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Minetest-c55
---------------
An InfiniMiner/Minecraft inspired game.
Copyright (c) 2010-2011 Perttu Ahola <celeron55@gmail.com>

Further documentation:
----------------------
- Website: http://celeron.55.lt/~celeron55/minetest/
- Wiki: http://celeron.55.lt/~celeron55/minetest/wiki/
- Forum: http://celeron.55.lt/~celeron55/minetest/forum/

This is a development version:
------------------------------
- Don't expect it to work as well as a finished game will.
- Please report any bugs to me. That way I can fix them to the next release.
	- debug.txt is useful when the game crashes.

Controls:
---------
- See the in-game pause menu
- Settable in the configuration file, see the section below.

Map directory:
--------------
- Map is stored in a directory, which can be removed to generate a new map.
- There is a command-line option for it: --map-dir
- For a RUN_IN_PLACE build, it is located in:
		../map
- Otherwise something like this:
	Windows: C:\Documents and Settings\user\Application Data\minetest\map
	Linux: ~/.minetest/map
	OS X: ~/Library/Application Support/minetest/map

Configuration file:
-------------------
- An optional configuration file can be used. See minetest.conf.example.
- Path to file can be passed as a parameter to the executable:
	--config <path-to-file>
- Defaults:
	- If built with -DRUN_IN_PLACE=1:
		../minetest.conf
		../../minetest.conf
	- Otherwise something like this:
		Windows: C:\Documents and Settings\user\Application Data\minetest\minetest.conf
		Linux: ~/.minetest/minetest.conf
		OS X: ~/Library/Application Support/minetest.conf

Command-line options:
---------------------
- Use --help

Compiling on GNU/Linux:
-----------------------

Install dependencies. Here's an example for Debian/Ubuntu:
$ apt-get install build-essential libirrlicht-dev cmake libbz2-dev libpng12-dev libjpeg8-dev libxxf86vm-dev libgl1-mesa-dev

Download source, extract (this is the URL to the latest of source repository, which might not work at all times):
$ wget https://bitbucket.org/celeron55/minetest/get/tip.tar.gz
$ tar xf tip.tar.gz
$ cd minetest

Build a version that runs directly from the source directory:
$ cmake . -DRUN_IN_PLACE=1
$ make -j2

Run it:
$ cd bin
$ ./minetest

- Use cmake . -LH to see all CMake options and their current state
- If you want to install it system-wide (or are making a distribution package), you will want to use -DRUN_IN_PLACE=0
- You can build a bare server or a bare client by specifying -DBUILD_CLIENT=0 or -DBUILD_SERVER=0
- You can select between Release and Debug build by -DCMAKE_BUILD_TYPE=<Debug or Release>
  - Note that the Debug build is considerably slower

Compiling on Windows:
---------------------

- You need:
	* CMake:
		http://www.cmake.org/cmake/resources/software.html
	* MinGW or Visual Studio
		http://www.mingw.org/
		http://msdn.microsoft.com/en-us/vstudio/default
	* Irrlicht SDK 1.7:
		http://irrlicht.sourceforge.net/downloads.html
	* Zlib headers (zlib125.zip)
		http://www.winimage.com/zLibDll/index.html
	* Zlib library (zlibwapi.lib and zlibwapi.dll from zlib125dll.zip):
		http://www.winimage.com/zLibDll/index.html
	* And, of course, Minetest-c55:
		http://celeron.55.lt/~celeron55/minetest/download
- Steps:
	- Select a directory called DIR hereafter in which you will operate.
	- Make sure you have CMake and a compiler installed.
	- Download all the other stuff to DIR and extract them into there. All those
	  packages contain a nice base directory in them, which should end up being
	  the direct subdirectories of DIR.
	- You will end up with a directory structure like this (+=dir, -=file):
	-----------------
	+ DIR
		- zlib-1.2.5.tar.gz
		- zlib125dll.zip
		- irrlicht-1.7.1.zip
		- 110214175330.zip (or whatever, this is the minetest source)
		+ zlib-1.2.5
			- zlib.h
			+ win32
			...
		+ zlib125dll
			- readme.txt
			+ dll32
			...
		+ irrlicht-1.7.1
			+ lib
			+ include
			...
		+ minetest
			+ src
			+ doc
			- CMakeLists.txt
			...
	-----------------
	- Start up the CMake GUI
	- Select "Browse Source..." and select DIR/minetest
	- Now, if using MSVC:
		- Select "Browse Build..." and select DIR/minetest-build
	- Else if using MinGW:
		- Select "Browse Build..." and select DIR/minetest
	- Select "Configure"
	- Select your compiler
	- It will warn about missing stuff, ignore that at this point. (later don't)
	- Make sure the configuration is as follows
	  (note that the versions may differ for you):
	-----------------
	BUILD_CLIENT             [X]
	BUILD_SERVER             [ ]
	CMAKE_BUILD_TYPE         Release
	CMAKE_INSTALL_PREFIX     DIR/minetest-install
	IRRLICHT_SOURCE_DIR      DIR/irrlicht-1.7.1
	RUN_IN_PLACE             [X]
	WARN_ALL                 [ ]
	ZLIB_DLL                 DIR/zlib125dll/dll32/zlibwapi.dll
	ZLIB_INCLUDE_DIR         DIR/zlib-1.2.5
	ZLIB_LIBRARIES           DIR/zlib125dll/dll32/zlibwapi.lib
	-----------------
	- Hit "Configure"
	- Hit "Generate"
	If using MSVC:
		- Open the generated minetest.sln
		- The project defaults to the "Debug" configuration. Make very sure to
		  select "Release", unless you want to debug some stuff (it's slower)
		- Build the ALL_BUILD project
		- Build the INSTALL project
		- You should now have a working game with the executable in
			DIR/minetest-install/bin/minetest.exe
		- Additionally you may create a zip package by building the PACKAGE
		  project.
	If using MinGW:
		- Using the command line, browse to the build directory and run 'make'
		  (or mingw32-make or whatever it happens to be)
		- You should now have a working game with the executable in
			DIR/minetest/bin/minetest.exe

