>::iterator iter = directions.begin();
iter != directions.end();
- iter ++) {
+ ++iter) {
if(*iter == retdir) {
DEBUG_OUT("Pathfinder: removing return direction" << std::endl);
directions.erase(iter);
@@ -768,12 +1106,13 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
}
/******************************************************************************/
-bool pathfinder::update_cost_heuristic( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
+bool Pathfinder::updateCostHeuristic( v3s16 ipos,
+ v3s16 srcdir,
+ int current_cost,
+ int level)
+{
- path_gridnode& g_pos = getIndexElement(ipos);
+ PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
@@ -790,38 +1129,36 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
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));
+ 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);
+ v3s16 direction = getDirHeuristic(directions, g_pos);
- while (direction != v3s16(0,0,0) && (!retval)) {
+ while (direction != v3s16(0, 0, 0) && (!retval)) {
if (direction != srcdir) {
- path_cost cost = g_pos.get_cost(direction);
+ PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction;
- if (!valid_index(ipos2)) {
+ if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range (" << m_limits.X.max << "," <<
- m_limits.Y.max << "," << m_limits.Z.max
- <<")" << std::endl);
- direction = get_dir_heuristic(directions,g_pos);
+ " out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
+ direction = getDirHeuristic(directions, g_pos);
continue;
}
- path_gridnode& g_pos2 = getIndexElement(ipos2);
+ PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
<< PPOS(ipos2) << std::endl;
- direction = get_dir_heuristic(directions,g_pos);
+ direction = getDirHeuristic(directions, g_pos);
continue;
}
@@ -844,8 +1181,8 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << " srcdir=" <<
PPOS(invert(direction))<< std::endl);
- if (update_cost_heuristic(ipos2,invert(direction),
- new_cost,level)) {
+ if (updateCostHeuristic(ipos2, invert(direction),
+ new_cost, level)) {
retval = true;
}
}
@@ -866,24 +1203,25 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
" skipping srcdir: "
<< PPOS(direction) << std::endl);
}
- direction = get_dir_heuristic(directions,g_pos);
+ direction = getDirHeuristic(directions, g_pos);
}
return retval;
}
/******************************************************************************/
-void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
+void Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 pos, int level)
+{
level ++;
if (level > 700) {
ERROR_TARGET
- << LVL "Pathfinder: path is too long aborting" << std::endl;
+ << LVL "Pathfinder: path is too long aborting" << std::endl;
return;
}
- path_gridnode& g_pos = getIndexElement(pos);
+ PathGridnode &g_pos = getIndexElement(pos);
if (!g_pos.valid) {
ERROR_TARGET
- << LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
+ << LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
return;
}
@@ -895,37 +1233,40 @@ void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
return;
}
- build_path(path,pos + g_pos.sourcedir,level);
+ buildPath(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);
+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::printCost()
+{
+ printCost(DIR_XP);
+ printCost(DIR_XM);
+ printCost(DIR_ZP);
+ printCost(DIR_ZM);
}
/******************************************************************************/
-void pathfinder::print_ydir() {
- print_ydir(DIR_XP);
- print_ydir(DIR_XM);
- print_ydir(DIR_ZP);
- print_ydir(DIR_ZM);
+void Pathfinder::printYdir()
+{
+ printYdir(DIR_XP);
+ printYdir(DIR_XM);
+ printYdir(DIR_ZP);
+ printYdir(DIR_ZM);
}
/******************************************************************************/
-void pathfinder::print_cost(path_directions dir) {
-
- std::cout << "Cost in direction: " << dir_to_name(dir) << std::endl;
+void Pathfinder::printCost(PathDirections dir)
+{
+ std::cout << "Cost in direction: " << dirToName(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++) {
@@ -941,9 +1282,9 @@ void pathfinder::print_cost(path_directions dir) {
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)
+ if (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
- << m_data[x][z][y].directions[dir].value;
+ << getIdxElem(x, y, z).directions[dir].value;
else
std::cout << std::setw(4) << "-";
}
@@ -954,9 +1295,9 @@ void pathfinder::print_cost(path_directions dir) {
}
/******************************************************************************/
-void pathfinder::print_ydir(path_directions dir) {
-
- std::cout << "Height difference in direction: " << dir_to_name(dir) << std::endl;
+void Pathfinder::printYdir(PathDirections dir)
+{
+ std::cout << "Height difference in direction: " << dirToName(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++) {
@@ -972,9 +1313,9 @@ void pathfinder::print_ydir(path_directions dir) {
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)
+ if (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
- << m_data[x][z][y].directions[dir].direction;
+ << getIdxElem(x, y, z).directions[dir].direction;
else
std::cout << std::setw(4) << "-";
}
@@ -985,7 +1326,8 @@ void pathfinder::print_ydir(path_directions dir) {
}
/******************************************************************************/
-void pathfinder::print_type() {
+void Pathfinder::printType()
+{
std::cout << "Type of node:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
@@ -1002,7 +1344,7 @@ void pathfinder::print_type() {
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;
+ char toshow = getIdxElem(x, y, z).type;
std::cout << std::setw(3) << toshow;
}
std::cout << std::endl;
@@ -1013,7 +1355,8 @@ void pathfinder::print_type() {
}
/******************************************************************************/
-void pathfinder::print_pathlen() {
+void Pathfinder::printPathLen()
+{
std::cout << "Pathlen:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
@@ -1030,7 +1373,7 @@ void pathfinder::print_pathlen() {
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::setw(3) << getIdxElem(x, y, z).totalcost;
}
std::cout << std::endl;
}
@@ -1040,7 +1383,8 @@ void pathfinder::print_pathlen() {
}
/******************************************************************************/
-std::string pathfinder::dir_to_name(path_directions dir) {
+std::string Pathfinder::dirToName(PathDirections dir)
+{
switch (dir) {
case DIR_XP:
return "XP";
@@ -1060,11 +1404,11 @@ std::string pathfinder::dir_to_name(path_directions dir) {
}
/******************************************************************************/
-void pathfinder::print_path(std::vector<v3s16> path) {
-
+void Pathfinder::printPath(std::vector<v3s16> path)
+{
unsigned int current = 0;
for (std::vector<v3s16>::iterator i = path.begin();
- i != path.end(); i++) {
+ i != path.end(); ++i) {
std::cout << std::setw(3) << current << ":" << PPOS((*i)) << std::endl;
current++;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-21 13:57:51 +0000