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0ea0	0a e8 ad c7 aa 75 68 6c 80 77 0e 9a 19 b3 9a e3 81 4e 0e c6 00 d2 2f e1 45 00 71 38 ac 0c 5c 08	.....uhl.w.......N..../.E.q8..\.
0ec0	70 de a3 da 23 c8 bc 80 62 02 b3 43 e7 3c ac 0f 10 00 3e 74 b1 1d 9a f2 df 14 9b 23 f2 d9 4d e9	p...#...b..C.<....>t.......#..M.
0ee0	f4 37 9a a1 35 45 02 0c 04 26 20 08 60 5d 80 73 82 20 01 ce c5 94 05 12 20 44 f0 7d 13 8d 74 5c	.7..5E...&..`].s.........D.}..t\
0f00	26 4d 36 a5 98 20 96 41 4c 70 2e 50 d3 79 78 09 f0 01 70 3e d6 f1 c1 04 2f 8c 40 d1 39 51 0a 60	&M6....ALp.P.yx...p>..../.@.9Q.`
0f20	7c d7 43 c1 c1 fb 80 ae f1 e8 5d 2a ed a5 e7 58 0f b8 3e 80 c0 b4 cb fc e7 eb 36 fe fc ee 75 bd	|.C.......]*...X..>.......6...u.
0f40	e8 73 32 44 6a 44 be eb d1 84 96 18 1e ce 5b 38 eb 36 24 b2 08 c4 05 b4 cb 53 2c 75 40 c1 01 4a	.s2DjD........[8.6$......S,u@..J
0f60	7f 71 9a d2 17 ad 03 30 4a 3c 79 8f 52 05 ec 97 84 cb fb 06 b3 42 27 07 10 c5 3e 85 51 50 31 19	.q.....0J<y.R........B'...>.QP1.
0f80	c6 40 d4 d3 c5 f5 fe 8b a6 02 ef 9e 28 bb e1 a5 48 0c 86 b5 26 ec d5 0a 46 05 88 10 6c 60 54 05	.@..........(...H...&...F...l`T.
0fa0	43 b1 47 a9 18 47 f3 1a 47 fb 35 66 65 01 ad 19 44 0c 12 80 19 28 34 a1 30 0a 5a 33 7c 08 68 5a	C.G..G..G.5fe...D....(4.0.Z3|.hZ
0fc0	8d c6 3a 30 95 98 95 06 c6 a8 78 d3 73 34 a4 1c 73 07 2f e8 9d 47 b0 49 e9 26 f1 04 03 00 09 82	..:0......x.s4..s./..G.I.&......
0fe0	de 7b 2c fb e8 08 64 88 c6 a3 d1 05 1f e0 42 7c ed 8a e2 23 1b 2c 33 92 91 51 22 37 81 de 05 f8	.{,...d.......B|...#.,3..Q"7....
1000	90 ea e7 3e 3a 82 1c e9 4b 8a 68 6c 9a d0 b3 79 3f 13 81 ca d1 e1 4a a1 30 9f e9 98 6a e4 ff 92	...>:...K.hl...y?.....J.0...j...
1020	d3 31 3a 3e 3f 48 72 4e 21 a0 ef 35 fa ce c0 7a 8f f5 ba 45 db c7 a9 4e 5a 31 98 81 b6 17 2c ad	.1:>?HrN!..5...z...E...NZ1....,.
1040	c3 da 6d ab 32 73 65 27 a7 72 99 d8 0d 21 c0 5a 3b 5c f3 ba ae ef 68 09 df 74 16 12 aa 52 e1 78	..m.2se'.r...!.Z;\....h..t...R.x
1060	5e a0 50 01 10 03 11 1f a3 ad 10 10 02 a0 14 e1 70 5e 62 af 36 20 6a 40 81 26 07 70 37 71 18 d6	^.P.............p^b.6.j@.&.p7q..
1080	5f d1 14 05 66 85 c2 c1 4c e1 e4 a0 c6 ac 54 30 ca 80 c0 10 26 10 2b 78 30 3c 00 66 01 73 24 78	_...f...L.....T0....&.+x0<.f.s$x
10a0	2e ca 11 2f 3a fd f3 c7 e3 08 e0 8e 07 04 5a 33 f6 e7 0a 86 03 96 6b 8b 79 01 5c 39 28 70 b8 3f	.../:.........Z3......k.y.\9(p.?