License of Minetest-c55
-----------------------

Minetest-c55
Copyright (C) 2010-2011 celeron55, Perttu Ahola <celeron55@gmail.com>

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 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 General Public License for more details.

You should have received a copy of the GNU 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.

Irrlicht
---------------

This program uses the Irrlicht Engine. http://irrlicht.sourceforge.net/

 The Irrlicht Engine License

Copyright © 2002-2005 Nikolaus Gebhardt

This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.

Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute
it freely, subject to the following restrictions:

   1. The origin of this software must not be misrepresented; you
      must not claim that you wrote the original software. If you use
	  this software in a product, an acknowledgment in the product
	  documentation would be appreciated but is not required.
   2. Altered source versions must be plainly marked as such, and must
      not be misrepresented as being the original software.
   3. This notice may not be removed or altered from any source
      distribution.


JThread
---------------

This program uses the JThread library. License for JThread follows:

Copyright (c) 2000-2006  Jori Liesenborgs (jori.liesenborgs@gmail.com)

Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and associated documentation files (the "Software"),
to deal in the Software without restriction, including without limitation
the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
IN THE SOFTWARE.


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/*
Minetest
Copyright (C) 2013 sapier, sapier at gmx dot net

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/

/******************************************************************************/
/* Includes                                                                   */
/******************************************************************************/

#include "pathfinder.h"
#include "environment.h"
#include "map.h"
#include "log.h"

#ifdef PATHFINDER_DEBUG
#include <iomanip>
#endif
#ifdef PATHFINDER_CALC_TIME
	#include <sys/time.h>
#endif

/******************************************************************************/
/* Typedefs and macros                                                        */
/******************************************************************************/

//#define PATHFINDER_CALC_TIME

/** shortcut to print a 3d pos */
#define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"

#define LVL "(" << level << ")" <<

#ifdef PATHFINDER_DEBUG
#define DEBUG_OUT(a)     std::cout << a
#define INFO_TARGET      std::cout
#define VERBOSE_TARGET   std::cout
#define ERROR_TARGET     std::cout
#else
#define DEBUG_OUT(a)     while(0)
#define INFO_TARGET      infostream << "pathfinder: "
#define VERBOSE_TARGET   verbosestream << "pathfinder: "
#define ERROR_TARGET     errorstream << "pathfinder: "
#endif

/******************************************************************************/
/* implementation                                                             */
/******************************************************************************/

std::vector<v3s16> get_Path(ServerEnvironment* env,
							v3s16 source,
							v3s16 destination,
							unsigned int searchdistance,
							unsigned int max_jump,
							unsigned int max_drop,
							algorithm algo) {

	pathfinder searchclass;

	return searchclass.get_Path(env,
				source,destination,
				searchdistance,max_jump,max_drop,algo);
}

/******************************************************************************/
path_cost::path_cost()
:	valid(false),
	value(0),
	direction(0),
	updated(false)
{
	//intentionaly empty
}

