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11e0 73 ff 15 c8 6d ff 11 8a 50 ff 10 65 40 ff 45 94 9f ff 64 97 b3 ff 57 4b 3c ff 52 3a 22 ff 4a 41 s...m...P..e@.E...d...WK<.R:".JA
1200 2e ff 41 a5 ac ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 3e c9 cd ff 35 bb b7 ff 4f e8 fb ff 4f e9 ..A...O...O...O...>...5...O...O.
1220 fc ff 4f e9 fc ff 44 d4 e6 ff 1b 82 90 ff 10 68 76 ff 02 58 62 ff 00 00 00 00 00 00 00 00 00 00 ..O...D........hv..Xb...........
1240 00 00 00 00 00 00 00 39 55 09 0f 3c 59 fb 5f ab cd ff 22 78 61 ff 0f 6c 41 ff 13 af 61 ff 16 d2 .......9U..<Y._..."xa..lA...a...
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1280 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 s...s...s...s...s...s...s...s...
12a0 73 ff 16 d2 73 ff 16 d2 73 ff 14 be 68 ff 11 7a 4a ff 16 6c 4c ff 53 9f b7 ff 13 4f 52 ff 4e e6 s...s...s...h..zJ..lL.S....OR.N.
12c0 f9 ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 1c 8d 71 ff 07 69 3a ff 07 6f 3e ff 12 7c 58 ff 4f e9 ..O...O...O.....q..i:..o>..|X.O.
12e0 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 3b c2 d3 ff 02 58 62 ff 00 00 00 00 00 00 00 00 00 00 ..O...O...O...;....Xb...........
1300 00 00 00 00 00 00 00 33 4d 0a 0b 53 44 fe 0d 65 3c ff 11 a3 5a ff 16 d1 72 ff 16 d2 73 ff 16 d2 .......3M..SD..e<...Z...r...s...
1320 73 ff 16 d2 73 ff 16 d2 73 ff 0f a5 7e ff 07 67 9c ff 11 7d c1 ff 10 7b bf ff 03 5e 90 ff 14 c7 s...s...s...~..g...}...{...^....
1340 76 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 v...s...s...s...s...s...s...s...
1360 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 13 b5 63 ff 0d 69 3e ff 08 5f 40 ff 4f e9 s...s...s...s...s...c..i>.._@.O.
1380 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 04 60 31 ff 06 97 4d ff 06 9a 4d ff 04 60 31 ff 4f e9 ..O...O...O....`1...M...M..`1.O.
13a0 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 3b c2 d3 ff 03 59 64 ff 00 00 00 00 00 00 00 00 00 00 ..O...O...O...;....Yd...........
13c0 00 00 00 00 00 00 00 55 55 03 0d 5a 42 da 0a 61 37 ff 12 a1 59 ff 16 d1 73 ff 16 d2 73 ff 16 d2 .......UU..ZB..a7...Y...s...s...
13e0 73 ff 16 d2 73 ff 16 d2 73 ff 0f a5 7e ff 08 6a 9e ff 11 7d c1 ff 11 7d c1 ff 04 5f 91 ff 14 c7 s...s...s...~..j...}...}..._....
1400 76 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 v...s...s...s...s...s...s...s...
1420 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 15 c7 6d ff 0f 86 4c ff 0a 61 39 ff 25 95 8f ff 4f e9 s...s...s...s...m...L..a9.%...O.
1440 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 04 60 31 ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 4f e9 ..O...O...O....`1...N...N..`1.O.
1460 fc ff 4f e9 fc ff 44 d4 e6 ff 18 80 8d fe 07 5e 69 fd 08 4c 5d 83 00 00 00 00 00 00 00 00 00 00 ..O...D........^i..L]...........
1480 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0a 4c 42 68 0a 5c 3b f8 0d 6f 40 fe 14 ba 66 ff 16 d2 ...............LBh.\;..o@...f...
14a0 73 ff 16 d2 73 ff 16 d2 73 ff 0f a5 7e ff 08 6a 9d ff 0c 72 8d ff 0e 77 a3 ff 04 5f 91 ff 14 c7 s...s...s...~..j...r...w..._....
14c0 76 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 v...s...s...s...s...s...s...s...
14e0 73 ff 16 d2 73 ff 16 d0 72 ff 12 a1 5a ff 0a 62 38 ff 12 73 5c ff 43 d2 df ff 4f e9 fc ff 4f e9 s...s...r...Z..b8..s\.C...O...O.