10c0	c3 f1 e1 1c 47 7b 33 54 a5 46 61 34 b4 51 d1 88 83 40 12 61 16 8d 48 a0 a1 50 55 06 47 88 ce 81	....G{3T.Fa4.Q...@.a..H..PU.G...
10e0	88 86 5c 3d e4 70 95 00 06 41 84 50 b9 80 60 02 02 04 e2 b3 dc 35 e6 fd b3 a0 b0 3f 2b d0 23 9e	..\=.p...A.P..`......5.....?+.#.
1100	f6 61 d8 65 18 53 14 e7 63 88 af 99 a1 79 58 70 12 23 02 ca f3 e2 29 0a a8 42 76 00 71 be a2 1f	.a.e.S..c....yXp.#....)..Bv.q...
1120	78 80 f8 db 82 0f b0 d6 c5 28 20 bd f6 34 8b 39 b9 90 e8 08 94 52 20 06 34 33 0a 66 30 11 b4 66	x........(...4.9.....R..43.f0..f
1140	68 13 9d 84 0b 02 ef 63 6f 45 d7 75 68 bb 1e d6 39 ac 0a c2 ba 8b dc 85 31 0a 44 c0 aa 15 3c b6	h......coE.uh...9.......1.D...<.
1160	68 c1 8d 8f 3f 7f d4 a7 31 76 da e3 c5 2f 39 bd cb a5 de 31 51 88 11 63 a2 98 50 95 1a c7 fb 0a	h...?...1v.../9....1Q..c..P.....
1180	75 01 28 48 bc 02 22 b0 ce c3 7b 81 62 c6 c9 41 8d 79 5d a2 0f 39 d9 9a 1c c0 d3 8e 5f f9 a5 b7	u.(H.."...{.b..A.y]..9......_...
11a0	d0 6f fe cc ff fd 1d 6b db ff 5d 56 05 4a 45 50 e9 86 55 44 d0 0a 60 a5 61 9d c0 07 81 d0 d0 b2	.o.....k..]V.JEP..UD..`.a.......
11c0	3b 9a f3 48 17 b2 c1 63 b2 e8 a2 a5 20 e3 d0 72 70 14 92 7e 37 13 14 33 ae 5e 9a e3 ea c9 01 ee	;..H...c.......rp..~7..3.^......
11e0	3b 39 c4 fe bc 8a 8a 32 8e 3f b3 2c 93 03 60 8c 6a cf 80 b7 01 c1 c7 dc 59 29 02 78 24 53 86 20	;9.....2.?.,..`.j.......Y).x$S..
1200	78 81 ed 1c c4 47 63 f6 c1 27 f1 21 81 35 81 f3 0d 48 02 56 0a da 50 ca d5 03 e0 03 6c 00 38 75	x....Gc..'.!.5...H.V..P.....l.8u
1220	42 0a 03 04 15 df 01 8e ef 99 a2 91 03 a0 0d 69 38 38 49 62 80 03 38 55 10 10 02 62 b2 93 9f bb	B..............i88Ib..8U...b....
1240	ed 44 89 29 fd bc cd ac 7d a5 18 45 52 d7 19 66 18 ce 03 3c a2 73 48 ee 06 0c 01 83 e0 95 82 66	.D.)....}..ER..f...<.sH........f
1260	06 14 43 6b 86 71 84 20 29 42 01 41 b1 0c 51 46 fc f7 ce 66 ac dd 65 2f 39 3a d8 5d 20 ba 45 84	..Ck.q..)B.A..QF...f..e/9:.]..E.
1280	66 9d 01 33 0a 0d 14 1a 80 44 ee 43 10 9d a0 75 01 a2 e2 c5 2b 0b 83 ba 9c 81 58 4d 0e e0 6e e0	f..3.....D.C...u....+.....XM..n.
12a0	9f bf ef 8f ff bd b2 aa de d3 db fe a8 ee 17 98 1d 1a 1c cc 15 0a 1d 49 39 ef 2c 6c ef e0 d8 c0	.......................I9.,l....