/******************************************************************************/
path_cost::path_cost(const path_cost& b) {
	valid     = b.valid;
	direction = b.direction;
	value     = b.value;
	updated   = b.updated;
}

/******************************************************************************/
path_cost& path_cost::operator= (const path_cost& b) {
	valid     = b.valid;
	direction = b.direction;
	value     = b.value;
	updated   = b.updated;

	return *this;
}

/******************************************************************************/
path_gridnode::path_gridnode()
:	valid(false),
	target(false),
	source(false),
	totalcost(-1),
	sourcedir(v3s16(0,0,0)),
	surfaces(0),
	pos(v3s16(0,0,0)),
	is_element(false),
	type('u')
{
	//intentionaly empty
}

/******************************************************************************/
path_gridnode::path_gridnode(const path_gridnode& b)
:	valid(b.valid),
	target(b.target),
	source(b.source),
	totalcost(b.totalcost),
	sourcedir(b.sourcedir),
	surfaces(b.surfaces),
	pos(b.pos),
	is_element(b.is_element),
	type(b.type)
	{

	directions[DIR_XP] = b.directions[DIR_XP];
	directions[DIR_XM] = b.directions[DIR_XM];
	directions[DIR_ZP] = b.directions[DIR_ZP];
	directions[DIR_ZM] = b.directions[DIR_ZM];
}

/******************************************************************************/
path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
	valid      = b.valid;
	target     = b.target;
	source     = b.source;
	is_element = b.is_element;
	totalcost  = b.totalcost;
	sourcedir  = b.sourcedir;
	surfaces   = b.surfaces;
	pos        = b.pos;
	type       = b.type;

	directions[DIR_XP] = b.directions[DIR_XP];
	directions[DIR_XM] = b.directions[DIR_XM];
	directions[DIR_ZP] = b.directions[DIR_ZP];
	directions[DIR_ZM] = b.directions[DIR_ZM];

	return *this;
}

/******************************************************************************/
path_cost path_gridnode::get_cost(v3s16 dir) {
	if (dir.X > 0) {
		return directions[DIR_XP];
	}
	if (dir.X < 0) {
		return directions[DIR_XM];
	}
	if (dir.Z > 0) {
		return directions[DIR_ZP];
	}
	if (dir.Z < 0) {
		return directions[DIR_ZM];
	}
	path_cost retval;
	return retval;
}

/******************************************************************************/
void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
	if (dir.X > 0) {
		directions[DIR_XP] = cost;
	}
	if (dir.X < 0) {
		directions[DIR_XM] = cost;
	}
	if (dir.Z > 0) {
		directions[DIR_ZP] = cost;
	}
	if (dir.Z < 0) {
		directions[DIR_ZM] = cost;
	}
}

/******************************************************************************/
std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
							v3s16 source,
							v3s16 destination,
							unsigned int searchdistance,
							unsigned int max_jump,
							unsigned int max_drop,
							algorithm algo) {
#ifdef PATHFINDER_CALC_TIME
	timespec ts;
	clock_gettime(CLOCK_REALTIME, &ts);
#endif
	std::vector<v3s16> retval;

	//check parameters
	if (env == 0) {
		ERROR_TARGET << "missing environment pointer" << std::endl;
		return retval;
	}

	m_searchdistance = searchdistance;
	m_env = env;
	m_maxjump = max_jump;
	m_maxdrop = max_drop;
	m_start       = source;
	m_destination = destination;
	m_min_target_distance = -1;
	m_prefetch = true;

	if (algo == A_PLAIN_NP) {
		m_prefetch = false;
	}

	int min_x = MYMIN(source.X,destination.X);
	int max_x = MYMAX(source.X,destination.X);

	int min_y = MYMIN(source.Y,destination.Y);
	int max_y = MYMAX(source.Y,destination.Y);

	int min_z = MYMIN(source.Z,destination.Z);
	int max_z = MYMAX(source.Z,destination.Z);

	m_limits.X.min = min_x - searchdistance;
	m_limits.X.max = max_x + searchdistance;
	m_limits.Y.min = min_y - searchdistance;
	m_limits.Y.max = max_y + searchdistance;
	m_limits.Z.min = min_z - searchdistance;
	m_limits.Z.max = max_z + searchdistance;

	m_max_index_x = m_limits.X.max - m_limits.X.min;
	m_max_index_y = m_limits.Y.max - m_limits.Y.min;
	m_max_index_z = m_limits.Z.max - m_limits.Z.min;

	//build data map
	if (!build_costmap()) {
		ERROR_TARGET << "failed to build costmap" << std::endl;
		return retval;
	}
#ifdef PATHFINDER_DEBUG
	print_type();
	print_cost();
	print_ydir();
#endif