1500 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 04 60 31 ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 4c e4 ..O...O...O....`1...N...N..`1.L.
1520 f6 ff 2b a3 b2 ff 06 5d 69 ff 08 53 62 cb 0b 4e 64 17 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ..+....]i..Sb..Nd...............
1540 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 40 40 04 0b 4f 41 a4 0a 5e 38 fe 0f 86 ...................@@..OA..^8...
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1580 70 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 p...s...s...s...s...s...s...s...
15a0 73 ff 12 b3 63 ff 0b 6a 3d ff 0c 63 44 ff 39 bd c6 ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 s...c..j=..cD.9...O...O...O...O.
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15e0 6b fe 08 56 66 e7 0a 43 5b 35 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 k..Vf..C[5......................
1600 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0b 43 4e 17 0b 52 ...........................CN..R
1620 42 ca 08 5e 35 ff 09 77 40 ff 05 66 35 ff 05 81 41 ff 06 99 4e ff 06 96 4c ff 04 76 3e ff 05 69 B..^5..w@..f5...A...N...L..v>..i
1640 36 ff 0f a7 5b ff 16 d1 72 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 10 9a 6...[...r...s...s...s...s...s...
1660 55 ff 0a 5c 33 ff 3c 84 93 ff 1f 54 75 ff 1a 59 75 ff 40 c2 d7 ff 4f e9 fc ff 4f e9 fc ff 4f e9 U..\3.<....Tu..Yu.@...O...O...O.
1680 fc ff 4f e9 fc ff 4f e9 fc ff 4f e9 fc ff 04 60 31 ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 05 49 ..O...O...O....`1...N...N..`1..I
16a0 5d 65 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ]e..............................
16c0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 80 40 04 05 61 ............................@..a
16e0 33 69 04 62 32 f4 05 76 3c ff 06 96 4c ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 90 3i.b2..v<...L...N...N...N...N...
1700 49 ff 05 72 3a ff 06 72 3b ff 11 b5 62 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 15 c7 I..r:..r;...b...s...s...s...s...
1720 6d ff 0f 82 4b ff 0a 5d 38 ff 31 78 81 ff 49 8b b2 ff 15 47 64 ff 24 75 8f ff 48 d6 ea ff 4f e9 m...K..]8.1x..I....Gd.$u..H...O.
1740 fc ff 4f e9 fc ff 4f e9 fc ff 49 df f0 ff 04 60 31 ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 00 00 ..O...O...I....`1...N...N..`1...
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17a0 39 f6 06 92 4b ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 9...K...N...N...N...N...N...N...
17c0 4e ff 06 9a 4e ff 05 8a 46 ff 05 6c 37 ff 09 7f 42 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 N...N...F..l7...B...s...s...s...
17e0 73 ff 16 d2 73 ff 13 b5 63 ff 0c 6d 3e ff 0f 60 43 ff 47 8d a9 ff 34 6f 93 ff 12 44 61 ff 33 9b s...s...c..m>..`C.G...4o...Da.3.
1800 b3 ff 4b e2 f6 ff 2d a7 b8 ff 06 5d 68 ff 04 60 31 ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 00 00 ..K...-....]h..`1...N...N..`1...
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1860 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1880 4e ff 06 9a 4e ff 06 9a 4e ff 06 99 4d ff 04 60 31 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 N...N...N...M..`1...s...s...s...
18a0 73 ff 16 d2 73 ff 16 d2 73 ff 16 d1 73 ff 11 9e 57 ff 0a 60 37 ff 18 65 57 ff 52 96 bc ff 2b 62 s...s...s...s...W..`7..eW.R...+b
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1900 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 60 31 ff 06 9a 4e ff 06 9a .......................`1...N...
1920 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1940 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 N...N...N...N..`1...s...s...s...
1960 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 cb 6f ff 0f 8c 4e ff 0a 5e 36 ff 26 6e s...s...s...s...s...o...N..^6.&n
1980 70 ff 0d 3b 56 ff 00 00 00 00 00 00 00 00 04 61 32 90 04 62 33 f6 04 69 36 f2 04 63 33 cf 00 00 p..;V..........a2..b3..i6..c3...
19a0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................................
19c0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 60 31 ff 06 9a 4e ff 06 9a .......................`1...N...
19e0 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1a00 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 N...N...N...N..`1...s...s...s...