12c0	05 86 a4 7c d1 bb 10 c9 aa 14 e2 e5 ba fe b8 be 9f bb 02 2f 12 8d 64 e7 10 42 cc cf ed 20 3b f5	...|.............../..d..B....;.
12e0	80 30 14 13 ca 82 70 b4 57 e3 ea f1 1e 2e 1d d5 30 5a 23 10 25 07 40 d0 86 a1 34 81 14 c5 1b 96	.0....p.W.......0Z#.%.@...4.....
1300	08 12 24 45 2c 21 8e b9 d1 3c 9e 34 14 19 7b 04 78 c5 91 0d 17 41 40 4e 6b 08 ac 00 90 4a 8e 28	..$E,!...<.4..{.x....A@Nk....J.(
1320	47 38 a9 14 97 43 79 91 81 a2 8f 63 cc 42 b4 fe 90 6f 6e 8c 8c 29 d5 c3 7d 80 0b 91 81 4f cd d0	G8...Cy....c.B...on..)..}....O..
1340	10 84 94 4e a4 b0 39 45 15 48 3f 9f 88 37 e1 3d 00 52 d1 29 32 13 8c 26 d4 26 86 e8 bc 55 80 10	...N..9E.H?..7.=.R.)2..&.&...U..
1360	04 8f d1 7c 05 8a e9 0c 92 2e 43 18 5a 31 74 dc 89 00 09 02 1b 04 d6 c6 0e 4c ad 38 aa f6 78 7b	...|......C.Z1t..........L.8..x{
1380	52 f3 38 b4 cf e9 40 be ce 5a eb e1 f3 59 03 12 a3 87 8d e3 32 8a 31 ab 14 2a 0d 74 7d 8f 75 e7	R.8...@..Z...Y......2.1..*.t}.u.
13a0	d0 3b 8f d3 f3 16 cb c6 c1 28 46 5d 18 5c 3a 66 cc ea 19 58 4d 1c c0 d3 8e b7 3e fa b2 37 8b f8	.;.......(F].\:f...XM.....>..7..
13c0	bf 6f fb fe 08 ae c3 5c 03 47 97 6a cc eb 78 03 00 04 1f e2 09 19 7c 00 eb 02 3e 50 8a 06 92 17	.o.....\.G.j..x.......|...>P....
13e0	67 49 75 6f 1e 5d 78 b5 d5 ee 3b ee f9 1f e7 93 43 49 30 04 04 ef 87 b0 9a 08 28 0d a3 2c 0d aa	gIuo.]x...;.....CI0.......(..,..
1400	ca a0 2c 8b f8 73 14 a1 2c 35 94 8e 1f 13 d3 c0 01 f8 64 48 a4 00 28 01 44 a5 bf 21 96 0e 21 88	..,..s..,5........dH..(.D..!..!.
1420	27 3e 62 fe 5f 94 3a a6 0d 90 98 2c a7 70 de 07 0f 92 90 9c 8c 82 84 00 ef 32 29 97 1c 40 2a b1	'>b._.:....,.p...........2)..@*.
1440	11 08 42 29 d7 07 41 18 f0 9e 11 7c 7c 2e 27 62 32 a6 0c 04 97 98 c2 18 35 64 27 90 38 05 c9 c5	..B)..A....||.'b2.......5d'.8...
1460	ce e8 74 72 4e bf 61 de 23 99 58 a4 bf bd d0 0a 65 a1 a0 92 83 09 89 50 93 d4 4e 2d 32 3a 85 65	..trN.a.#.X.....e......P..N-2:.e
1480	38 c2 81 b1 43 01 c1 bb 00 eb 05 91 d3 8d bf 47 a5 8a cc ae 16 60 37 85 1b 2b 3a 2f 2e 1b f2 10	8...C..........G.....`7..+:/....
14a0	b5 30 01 8a 14 14 0b 24 00 ad 0d 68 5b 87 c5 da e2 74 d1 a3 34 0a bd 0d 08 00 ac b3 a0 20 93 03	.0.....$...h[....t..4...........