	//validate and mark start and end pos
	v3s16 StartIndex  = getIndexPos(source);
	v3s16 EndIndex    = getIndexPos(destination);

	path_gridnode& startpos = getIndexElement(StartIndex);
	path_gridnode& endpos   = getIndexElement(EndIndex);

	if (!startpos.valid) {
		VERBOSE_TARGET << "invalid startpos" <<
				"Index: " << PPOS(StartIndex) <<
				"Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
		return retval;
	}
	if (!endpos.valid) {
		VERBOSE_TARGET << "invalid stoppos" <<
				"Index: " << PPOS(EndIndex) <<
				"Realpos: " << PPOS(getRealPos(EndIndex)) << std::endl;
		return retval;
	}

	endpos.target      = true;
	startpos.source    = true;
	startpos.totalcost = 0;

	bool update_cost_retval = false;

	switch (algo) {
		case DIJKSTRA:
			update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
			break;
		case A_PLAIN_NP:
		case A_PLAIN:
			update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0);
			break;
		default:
			ERROR_TARGET << "missing algorithm"<< std::endl;
			break;
	}

	if (update_cost_retval) {

#ifdef PATHFINDER_DEBUG
		std::cout << "Path to target found!" << std::endl;
		print_pathlen();
#endif

		//find path
		std::vector<v3s16> path;
		build_path(path,EndIndex,0);

#ifdef PATHFINDER_DEBUG
		std::cout << "Full index path:" << std::endl;
		print_path(path);
#endif

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

#ifdef PATHFINDER_DEBUG
		std::cout << "full path:" << std::endl;
		print_path(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
		timespec ts2;
		clock_gettime(CLOCK_REALTIME, &ts2);

		int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
		int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
		int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));


		std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
				"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
#endif
		return full_path;
	}
	else {
#ifdef PATHFINDER_DEBUG
		print_pathlen();
#endif
		ERROR_TARGET << "failed to update cost map"<< std::endl;
	}


	//return
	return retval;
}

/******************************************************************************/
pathfinder::pathfinder() :
	m_max_index_x(0),
	m_max_index_y(0),
	m_max_index_z(0),
	m_searchdistance(0),
	m_maxdrop(0),
	m_maxjump(0),
	m_min_target_distance(0),
	m_prefetch(true),
	m_start(0,0,0),
	m_destination(0,0,0),
	m_limits(),
	m_data(),
	m_env(0)
{
	//intentionaly empty
}

/******************************************************************************/
v3s16 pathfinder::getRealPos(v3s16 ipos) {

	v3s16 retval = ipos;

	retval.X += m_limits.X.min;
	retval.Y += m_limits.Y.min;
	retval.Z += m_limits.Z.min;

	return retval;
}

/******************************************************************************/
bool pathfinder::build_costmap()
{
	INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
												<< m_limits.Z.min << ") ("
												<< m_limits.X.max << ","
												<< m_limits.Z.max << ")"
												<< std::endl;
	m_data.resize(m_max_index_x);
	for (int x = 0; x < m_max_index_x; x++) {
		m_data[x].resize(m_max_index_z);
		for (int z = 0; z < m_max_index_z; z++) {
			m_data[x][z].resize(m_max_index_y);

			int surfaces = 0;
			for (int y = 0; y < m_max_index_y; y++) {
				v3s16 ipos(x,y,z);

				v3s16 realpos = getRealPos(ipos);

				MapNode current = m_env->getMap().getNodeNoEx(realpos);
				MapNode below   = m_env->getMap().getNodeNoEx(realpos + v3s16(0,-1,0));


				if ((current.param0 == CONTENT_IGNORE) ||
						(below.param0 == CONTENT_IGNORE)) {
					DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
							" current or below is invalid element" << std::endl);
					if (current.param0 == CONTENT_IGNORE) {
						m_data[x][z][y].type = 'i';
						DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
					}
					continue;
				}

