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Commit message (Collapse)AuthorAge
* Some performance optimizations (#5424)Loïc Blot2017-03-22
| | | | | | | | | | | | | | | | | | | * Some performance optimizations This is globally removing some memory useless copy * use a const ref return on std::string Settings::get to prevent data copy on getters which doesn't need to copy it * pass some stack created strings to static const as they are not modified anywhere * Camera: return nametags per const ref instead of a list pointer, we only need to read it * INodeDefManager: getAll should be a result ref writer instead of a return copy * INodeDefManager: getAlias should return a const std::string ref * Minimap: unroll a Scolor creation in blitMinimapPixersToImageRadar to prvent many variable construct/destruct which are unneeded (we rewrite the content in the loop) * CNodeDefManager::updateAliases: prevent a idef getall copy * Profiler: constness * rollback_interface: create real_name later, and use const ref * MapBlockMesh updateFastFaceRow: unroll TileSpec next_tile, which has a cost of 1.8% CPU due to variable allocation/destruction, * MapBlockMesh updateFastFaceRow: copy next_tile to tile only if it's a different tilespec * MapBlockMesh updateFastFaceRow: use memcpy to copy next_lights to lights to do it in a single cpu operation
* Clean up threadingShadowNinja2015-08-23
| | | | | | | | | | | | | | | | | | | | * Rename everything. * Strip J prefix. * Change UpperCamelCase functions to lowerCamelCase. * Remove global (!) semaphore count mutex on OSX. * Remove semaphore count getter (unused, unsafe, depended on internal API functions on Windows, and used a hack on OSX). * Add `Atomic<type>`. * Make `Thread` handle thread names. * Add support for C++11 multi-threading. * Combine pthread and win32 sources. * Remove `ThreadStarted` (unused, unneeded). * Move some includes from the headers to the sources. * Move all of `Event` into its header (allows inlining with no new includes). * Make `Event` use `Semaphore` (except on Windows). * Move some porting functions into `Thread`. * Integrate logging with `Thread`. * Add threading test.
* Move globals from main.cpp to more sane locationsCraig Robbins2015-04-01
| | | | | | | | | | | | Move debug streams to log.cpp|h Move GUI-related globals to clientlauncher Move g_settings and g_settings_path to settings.cpp|h Move g_menuclouds to clouds.cpp|h Move g_profiler to profiler.cpp|h
* Optimize Profiler::avg()gregorycu2015-03-07
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* Fix f6 debug/profiler displayCraig Robbins2014-12-08
| | | | After fonts were re-engineered the height of the f6 debug/profiler display would only display about 2-3 lines of text.
* Fix msvc2012 buildsapier2014-06-29
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* Add function to deregister a profiler from profiler listsapier2014-01-06
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* Cleanup jthread and fix win32 buildsapier2013-12-01
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* Always use builtin JThread librarykwolekr2013-09-15
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* Omnicleanup: header cleanup, add ModApiUtil shared between game and mainmenuKahrl2013-08-14
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* Set of changes to build mineTest using Visual Studio 11.0. These affectMukul Sati2013-03-24
| | | | | | | | | | | | | the following: 1. String concatenation in guiMainMenu.cpp - it is required for all individual strings to be of the same type <unicode/non-unicode>; adding explicit L qualifier before the other strings. 2. Correcting type of BlockMakeData to struct in place of class forward declarations. This information is used for name decoration by Visual Studio, leading to linker errors in case of mismatches. 3. Windows headers define max as a macro somewhere, leading to a compile time error in profiler.h; using () around function to prevent macro match from occurring.
* Migrate to STL containers/algorithms.Ilya Zhuravlev2013-03-11
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* Update Copyright YearsSfan52013-02-24
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* Change Minetest-c55 to MinetestPilzAdam2013-02-24
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* Optimize headersPerttu Ahola2012-06-17
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* Properly and efficiently use split utility headersPerttu Ahola2012-06-17
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* Switch the license to be LGPLv2/later, with small parts still remaining as ↵Perttu Ahola2012-06-05
| | | | GPLv2/later, by agreement of major contributors
* Add ScopeProfilerType SPT_GRAPH_ADDPerttu Ahola2012-03-21
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* Profiler graphPerttu Ahola2012-03-21
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* F1 toggles HUD, F2 toggles chat, F5 toggles debug info, F6 toggles profiler ↵Kahrl2012-02-01
| | | | pages
* Some more profiler stuff to get the hang on what really uses CPUPerttu Ahola2011-10-16
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* Improve debug profiler usage for investigating CPU usage of serverPerttu Ahola2011-10-16
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* Reduced the CPU usage of the sent block selector algorithmPerttu Ahola2011-05-31
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/*
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"
#include "environment.h"
#include "map.h"
#include "log.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 << "pathfinder: "
#define VERBOSE_TARGET   verbosestream << "pathfinder: "
#define ERROR_TARGET     errorstream << "pathfinder: "
#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) {
		ERROR_TARGET << "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()) {
		ERROR_TARGET << "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) {
		VERBOSE_TARGET << "invalid startpos" <<
				"Index: " << PPOS(StartIndex) <<
				"Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
		return retval;
	}
	if (!endpos.valid) {
		VERBOSE_TARGET << "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:
			ERROR_TARGET << "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

		//finalize path
		std::vector<v3s16> full_path;
		for (std::vector<v3s16>::iterator i = path.begin();
					i != path.end(); ++i) {
			full_path.push_back(getIndexElement(*i).pos);
		}

#ifdef PATHFINDER_DEBUG
		std::cout << "full path:" << std::endl;
		print_path(full_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 full_path;
	}
	else {
#ifdef PATHFINDER_DEBUG
		print_pathlen();
#endif
		ERROR_TARGET << "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)) {
					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)) {
						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);
					direction = get_dir_heuristic(directions,g_pos);
					continue;
				}

				path_gridnode& 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);
					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)) {
					DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
							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)) {
						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 > 700) {
		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
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