14c0	78 da f0 02 d0 1b 4f 1e fe ae be 77 ef 0e b6 39 e9 db 15 8c 01 8e 8e 6a cc 66 06 a0 78 62 01 01	x.....O....w...9.......j.f..xb..
14e0	8a 18 0c 05 62 81 52 82 9e 12 8b ed 43 2c 53 05 82 5c d8 06 7a 31 21 38 6e 1a b9 7d fb f6 76 99	....b.R.....C,S..\..z1!8n..}..v.
1500	30 1d 64 f3 5a e3 a1 07 af 62 56 15 28 4d 14 00 09 a5 1c 9f 09 4a 13 96 ad c3 fe dc 80 15 a7 9b	0.d.Z....bV.(M.......J..........
1520	9c 86 e2 39 33 0d aa 42 a1 78 02 86 4d 80 8d ac 20 10 8e df 97 4a f9 d1 21 78 19 ca ed 41 3c 82	...93..B.x..M........J..!x...A<.
1540	17 04 97 9c 53 d2 1e 68 a6 78 6a ab cc b2 13 42 e0 4d 74 91 be 9f 53 e8 ae 08 d0 3a 59 c1 f0 fb	....S..h.xj....B.Mt...S....:Y...
1560	d3 69 af 18 1e 99 78 94 4d 8d 7e 37 04 a6 18 46 1b 66 b0 22 e8 64 a8 2a 3b 09 61 30 87 41 9a 0d	.i....x.M.~7...F.f.".d.*;.a0.A..
1580	49 61 79 88 24 63 e6 33 62 15 03 70 e9 e1 03 60 bd c4 ca 8e 6c 37 ec 5f b4 bd 69 ac 03 c8 0e 60	Iay.$c.3b..p...`....l7._..i....`
15a0	fc b9 6d 6e 27 df 23 01 bd 03 9a de 41 82 a0 e9 3d 7a 1b 1d 0f 10 49 db c2 28 98 42 83 48 b0 5c	..mn'.#.....A...=z....I..(.B.H.\
15c0	af be 68 07 07 7c 51 38 80 37 dd ff 25 df 2e ae ff a9 be 6d 8e 5c d7 a0 2c 08 87 47 35 ea 99 81	..h..|Q8.7..%......m.\..,..G5...
15e0	00 68 3a 8f a6 f5 60 25 98 95 1a 86 93 9a 2d 00 5d e7 70 be e8 b0 5a 7b 58 1b 13 76 e7 fc 56 e7	.h:...`%......-.].p...Z{X..v..V.
1600	58 d7 75 43 5d 78 7c 8a e5 a1 11 cc 8c be ef 71 7a 7a ba 25 1b a6 14 ce 1e 1d cc 70 f9 d2 01 0c	X.uC]x|........qzz.%.......p....
1620	eb 18 7e 73 bc 51 39 c4 fc be e9 3c 3e 73 ab c3 8b 1f 32 10 15 4f 3b 1f 28 97 e1 e3 3f 29 ff 1c	..~s.Q9....<>s....2..O;.(...?)..
1640	c8 24 d9 18 7f 00 86 88 23 f8 a4 47 91 48 c8 45 63 cf 27 6a 0c e9 59 31 54 a1 62 45 24 44 f1 0a	.$......#..G.H.Ec.'j..Y1T.bE$D..
1660	29 02 a7 64 9f 28 56 0d 44 00 db 3b d8 de c7 d3 38 55 13 40 40 ad 09 a4 22 17 e2 6d 72 2c 21 85	)..d.(V.D..;....8U.@@..."..mr,!.
1680	fd 21 57 13 62 34 c0 0c 68 a5 a1 98 10 06 a7 19 1d 8a 51 2a 9e d2 4a c5 4e cc ec f0 92 90 2a 0b	.!W.b4..h.........Q*..J.N.....*.
16a0	7d 90 22 01 67 63 68 de fb 38 91 c3 79 41 63 05 e7 9d c0 d9 4c 12 0a 5a 0b f4 36 c0 7b 80 f8 ce	}.".gch..8..yAc.....L..Z..6.{...
16c0	9d 00 f9 1a e6 9a 7f fe 78 1c e9 79 ef a3 4a 31 11 84 d6 da d8 37 e0 1d 6e 9f 0b 3e 0e a0 60 81	........x..y..J1.....7..n..>..`.