				//don't add anything if it isn't an air node
				if ((current.param0 != CONTENT_AIR) ||
						(below.param0 == CONTENT_AIR )) {
						DEBUG_OUT("Pathfinder: " << PPOS(realpos)
								<< " not on surface" << std::endl);
						if (current.param0 != CONTENT_AIR) {
							m_data[x][z][y].type = 's';
							DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
						}
						else {
							m_data[x][z][y].type   = '-';
							DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
						}
						continue;
				}

				surfaces++;

				m_data[x][z][y].valid  = true;
				m_data[x][z][y].pos    = realpos;
				m_data[x][z][y].type   = 'g';
				DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);

				if (m_prefetch) {
				m_data[x][z][y].directions[DIR_XP] =
											calc_cost(realpos,v3s16( 1,0, 0));
				m_data[x][z][y].directions[DIR_XM] =
											calc_cost(realpos,v3s16(-1,0, 0));
				m_data[x][z][y].directions[DIR_ZP] =
											calc_cost(realpos,v3s16( 0,0, 1));
				m_data[x][z][y].directions[DIR_ZM] =
											calc_cost(realpos,v3s16( 0,0,-1));
				}

			}

			if (surfaces >= 1 ) {
				for (int y = 0; y < m_max_index_y; y++) {
					if (m_data[x][z][y].valid) {
						m_data[x][z][y].surfaces = surfaces;
					}
				}
			}
		}
	}
	return true;
}

/******************************************************************************/
path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
	path_cost retval;

	retval.updated = true;

	v3s16 pos2 = pos + dir;

	//check limits
	if (    (pos2.X < m_limits.X.min) ||
			(pos2.X >= m_limits.X.max) ||
			(pos2.Z < m_limits.Z.min) ||
			(pos2.Z >= m_limits.Z.max)) {
		DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
				" no cost -> out of limits" << std::endl);
		return retval;
	}

	MapNode node_at_pos2 = m_env->getMap().getNodeNoEx(pos2);

	//did we get information about node?
	if (node_at_pos2.param0 == CONTENT_IGNORE ) {
			VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
					<< PPOS(pos2) << " not loaded";
			return retval;
	}

	if (node_at_pos2.param0 == CONTENT_AIR) {
		MapNode node_below_pos2 =
							m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));

		//did we get information about node?
		if (node_below_pos2.param0 == CONTENT_IGNORE ) {
				VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
					<< PPOS((pos2 + v3s16(0,-1,0))) << " not loaded";
				return retval;
		}

		if (node_below_pos2.param0 != CONTENT_AIR) {
			retval.valid = true;
			retval.value = 1;
			retval.direction = 0;
			DEBUG_OUT("Pathfinder: "<< PPOS(pos)
					<< " cost same height found" << std::endl);
		}
		else {
			v3s16 testpos = pos2 - v3s16(0,-1,0);
			MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);

			while ((node_at_pos.param0 != CONTENT_IGNORE) &&
					(node_at_pos.param0 == CONTENT_AIR) &&
					(testpos.Y > m_limits.Y.min)) {
				testpos += v3s16(0,-1,0);
				node_at_pos = m_env->getMap().getNodeNoEx(testpos);
			}

			//did we find surface?
			if ((testpos.Y >= m_limits.Y.min) &&
					(node_at_pos.param0 != CONTENT_IGNORE) &&
					(node_at_pos.param0 != CONTENT_AIR)) {
				if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
					retval.valid = true;
					retval.value = 2;
					//difference of y-pos +1 (target node is ABOVE solid node)
					retval.direction = ((testpos.Y - pos2.Y) +1);
					DEBUG_OUT("Pathfinder cost below height found" << std::endl);
				}
				else {
					INFO_TARGET << "Pathfinder:"
							" distance to surface below to big: "
							<< (testpos.Y - pos2.Y) << " max: " << m_maxdrop
							<< std::endl;
				}
			}
			else {
				DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
			}
		}
	}
	else {
		v3s16 testpos = pos2;
		MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);

		while ((node_at_pos.param0 != CONTENT_IGNORE) &&
				(node_at_pos.param0 != CONTENT_AIR) &&
				(testpos.Y < m_limits.Y.max)) {
			testpos += v3s16(0,1,0);
			node_at_pos = m_env->getMap().getNodeNoEx(testpos);
		}

		//did we find surface?
		if ((testpos.Y <= m_limits.Y.max) &&
				(node_at_pos.param0 == CONTENT_AIR)) {

			if (testpos.Y - pos2.Y <= m_maxjump) {
				retval.valid = true;
				retval.value = 2;
				retval.direction = (testpos.Y - pos2.Y);
				DEBUG_OUT("Pathfinder cost above found" << std::endl);
			}
			else {
				DEBUG_OUT("Pathfinder: distance to surface above to big: "
						<< (testpos.Y - pos2.Y) << " max: " << m_maxjump
						<< std::endl);
			}
		}
		else {
			DEBUG_OUT("Pathfinder: no surface above found" << std::endl);
		}
	}
	return retval;
}