1a20 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 14 c3 6b ff 0b 69 s...s...s...s...s...s...s...k..i
1a40 3a fe 0a 59 39 fe 00 00 00 00 00 00 00 00 00 00 00 00 04 5e 31 39 03 61 32 57 00 00 00 01 00 00 :..Y9..............^19.a2W......
1a60 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................................
1a80 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 60 31 ff 06 9a 4e ff 06 9a .......................`1...N...
1aa0 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1ac0 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 14 bd 68 ff 16 d2 73 ff 16 d2 73 ff 16 d2 N...N...N...N..`1...h...s...s...
1ae0 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 14 bb 67 ff 0c 73 40 f3 09 62 s...s...s...s...s...s...g..s@..b
1b00 35 da 0a 57 39 4c 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 5..W9L..........................
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1b40 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 60 31 ff 06 9a 4e ff 06 9a .......................`1...N...
1b60 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1b80 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 09 5d 35 ff 11 93 54 ff 15 cc 70 ff 16 d2 N...N...N...N..`1..]5...T...p...
1ba0 73 ff 16 d2 73 ff 16 d2 73 ff 16 d2 73 ff 16 ca 6e ff 0f 91 4f f6 09 60 35 f2 08 5b 33 79 00 55 s...s...s...s...n...O..`5..[3y.U
1bc0 2b 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 +...............................
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1c00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 60 31 ff 06 9a 4e ff 06 9a .......................`1...N...
1c20 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1c40 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 0d 51 43 26 0c 59 3f dc 0a 61 37 ff 11 a5 N...N...N...N..`1..QC&.Y?..a7...
1c60 5b ff 16 d1 72 ff 16 d1 72 ff 11 a6 5a fc 09 62 35 f5 09 5f 35 a7 0c 5d 2e 16 00 00 00 00 00 00 [...r...r...Z..b5.._5..]........
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1cc0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 60 31 ff 06 9a 4e ff 06 9a .......................`1...N...
1ce0 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1d00 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 04 60 31 ff 00 00 00 00 00 00 00 00 0a 4d 43 4c 0b 5e N...N...N...N..`1..........MCL.^
1d20 38 da 0a 68 3a f3 0a 67 39 f3 09 61 35 bd 07 5e 2f 26 00 00 00 00 00 00 00 00 00 00 00 00 00 00 8..h:..g9..a5..^/&..............
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1da0 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a N...N...N...N...N...N...N...N...
1dc0 4e ff 06 9a 4e ff 06 9a 4e ff 06 99 4d ff 04 60 31 ff 00 00 00 00 00 00 00 00 00 00 00 00 00 00 N...N...N...M..`1...............
1de0 00 00 0a 5a 34 4a 07 5c 34 45 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...Z4J.\4E......................
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1e60 39 f5 06 92 4b ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 4e ff 06 9a 9...K...N...N...N...N...N...N...
1e80 4e ff 06 9a 4e ff 05 8a 46 ff 04 67 34 f4 04 64 32 c1 00 00 00 00 00 00 00 00 00 00 00 00 00 00 N...N...F..g4..d2...............
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1f40 4a ff 05 74 3a f5 04 62 33 ed 03 61 30 5f 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 J..t:..b3..a0_..................
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2000 33 f5 04 61 33 86 00 55 39 09 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 3..a3..U9.......................
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20c0 35 18 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 5...............................