16e0	75 0e 5d ef 00 09 28 cb 02 87 fb 35 aa 4a e3 e8 b8 c2 ec 60 86 a2 9a 83 d4 c4 01 3c 3d c6 ff 57	u.]...(....5.J.....`.......<=..W
1700	5e f5 6d 0c ff 9e ce d9 23 d7 b7 28 0b c2 c1 51 8d ba 36 88 b3 20 3c ce d7 0e 6d ef 12 c9 e3 31	^.m.....#..(...Q..6...<...m....1
1720	2f 01 c5 0a c1 05 9c af 03 16 eb 1e bd 13 78 4f 20 24 2f 2f 12 25 ac 21 e0 f4 f4 14 fb fb fb 5b	/.............xO.$//.%.!.......[
1740	5d 82 bb ff b6 6d 3b 38 84 dd 52 57 59 68 14 5a 0f a7 ab 08 0d 11 47 1e 28 7a 60 08 e7 67 2d 8a	]....m;8..RWYh.Z......G.(z`..g-.
1760	52 0d c6 17 ef 53 1a c8 c4 20 59 69 17 c9 bd 22 11 88 de 79 f4 9d 4d 4c fc c6 00 25 c8 86 74 53	R....S....Yi..."...y..ML...%..tS
1780	0c a5 01 53 54 91 6b 30 1a 14 62 ad 5c d2 73 94 89 25 34 42 fa 3b 25 40 51 4c 07 82 0f 1b 27 40	...ST.k0..b.\.s..%4B.;%@QL....'@
17a0	04 53 32 94 89 d1 4a 4f 04 67 fd a8 ff 3e 39 1c 8e c6 ab 88 51 16 1a ac 22 c9 66 fb 98 9e 10 11	.S2...JO.g...>9.....Q...".f.....
17c0	74 9e a8 ac 32 c9 1a 09 41 a5 78 78 0f b3 c3 b3 d6 27 d5 64 4c 47 44 08 5e 80 de 0b da 3e ae 01	t...2...A.xx.....'.dLGD.^....>..
17e0	8b 29 19 d0 3b 81 f3 31 3c cf d7 73 37 a2 cb a5 c1 7c bd c6 29 40 4e f5 76 d3 01 e7 62 04 d0 74	.)..;..1<..s7....|..)@N.v...b..t
1800	1e 67 cb 00 cd 21 a5 55 01 cc c0 61 a9 70 30 2f 30 ab 0d ea aa 40 59 19 cc 0e f6 a0 26 0e e0 a9	.g...!.U...a.p0/0....@Y.....&...
1820	c7 5f 7b dd 2b fe 83 2e f8 77 4b bb 3a 76 cd 1a 75 49 38 3e aa 51 54 1a 42 40 9b 8c bf e9 1d 9c	._{.+....wK.:v..uI8>.QT.B@......
1840	13 30 79 ac 12 91 64 34 b0 ee 05 8f 2f 02 56 56 a5 1a 75 d8 9a 03 38 9f cf b7 72 c0 f1 12 89 7c	.0y...d4..../.VV..u...8...r....|
1860	52 64 ac d7 eb ad 90 d1 5a 0b 09 9b fc 57 2b 4e c4 de e8 84 0e 69 e6 5c 12 b1 ac 96 82 ae 21 30	Rd......Z....W+N.....i.\......!0
1880	92 16 00 31 77 87 c4 9f 13 b2 92 0e f1 f5 59 95 b7 0e c5 5a 7b 2e cf 09 47 92 2c a8 28 ba 51 8a	...1w.........Y....Z{...G.,.(.Q.
18a0	51 56 06 da 44 87 41 29 27 0e 01 d0 12 2b 02 ac 18 f1 cf 19 0b 63 a2 61 2a 4d 60 52 23 f1 cc 86	QV..D.A)'....+.......c.a*M`R#...
18c0	0f 90 91 41 22 69 07 99 73 c4 92 c8 48 02 88 25 b1 f8 18 4e f8 c8 0b 6c 08 46 26 6c 74 06 bb 8b	...A"i..s...H..%...N...l.F&lt...