/******************************************************************************/
v3s16 pathfinder::getIndexPos(v3s16 pos) {

	v3s16 retval = pos;
	retval.X -= m_limits.X.min;
	retval.Y -= m_limits.Y.min;
	retval.Z -= m_limits.Z.min;

	return retval;
}

/******************************************************************************/
path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
	return m_data[ipos.X][ipos.Z][ipos.Y];
}

/******************************************************************************/
bool pathfinder::valid_index(v3s16 index) {
	if (	(index.X < m_max_index_x) &&
			(index.Y < m_max_index_y) &&
			(index.Z < m_max_index_z) &&
			(index.X >= 0) &&
			(index.Y >= 0) &&
			(index.Z >= 0))
		return true;

	return false;
}

/******************************************************************************/
v3s16 pathfinder::invert(v3s16 pos) {
	v3s16 retval = pos;

	retval.X *=-1;
	retval.Y *=-1;
	retval.Z *=-1;

	return retval;
}

/******************************************************************************/
bool pathfinder::update_all_costs(	v3s16 ipos,
									v3s16 srcdir,
									int current_cost,
									int level) {

	path_gridnode& g_pos = getIndexElement(ipos);
	g_pos.totalcost = current_cost;
	g_pos.sourcedir = srcdir;

	level ++;

	//check if target has been found
	if (g_pos.target) {
		m_min_target_distance = current_cost;
		DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
		return true;
	}

	bool retval = false;

	std::vector<v3s16> directions;

	directions.push_back(v3s16( 1,0, 0));
	directions.push_back(v3s16(-1,0, 0));
	directions.push_back(v3s16( 0,0, 1));
	directions.push_back(v3s16( 0,0,-1));

	for (unsigned int i=0; i < directions.size(); i++) {
		if (directions[i] != srcdir) {
			path_cost cost = g_pos.get_cost(directions[i]);

			if (cost.valid) {
				directions[i].Y = cost.direction;

				v3s16 ipos2 = ipos + directions[i];

				if (!valid_index(ipos2)) {
					DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
							" out of range (" << m_limits.X.max << "," <<
							m_limits.Y.max << "," << m_limits.Z.max
							<<")" << std::endl);
					continue;
				}

				path_gridnode& g_pos2 = getIndexElement(ipos2);

				if (!g_pos2.valid) {
					VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
												<< PPOS(ipos2) << std::endl;
					continue;
				}

				assert(cost.value > 0);

				int new_cost = current_cost + cost.value;

				// check if there already is a smaller path
				if ((m_min_target_distance > 0) &&
						(m_min_target_distance < new_cost)) {
					return false;
				}

				if ((g_pos2.totalcost < 0) ||
						(g_pos2.totalcost > new_cost)) {
					DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
							PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
							new_cost << std::endl);
					if (update_all_costs(ipos2,invert(directions[i]),
											new_cost,level)) {
						retval = true;
						}
					}
				else {
					DEBUG_OUT(LVL "Pathfinder:"
							" already found shorter path to: "
							<< PPOS(ipos2) << std::endl);
				}
			}
			else {
				DEBUG_OUT(LVL "Pathfinder:"
						" not moving to invalid direction: "
						<< PPOS(directions[i]) << std::endl);
			}
		}
	}
	return retval;
}

/******************************************************************************/
int pathfinder::get_manhattandistance(v3s16 pos) {

	int min_x = MYMIN(pos.X,m_destination.X);
	int max_x = MYMAX(pos.X,m_destination.X);
	int min_z = MYMIN(pos.Z,m_destination.Z);
	int max_z = MYMAX(pos.Z,m_destination.Z);

	return (max_x - min_x) + (max_z - min_z);
}

/******************************************************************************/
v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos) {
	int   minscore = -1;
	v3s16 retdir   = v3s16(0,0,0);
	v3s16 srcpos = g_pos.pos;
	DEBUG_OUT("Pathfinder: remaining dirs at beginning:"
				<< directions.size() << std::endl);

	for (std::vector<v3s16>::iterator iter = directions.begin();
			iter != directions.end();
			++iter) {

		v3s16 pos1 =  v3s16(srcpos.X + iter->X,0,srcpos.Z+iter->Z);

		int cur_manhattan = get_manhattandistance(pos1);
		path_cost cost    = g_pos.get_cost(*iter);

		if (!cost.updated) {
			cost = calc_cost(g_pos.pos,*iter);
			g_pos.set_cost(*iter,cost);
		}

		if (cost.valid) {
			int score = cost.value + cur_manhattan;

			if ((minscore < 0)|| (score < minscore)) {
				minscore = score;
				retdir = *iter;
			}
		}
	}

	if (retdir != v3s16(0,0,0)) {
		for (std::vector<v3s16>::iterator iter = directions.begin();
					iter != directions.end();
					++iter) {
			if(*iter == retdir) {
				DEBUG_OUT("Pathfinder: removing return direction" << std::endl);
				directions.erase(iter);
				break;
			}
		}
	}
	else {
		DEBUG_OUT("Pathfinder: didn't find any valid direction clearing"
					<< std::endl);
		directions.clear();
	}
	DEBUG_OUT("Pathfinder: remaining dirs at end:" << directions.size()
				<< std::endl);
	return retdir;
}