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generated by cgit v1.2.3 (git 2.39.1) at 2024-12-28 19:42:48 +0000
kwd">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, v3s16 source, v3s16 destination, unsigned int searchdistance, unsigned int max_jump, unsigned int max_drop, PathAlgorithm algo) { Pathfinder searchclass; return searchclass.getPath(env, source, destination, searchdistance, max_jump, max_drop, algo); } /******************************************************************************/ PathCost::PathCost() : valid(false), value(0), direction(0), updated(false) { //intentionaly empty } /******************************************************************************/ PathCost::PathCost(const PathCost &b) { valid = b.valid; direction = b.direction; value = b.value; updated = b.updated; } /******************************************************************************/ PathCost &PathCost::operator= (const PathCost &b) { valid = b.valid; direction = b.direction; value = b.value; updated = b.updated; return *this; } /******************************************************************************/ PathGridnode::PathGridnode() : valid(false), target(false), source(false), totalcost(-1), sourcedir(v3s16(0, 0, 0)), pos(v3s16(0, 0, 0)), is_element(false), type('u') { //intentionaly empty } /******************************************************************************/ PathGridnode::PathGridnode(const PathGridnode &b) : valid(b.valid), target(b.target), source(b.source), totalcost(b.totalcost), sourcedir(b.sourcedir), 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]; } /******************************************************************************/ 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; 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; } /******************************************************************************/ PathCost PathGridnode::getCost(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]; } PathCost retval; return retval; } /******************************************************************************/ void PathGridnode::setCost(v3s16 dir, PathCost 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; } } 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: " << PP(realpos) << " current or below is invalid element" << std::endl); if (current.param0 == CONTENT_IGNORE) { elem.type = 'i'; DEBUG_OUT(PP(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: " << PP(realpos) << " not on surface" << std::endl); if (ndef->get(current).walkable) { elem.type = 's'; DEBUG_OUT(PP(ipos) << ": " << 's' << std::endl); } else { elem.type = '-'; DEBUG_OUT(PP(ipos) << ": " << '-' << std::endl); } return; } elem.valid = true; elem.pos = realpos; elem.type = 'g'; DEBUG_OUT(PP(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::getPath(ServerEnvironment *env, v3s16 source, v3s16 destination, unsigned int searchdistance, unsigned int max_jump, unsigned int max_drop, PathAlgorithm 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 == PA_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.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 = 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 printType(); printCost(); printYdir(); #endif //validate and mark start and end pos v3s16 StartIndex = getIndexPos(source); v3s16 EndIndex = getIndexPos(destination); PathGridnode &startpos = getIndexElement(StartIndex); PathGridnode &endpos = getIndexElement(EndIndex); if (!startpos.valid) { VERBOSE_TARGET << "invalid startpos" << "Index: " << PP(StartIndex) << "Realpos: " << PP(getRealPos(StartIndex)) << std::endl; return retval; } if (!endpos.valid) { VERBOSE_TARGET << "invalid stoppos" << "Index: " << PP(EndIndex) << "Realpos: " << PP(getRealPos(EndIndex)) << std::endl; return retval; } endpos.target = true; startpos.source = true; startpos.totalcost = 0; bool update_cost_retval = false; switch (algo) { case PA_DIJKSTRA: update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0); break; case PA_PLAIN_NP: case PA_PLAIN: update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0); break; default: ERROR_TARGET << "missing PathAlgorithm"<< std::endl; break; } if (update_cost_retval) { #ifdef PATHFINDER_DEBUG std::cout << "Path to target found!" << std::endl; printPathLen(); #endif //find path std::vector<v3s16> path; buildPath(path, EndIndex, 0); #ifdef PATHFINDER_DEBUG std::cout << "Full index path:" << std::endl; printPath(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; printPath(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 printPathLen(); #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_nodes_container(NULL), m_env(0) { //intentionaly empty } Pathfinder::~Pathfinder() { delete m_nodes_container; } /******************************************************************************/ v3s16 Pathfinder::getRealPos(v3s16 ipos) { return m_limits.MinEdge + ipos; } /******************************************************************************/ 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 (!m_limits.isPointInside(pos2)) { DEBUG_OUT("Pathfinder: " << PP(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: " << PP(pos2) << " not loaded"; return retval; } if (!ndef->get(node_at_pos2).walkable) { 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: " << PP((pos2 + v3s16(0, -1, 0))) << " not loaded"; return retval; } if (ndef->get(node_below_pos2).walkable) { retval.valid = true; retval.value = 1; retval.direction = 0; DEBUG_OUT("Pathfinder: "<< PP(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) && (!