18e0	59 d2 86 25 70 4c 71 b0 3b a4 25 c8 c8 69 66 c9 b1 8c b8 82 8b cb b8 bb a9 c1 45 d5 9d ed 69 4f	Y..%pLq.;.%..if...........E...iO
1900	d1 71 a7 7a 07 14 a2 13 1a e7 7c 21 e4 47 d8 38 64 4c 1c c0 53 6b fc 5f fb ea b7 06 ef df dd 36	.q.z......|!.G.8dL..Sk._.......6
1920	8b 63 bb 3e c7 81 11 1c 1e d5 98 ef c5 69 2d 8d f5 58 f7 1e ad f5 91 10 4a a4 9a 73 82 45 f0 08	.c.>.........i-..X......J..s.E..
1940	12 70 bb 15 dc 5a 03 36 10 74 51 61 5e 32 ac 75 50 4a a3 2c 4b 94 65 39 dc 0c 55 55 42 a9 cd a8	.p...Z.6.tQa^2.uPJ.,K.e9..UUB...
1960	f0 2c 1c b1 d6 c2 98 38 f2 bf 2c 4b 38 e7 b0 5e af d1 b6 5d 94 84 4a 3c 19 ab d2 a4 92 1f 86 61	.,.....8..,K8..^...]..J<.......a
1980	21 24 40 d3 ba 18 be 3b 89 dc 43 c8 3a fb d8 8c c3 7a 23 aa d1 9a 93 c1 27 a5 5e be f1 29 92 77	!$@....;..C.:....z#.....'.^..).w
19a0	9c 54 76 84 58 2e 34 65 3c 75 89 00 5d 68 68 15 65 ce 59 f3 a8 39 f1 5a 49 00 45 e9 63 c9 91 04	.Tv.X.4e<u..]hh.e.Y..9.ZI.E.c...
19c0	a2 f3 a0 22 ee c2 93 a1 32 10 bf 1e 5c c8 fd 44 91 d1 17 01 79 40 92 e1 91 e2 c1 28 c4 0b 9c f8	..."....2...\..D....y@.....(....
19e0	54 ca 8c cc 3f 64 53 7a 65 92 28 f8 61 1e 2c 49 64 cb ae a2 c6 41 c7 34 28 15 49 20 89 6f c8 29	T...?dSze.(.a.,Id....A.4(.I..o.)
1a00	8e 24 22 73 08 15 b2 90 e2 02 8c 4f f6 9d 75 ee 43 6a 90 fb 02 8a 22 12 b7 48 dc 4c c5 84 a3 42	.$"s.......O..u.Cj...."..H.L...B
1a20	a1 60 c1 da 01 ab f4 1a 7a eb b1 6e a2 f3 6f d7 0e 5d 63 a1 74 0f e6 30 39 80 a7 02 6f 07 e8 4f	.`......z..n..o..]c.t..09...o..O
1a40	1f 7d c5 b7 5b 6f df d3 35 eb e3 66 75 86 4a 79 cc f7 6b 94 95 06 33 6d 6e 4a 89 e5 2e 92 cc 5c	.}..[o..5..fu.Jy..k...3mnJ.....\
1a60	03 3d 80 ae f3 38 eb 04 cb 9e e0 44 c1 98 02 75 3d c3 6c 36 1b 42 ff ab 57 af a2 28 0a 88 08 8a	.=...8.....D...u=.l6.B..W..(....
1a80	c2 a0 2c cc 50 f0 ca 37 49 ce 11 89 08 6d db 62 b5 5a 8d 16 47 ca c0 1b fb 20 a9 0d 55 c5 5c 7b	..,.P..7I....m.b.Z..G.......U.\{
1aa0	38 4d 08 4a 31 6c eb e0 d8 43 42 62 dc 13 bf 46 8c 0d e9 c5 80 d2 0c a5 22 e5 c6 3e 96 e7 b2 08	8M.J1l...CBb...F........"..>....
1ac0	88 46 cd 37 c4 71 14 99 2e a2 82 10 49 5c 43 4c 89 e0 cb 27 3d 52 de bf 5d da 97 2d c6 3c 2b 08	.F.7.q......I\CL...'=R..]..-.<+.
