aboutsummaryrefslogtreecommitdiff
path: root/src
diff options
context:
space:
mode:
Diffstat (limited to 'src')
-rw-r--r--src/pathfinder.cpp102
1 files changed, 36 insertions, 66 deletions
diff --git a/src/pathfinder.cpp b/src/pathfinder.cpp
index 28cad1733..29a39233d 100644
--- a/src/pathfinder.cpp
+++ b/src/pathfinder.cpp
@@ -25,6 +25,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include "environment.h"
#include "map.h"
#include "log.h"
+#include "irr_aabb3d.h"
//#define PATHFINDER_DEBUG
//#define PATHFINDER_CALC_TIME
@@ -157,18 +158,6 @@ public:
PathAlgorithm algo);
private:
- /** data struct for storing internal information */
- struct limits {
- struct limit {
- int min;
- int max;
- };
-
- limit X;
- limit Y;
- limit Z;
- };
-
/* helper functions */
/**
@@ -274,27 +263,27 @@ private:
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_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 */
+ 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 */
+ bool m_prefetch; /**< prefetch cost data */
- v3s16 m_start; /**< source position */
- v3s16 m_destination; /**< destination position */
+ v3s16 m_start; /**< source position */
+ v3s16 m_destination; /**< destination position */
- limits m_limits; /**< position limits in real map coordinates */
+ core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
/** 3d grid containing all map data already collected and analyzed */
std::vector<std::vector<std::vector<PathGridnode> > > m_data;
- ServerEnvironment *m_env; /**< minetest environment pointer */
+ ServerEnvironment *m_env; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
@@ -528,16 +517,19 @@ std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
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_limits.MaxEdge.X = max_x + searchdistance;
+ m_limits.MaxEdge.Y = max_y + searchdistance;
+ m_limits.MaxEdge.Z = max_z + searchdistance;
+
+ v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
- 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_max_index_x = diff.X;
+ m_max_index_y = diff.Y;
+ m_max_index_z = diff.Z;
//build data map
if (!buildCostmap()) {
@@ -654,7 +646,6 @@ Pathfinder::Pathfinder() :
m_prefetch(true),
m_start(0, 0, 0),
m_destination(0, 0, 0),
- m_limits(),
m_data(),
m_env(0)
{
@@ -664,23 +655,14 @@ Pathfinder::Pathfinder() :
/******************************************************************************/
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;
+ return m_limits.MinEdge + ipos;
}
/******************************************************************************/
bool Pathfinder::buildCostmap()
{
- INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
- << m_limits.Z.min << ") ("
- << m_limits.X.max << ","
- << m_limits.Z.max << ")"
- << std::endl;
+ INFO_TARGET << "Pathfinder build costmap: min="
+ << PPOS(m_limits.MinEdge) << ", max=" << PPOS(m_limits.MaxEdge) << 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);
@@ -766,10 +748,7 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
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;
@@ -808,13 +787,13 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 == CONTENT_AIR) &&
- (testpos.Y > m_limits.Y.min)) {
+ (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)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
@@ -842,13 +821,13 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 != CONTENT_AIR) &&
- (testpos.Y < m_limits.Y.max)) {
+ (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) &&
+ if ((testpos.Y <= m_limits.MaxEdge.Y) &&
(node_at_pos.param0 == CONTENT_AIR)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
@@ -873,12 +852,7 @@ PathCost Pathfinder::calcCost(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;
-
- return retval;
+ return pos - m_limits.MinEdge;
}
/******************************************************************************/
@@ -952,9 +926,7 @@ bool Pathfinder::updateAllCosts(v3s16 ipos,
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;
}
@@ -1110,9 +1082,7 @@ bool Pathfinder::updateCostHeuristic( v3s16 ipos,
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);
direction = getDirHeuristic(directions, g_pos);
continue;
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-09 06:24:42 +0000