/******************************************************************************/
bool pathfinder::update_cost_heuristic(	v3s16 ipos,
									v3s16 srcdir,
									int current_cost,
									int level) {

	path_gridnode& g_pos = getIndexElement(ipos);
	g_pos.totalcost = current_cost;
	g_pos.sourcedir = srcdir;

	level ++;

	//check if target has been found
	if (g_pos.target) {
		m_min_target_distance = current_cost;
		DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
		return true;
	}

	bool retval = false;

	std::vector<v3s16> directions;

	directions.push_back(v3s16( 1,0, 0));
	directions.push_back(v3s16(-1,0, 0));
	directions.push_back(v3s16( 0,0, 1));
	directions.push_back(v3s16( 0,0,-1));

	v3s16 direction = get_dir_heuristic(directions,g_pos);

	while (direction != v3s16(0,0,0) && (!retval)) {

		if (direction != srcdir) {
			path_cost cost = g_pos.get_cost(direction);

			if (cost.valid) {
				direction.Y = cost.direction;

				v3s16 ipos2 = ipos + direction;

				if (!valid_index(ipos2)) {
					DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
							" out of range (" << m_limits.X.max << "," <<
							m_limits.Y.max << "," << m_limits.Z.max
							<<")" << std::endl);
					direction = get_dir_heuristic(directions,g_pos);
					continue;
				}

				path_gridnode& g_pos2 = getIndexElement(ipos2);

				if (!g_pos2.valid) {
					VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
												<< PPOS(ipos2) << std::endl;
					direction = get_dir_heuristic(directions,g_pos);
					continue;
				}

				assert(cost.value > 0);

				int new_cost = current_cost + cost.value;

				// check if there already is a smaller path
				if ((m_min_target_distance > 0) &&
						(m_min_target_distance < new_cost)) {
					DEBUG_OUT(LVL "Pathfinder:"
							" already longer than best already found path "
							<< PPOS(ipos2) << std::endl);
					return false;
				}

				if ((g_pos2.totalcost < 0) ||
						(g_pos2.totalcost > new_cost)) {
					DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
							PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
							new_cost << " srcdir=" <<
							PPOS(invert(direction))<< std::endl);
					if (update_cost_heuristic(ipos2,invert(direction),
											new_cost,level)) {
						retval = true;
						}
					}
				else {
					DEBUG_OUT(LVL "Pathfinder:"
							" already found shorter path to: "
							<< PPOS(ipos2) << std::endl);
				}
			}
			else {
				DEBUG_OUT(LVL "Pathfinder:"
						" not moving to invalid direction: "
						<< PPOS(direction) << std::endl);
			}
		}
		else {
			DEBUG_OUT(LVL "Pathfinder:"
							" skipping srcdir: "
							<< PPOS(direction) << std::endl);
		}
		direction = get_dir_heuristic(directions,g_pos);
	}
	return retval;
}

/******************************************************************************/
void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
	level ++;
	if (level > 700) {
		ERROR_TARGET
		<< LVL "Pathfinder: path is too long aborting" << std::endl;
		return;
	}

	path_gridnode& g_pos = getIndexElement(pos);
	if (!g_pos.valid) {
		ERROR_TARGET
		<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
		return;
	}

	g_pos.is_element = true;

	//check if source reached
	if (g_pos.source) {
		path.push_back(pos);
		return;
	}

	build_path(path,pos + g_pos.sourcedir,level);
	path.push_back(pos);
}

/******************************************************************************/
v3f pathfinder::tov3f(v3s16 pos) {
	return v3f(BS*pos.X,BS*pos.Y,BS*pos.Z);
}

#ifdef PATHFINDER_DEBUG

/******************************************************************************/
void pathfinder::print_cost() {
	print_cost(DIR_XP);
	print_cost(DIR_XM);
	print_cost(DIR_ZP);
	print_cost(DIR_ZM);
}