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.MinEdge.Y) && (node_at_pos.param0 != CONTENT_IGNORE) && (ndef->get(node_at_pos).walkable)) { 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) && (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.MaxEdge.Y) && (!ndef->get(node_at_pos).walkable)) { 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) { return pos - m_limits.MinEdge; } /******************************************************************************/ PathGridnode &Pathfinder::getIndexElement(v3s16 ipos) { return m_nodes_container->access(ipos); } /******************************************************************************/ inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z) { return m_nodes_container->access(v3s16(x,y,z)); } /******************************************************************************/ bool Pathfinder::isValidIndex(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::updateAllCosts(v3s16 ipos, v3s16 srcdir, int current_cost, int level) { PathGridnode &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) { PathCost cost = g_pos.getCost(directions[i]); if (cost.valid) { directions[i].Y = cost.direction; v3s16 ipos2 = ipos + directions[i]; if (!isValidIndex(ipos2)) { DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) << " out of range, max=" << PP(m_limits.MaxEdge) << std::endl); continue; } PathGridnode &g_pos2 = getIndexElement(ipos2); if (!g_pos2.valid) { VERBOSE_TARGET << LVL "Pathfinder: no data for new position: " << PP(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: "<< PP(ipos2) << " from: " << g_pos2.totalcost << " to "<< new_cost << std::endl); if (updateAllCosts(ipos2, invert(directions[i]), new_cost, level)) { retval = true; } } else { DEBUG_OUT(LVL "Pathfinder:" " already found shorter path to: " << PP(ipos2) << std::endl); } } else { DEBUG_OUT(LVL "Pathfinder:" " not moving to invalid direction: " << PP(directions[i]) << std::endl); } } } return retval; } /******************************************************************************/ 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::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &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 = getXZManhattanDist(pos1); PathCost cost = g_pos.getCost(*iter); if (!cost.updated) { cost = calcCost(g_pos.pos, *iter); g_pos.setCost(*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::updateCostHeuristic( v3s16 ipos, v3s16 srcdir, int current_cost, int level) { PathGridnode &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 = getDirHeuristic(directions, g_pos); while (direction != v3s16(0, 0, 0) && (!retval)) { if (direction != srcdir) { PathCost cost = g_pos.getCost(direction); if (cost.valid) { direction.Y = cost.direction; v3s16 ipos2 = ipos + direction; if (!isValidIndex(ipos2)) { DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) << " out of range, max=" << PP(m_limits.MaxEdge) << std::endl); direction = getDirHeuristic(directions, g_pos); continue; } PathGridnode &g_pos2 = getIndexElement(ipos2); if (!g_pos2.valid) { VERBOSE_TARGET << LVL "Pathfinder: no data for new position: " << PP(ipos2) << std::endl; direction = getDirHeuristic(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 " << PP(ipos2) << std::endl); return false; } if ((g_pos2.totalcost < 0) || (g_pos2.totalcost > new_cost)) { DEBUG_OUT(LVL "Pathfinder: updating path at: "<< PP(ipos2) << " from: " << g_pos2.totalcost << " to "<< new_cost << " srcdir=" << PP(invert(direction))<< std::endl); if (updateCostHeuristic(ipos2, invert(direction), new_cost, level)) { retval = true; } } else { DEBUG_OUT(LVL "Pathfinder:" " already found shorter path to: " << PP(ipos2) << std::endl); } } else { DEBUG_OUT(LVL "Pathfinder:" " not moving to invalid direction: " << PP(direction) << std::endl); } } else { DEBUG_OUT(LVL "Pathfinder:" " skipping srcdir: " << PP(direction) << std::endl); } direction = getDirHeuristic(directions, g_pos); } return retval; } /******************************************************************************/ 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; return; } PathGridnode &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; } 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); } #ifdef PATHFINDER_DEBUG /******************************************************************************/ void Pathfinder::printCost() { printCost(DIR_XP); printCost(DIR_XM); printCost(DIR_ZP); printCost(DIR_ZM); } /******************************************************************************/ void Pathfinder::printYdir() { printYdir(DIR_XP); printYdir(DIR_XM); printYdir(DIR_ZP); printYdir(DIR_ZM); } /******************************************************************************/ 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++) { 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 (getIdxElem(x, y, z).directions[dir].valid) std::cout << std::setw(4) << getIdxElem(x, y, z).directions[dir].value; else std::cout << std::setw(4) << "-"; } std::cout << std::endl; } std::cout << 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++) { 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 (getIdxElem(x, y, z).directions[dir].valid) std::cout << std::setw(4) << getIdxElem(x, y, z).directions[dir].direction; else std::cout << std::setw(4) << "-"; } std::cout << std::endl; } std::cout << std::endl; } } /******************************************************************************/ void Pathfinder::printType() { 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 = getIdxElem(x, y, z).type; std::cout << std::setw(3) << toshow; } std::cout << std::endl; } std::cout << std::endl; } std::cout << std::endl; } /******************************************************************************/ void Pathfinder::printPathLen() { 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) << getIdxElem(x, y, z).totalcost; } std::cout << std::endl; } std::cout << std::endl; } std::cout << std::endl; } /******************************************************************************/ std::string Pathfinder::dirToName(PathDirections 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::printPath(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 << ":" << PP((*i)) << std::endl; current++; } } #endif
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