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|
/*
Minetest
Copyright (C) 2013 sapier, sapier at gmx dot net
Copyright (C) 2016 est31, <MTest31@outlook.com>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
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 "map.h"
#include "nodedef.h"
//#define PATHFINDER_DEBUG
//#define PATHFINDER_CALC_TIME
#ifdef PATHFINDER_DEBUG
#include <string>
#endif
#ifdef PATHFINDER_DEBUG
#include <iomanip>
#endif
#ifdef PATHFINDER_CALC_TIME
#include <sys/time.h>
#endif
/******************************************************************************/
/* Typedefs and macros */
/******************************************************************************/
#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 warningstream << "Pathfinder: "
#endif
#define PATHFINDER_MAX_WAYPOINTS 700
/******************************************************************************/
/* Class definitions */
/******************************************************************************/
/** representation of cost in specific direction */
class PathCost {
public:
/** default constructor */
PathCost() = default;
/** copy constructor */
PathCost(const PathCost &b);
/** assignment operator */
PathCost &operator= (const PathCost &b);
bool valid = false; /**< movement is possible */
int value = 0; /**< cost of movement */
int y_change = 0; /**< change of y position of movement */
bool updated = false; /**< this cost has ben calculated */
};
/** representation of a mapnode to be used for pathfinding */
class PathGridnode {
public:
/** default constructor */
PathGridnode() = default;
/** copy constructor */
PathGridnode(const PathGridnode &b);
/**
* assignment operator
* @param b node to copy
*/
PathGridnode &operator= (const PathGridnode &b);
/**
* read cost in a specific direction
* @param dir direction of cost to fetch
*/
PathCost getCost(v3s16 dir);
/**
* set cost value for movement
* @param dir direction to set cost for
* @cost cost to set
*/
void setCost(v3s16 dir, const PathCost &cost);
bool valid = false; /**< node is on surface */
bool target = false; /**< node is target position */
bool source = false; /**< node is stating position */
int totalcost = -1; /**< cost to move here from starting point */
int estimated_cost = -1; /**< totalcost + heuristic cost to end */
v3s16 sourcedir; /**< origin of movement for current cost */
v3s16 pos; /**< real position of node */
PathCost directions[4]; /**< cost in different directions */
bool is_closed = false; /**< for A* search: if true, is in closed list */
bool is_open = false; /**< for A* search: if true, is in open list */
/* debug values */
bool is_element = false; /**< node is element of path detected */
char type = 'u'; /**< Type of pathfinding node.
* u = unknown
* i = invalid
* s = surface (walkable node)
* - = non-walkable node (e.g. air) above surface
* g = other non-walkable node
*/
};
class Pathfinder;
class PathfinderCompareHeuristic;
/** Abstract class to manage the map data */
class GridNodeContainer {
public:
virtual PathGridnode &access(v3s16 p)=0;
virtual ~GridNodeContainer() = default;
protected:
Pathfinder *m_pathf;
void initNode(v3s16 ipos, PathGridnode *p_node);
};
class ArrayGridNodeContainer : public GridNodeContainer {
public:
virtual ~ArrayGridNodeContainer() = default;
ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
virtual PathGridnode &access(v3s16 p);
private:
int m_x_stride;
int m_y_stride;
std::vector<PathGridnode> m_nodes_array;
};
class MapGridNodeContainer : public GridNodeContainer {
public:
virtual ~MapGridNodeContainer() = default;
MapGridNodeContainer(Pathfinder *pathf);
virtual PathGridnode &access(v3s16 p);
private:
std::map<v3s16, PathGridnode> m_nodes;
};
/** class doing pathfinding */
class Pathfinder {
public:
Pathfinder() = delete;
Pathfinder(Map *map, const NodeDefManager *ndef) : m_map(map), m_ndef(ndef) {}
~Pathfinder();
/**
* path evaluation function
* @param env environment to look for path
* @param source origin of path
* @param destination end position of path
* @param searchdistance maximum number of nodes to look in each direction
* @param max_jump maximum number of blocks a path may jump up
* @param max_drop maximum number of blocks a path may drop
* @param algo Algorithm to use for finding a path
*/
std::vector<v3s16> getPath(v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo);
private:
/* helper functions */
/**
* transform index pos to mappos
* @param ipos a index position
* @return map position
*/
v3s16 getRealPos(v3s16 ipos);
/**
* transform mappos to index pos
* @param pos a real pos
* @return index position
*/
v3s16 getIndexPos(v3s16 pos);
/**
* get gridnode at a specific index position
* @param ipos index position
* @return gridnode for index
*/
PathGridnode &getIndexElement(v3s16 ipos);
/**
* Get gridnode at a specific index position
* @return gridnode for index
*/
PathGridnode &getIdxElem(s16 x, s16 y, s16 z);
/**
* invert a 3D position (change sign of coordinates)
* @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);
/* algorithm functions */
/**
* calculate 2D Manhattan distance to target
* @param pos position to calc distance
* @return integer distance
*/
int getXZManhattanDist(v3s16 pos);
/**
* 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 current_cost, int level);
/**
* try to find a path to destination using a heuristic function
* to estimate distance to target (A* search algorithm)
* @param isource start position (index pos)
* @param idestination end position (index pos)
* @return true/false path to destination has been found
*/
bool updateCostHeuristic(v3s16 isource, v3s16 idestination);
/**
* build a vector containing all nodes from destination to source;
* to be called after the node costs have been processed
* @param path vector to add nodes to
* @param ipos initial pos to check (index pos)
* @return true/false path has been fully built
*/
bool buildPath(std::vector<v3s16> &path, v3s16 ipos);
/**
* go downwards from a position until some barrier
* is hit.
* @param pos position from which to go downwards
* @param max_down maximum distance to go downwards
* @return new position after movement; if too far down,
* pos is returned
*/
v3s16 walkDownwards(v3s16 pos, unsigned int max_down);
/* variables */
int m_max_index_x = 0; /**< max index of search area in x direction */
int m_max_index_y = 0; /**< max index of search area in y direction */
int m_max_index_z = 0; /**< max index of search area in z direction */
int m_maxdrop = 0; /**< maximum number of blocks a path may drop */
int m_maxjump = 0; /**< maximum number of blocks a path may jump */
int m_min_target_distance = 0; /**< current smalest path to target */
bool m_prefetch = true; /**< 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 = nullptr;
Map *m_map = nullptr;
const NodeDefManager *m_ndef = nullptr;
friend class PathfinderCompareHeuristic;
#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
};
/** Helper class for the open list priority queue in the A* pathfinder
* to sort the pathfinder nodes by cost.
*/
class PathfinderCompareHeuristic
{
private:
Pathfinder *myPathfinder;
public:
PathfinderCompareHeuristic(Pathfinder *pf)
{
myPathfinder = pf;
}
bool operator() (v3s16 pos1, v3s16 pos2) {
v3s16 ipos1 = myPathfinder->getIndexPos(pos1);
v3s16 ipos2 = myPathfinder->getIndexPos(pos2);
PathGridnode &g_pos1 = myPathfinder->getIndexElement(ipos1);
PathGridnode &g_pos2 = myPathfinder->getIndexElement(ipos2);
if (!g_pos1.valid)
return false;
if (!g_pos2.valid)
return false;
return g_pos1.estimated_cost > g_pos2.estimated_cost;
}
};
/******************************************************************************/
/* implementation */
/******************************************************************************/
|