1ae0	69 a0 e0 43 20 c0 3b 88 cb 27 9b 24 d5 1f 81 28 0c f5 f2 5c 7a 0b 22 f0 2e 96 e8 62 aa a1 86 eb	i..C..;..'.$...(...\z."....b....
1b00	24 3e bf 57 3b 7a 0a d9 bc 12 c9 3c c0 c8 23 e4 43 9d d3 c7 9c 3e ce 6d 48 cc 9f bd 5d 3f 9f f4	$>.W;z.....<..#.C....>.mH...]?..
1b20	e3 26 ae 9c 16 8c 45 42 77 54 7f 28 f2 2e 5a 11 66 86 51 70 bc 02 9d 67 78 49 07 43 ef a0 19 31	.&....EBwT.(..Z.f.Qp...gxI.C...1
1b40	25 71 21 11 b1 53 04 f0 94 e0 f7 bf f2 91 ef 2a 82 ff a9 be 59 1f 75 ab 33 cc 8c e0 f8 a0 42 55	%q!..S.........*....Y.u.3.....BU
1b60	ea d8 8a 9a f2 44 45 84 99 d1 f0 3e ae 89 ca fa f2 de 09 ce 3a c1 a2 8b 93 36 8a c2 60 36 9f 61	.....DE....>........:....6..`6.a
1b80	6f 6f 0f 65 59 a2 28 0a 1c 1f 1f 63 3e 9f 0f ce a0 2e 0b 04 d7 41 48 0f 4a c1 4c 1a a5 e9 3d 43	oo.eY.(....c>........AH.J.L...=C
1ba0	0a e0 5c 54 bc e5 6a 40 60 42 9f 3e c7 ea ce e5 22 5a 11 82 a6 58 42 0b 40 e0 38 4e 3c d6 f0 e3	..\T..j@`B.>...."Z...XB.@.8N<...
1bc0	c7 b6 8f d1 41 ec 3c 8b a6 ce 94 e4 cb b2 39 2d c7 46 47 14 e5 c0 1e 91 f4 03 e7 d3 32 31 ea 31	....A.<.......9-.FG.........21.1
1be0	24 82 4f 5a ff 8d d2 6d a3 13 20 02 bc 60 70 4a 31 42 49 8a 3f 17 d2 e7 65 30 50 91 54 75 c8 61	$.OZ...m.....`pJ1BI.?...e0P.Tu.a
1c00	b4 a4 d7 11 90 42 f4 9c fe 24 b9 b0 6c ea fb c4 b1 34 c9 b9 c7 62 fc 9a 92 16 41 52 4f c1 60 b4	.....B...$..l....4...b....ARO.`.
1c20	88 8d 52 95 26 cc 2a 8e 32 e4 1c bd a4 72 26 46 29 c6 56 ca 30 9a 15 b8 db cb 91 3f 3f 76 10 5b	..R.&.*.2....r&F).V.0......??v.[
1c40	3d 02 cc 30 9a 51 55 1a a5 06 a4 07 1c 01 5e 04 24 01 9a 25 09 bf a2 34 d9 18 be 70 a1 cc e4 00	=..0.QU.......^.$..%...4...p....
1c60	9e 24 5e f9 8a 47 be 65 bd b6 ef 5e fb f6 48 fa 25 f6 4b c1 7d 27 33 cc 4b 0d 10 a1 b7 01 ad 78	.$^..G.e...^..H.%.K.}'3.K......x
1c80	14 cc d0 4a 83 a9 c2 ac e8 10 02 e1 cc 39 74 4e 70 da 08 96 16 f0 42 28 8a 02 7b 7b 73 ec ef ef	...J.........9tNp.....B(..{{s...
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2600	ca 7d 10 2b 9a 1c c0 53 84 df f8 08 e4 5b bb 8f 3d 8e 17 3c fb 57 b5 aa 45 e9 ea 7b 7a cb 0f 2f	.}.+...S.....[..=..<.W..E..{z../
2620	1b a7 6e 2e 1c 6e 2d 05 4e 38 cd bb 2f 51 d7 35 ca b2 c4 6c 36 c3 95 2b 57 70 f5 ea 55 cc e7 f3	..n..n-.N8../Q.5. * @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, const 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