/******************************************************************************/
void pathfinder::print_ydir() {
	print_ydir(DIR_XP);
	print_ydir(DIR_XM);
	print_ydir(DIR_ZP);
	print_ydir(DIR_ZM);
}

/******************************************************************************/
void pathfinder::print_cost(path_directions dir) {

	std::cout << "Cost in direction: " << dir_to_name(dir) << std::endl;
	std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
	std::cout << std::setfill(' ');
	for (int y = 0; y < m_max_index_y; y++) {

		std::cout << "Level: " << y << std::endl;

		std::cout << std::setw(4) << " " << "  ";
		for (int x = 0; x < m_max_index_x; x++) {
			std::cout << std::setw(4) << x;
		}
		std::cout << std::endl;

		for (int z = 0; z < m_max_index_z; z++) {
			std::cout << std::setw(4) << z <<": ";
			for (int x = 0; x < m_max_index_x; x++) {
				if (m_data[x][z][y].directions[dir].valid)
					std::cout << std::setw(4)
						<< m_data[x][z][y].directions[dir].value;
				else
					std::cout << std::setw(4) << "-";
				}
			std::cout << std::endl;
		}
		std::cout << std::endl;
	}
}

/******************************************************************************/
void pathfinder::print_ydir(path_directions dir) {

	std::cout << "Height difference in direction: " << dir_to_name(dir) << std::endl;
	std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
	std::cout << std::setfill(' ');
	for (int y = 0; y < m_max_index_y; y++) {

		std::cout << "Level: " << y << std::endl;

		std::cout << std::setw(4) << " " << "  ";
		for (int x = 0; x < m_max_index_x; x++) {
			std::cout << std::setw(4) << x;
		}
		std::cout << std::endl;

		for (int z = 0; z < m_max_index_z; z++) {
			std::cout << std::setw(4) << z <<": ";
			for (int x = 0; x < m_max_index_x; x++) {
				if (m_data[x][z][y].directions[dir].valid)
					std::cout << std::setw(4)
						<< m_data[x][z][y].directions[dir].direction;
				else
					std::cout << std::setw(4) << "-";
				}
			std::cout << std::endl;
		}
		std::cout << std::endl;
	}
}

/******************************************************************************/
void pathfinder::print_type() {
	std::cout << "Type of node:" << std::endl;
	std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
	std::cout << std::setfill(' ');
	for (int y = 0; y < m_max_index_y; y++) {

		std::cout << "Level: " << y << std::endl;

		std::cout << std::setw(3) << " " << "  ";
		for (int x = 0; x < m_max_index_x; x++) {
			std::cout << std::setw(3) << x;
		}
		std::cout << std::endl;

		for (int z = 0; z < m_max_index_z; z++) {
			std::cout << std::setw(3) << z <<": ";
			for (int x = 0; x < m_max_index_x; x++) {
				char toshow = m_data[x][z][y].type;
				std::cout << std::setw(3) << toshow;
			}
			std::cout << std::endl;
		}
		std::cout << std::endl;
	}
	std::cout << std::endl;
}

/******************************************************************************/
void pathfinder::print_pathlen() {
	std::cout << "Pathlen:" << std::endl;
		std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
		std::cout << std::setfill(' ');
		for (int y = 0; y < m_max_index_y; y++) {

			std::cout << "Level: " << y << std::endl;

			std::cout << std::setw(3) << " " << "  ";
			for (int x = 0; x < m_max_index_x; x++) {
				std::cout << std::setw(3) << x;
			}
			std::cout << std::endl;

			for (int z = 0; z < m_max_index_z; z++) {
				std::cout << std::setw(3) << z <<": ";
				for (int x = 0; x < m_max_index_x; x++) {
					std::cout << std::setw(3) << m_data[x][z][y].totalcost;
				}
				std::cout << std::endl;
			}
			std::cout << std::endl;
		}
		std::cout << std::endl;
}

/******************************************************************************/
std::string pathfinder::dir_to_name(path_directions dir) {
	switch (dir) {
	case DIR_XP:
		return "XP";
		break;
	case DIR_XM:
		return "XM";
		break;
	case DIR_ZP:
		return "ZP";
		break;
	case DIR_ZM:
		return "ZM";
		break;
	default:
		return "UKN";
	}
}

/******************************************************************************/
void pathfinder::print_path(std::vector<v3s16> path) {

	unsigned int current = 0;
	for (std::vector<v3s16>::iterator i = path.begin();
			i != path.end(); ++i) {
		std::cout << std::setw(3) << current << ":" << PPOS((*i)) << std::endl;
		current++;
	}
}

#endif