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Pathfinder: Fix style

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* Fix naming style for methods and classes:
	Use camelCase for methods and PascalCase for classes as
	code style demands it. And use sneak_case for methods that
	are not member of a class.
* Replace "* " with " *" for Pointers
* Same for references
* Put function body opening braces on new line
* Other misc minor non functional style improvements
This commit is contained in:
est31 2016-04-01 01:52:17 +02:00
parent 46e5ef4e9a
commit ac8bb457aa
3 changed files with 211 additions and 192 deletions
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295
src/pathfinder.cpp
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@ -55,9 +55,9 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#define ERROR_TARGET std::cout #define ERROR_TARGET std::cout
#else #else
#define DEBUG_OUT(a) while(0) #define DEBUG_OUT(a) while(0)
#define INFO_TARGET infostream << "pathfinder: " #define INFO_TARGET infostream << "Pathfinder: "
#define VERBOSE_TARGET verbosestream << "pathfinder: " #define VERBOSE_TARGET verbosestream << "Pathfinder: "
#define ERROR_TARGET errorstream << "pathfinder: " #define ERROR_TARGET errorstream << "Pathfinder: "
#endif #endif
/******************************************************************************/ /******************************************************************************/
@ -66,17 +66,17 @@ with this program; if not, write to the Free Software Foundation, Inc.,
/** representation of cost in specific direction */ /** representation of cost in specific direction */
class path_cost { class PathCost {
public: public:
/** default constructor */ /** default constructor */
path_cost(); PathCost();
/** copy constructor */ /** copy constructor */
path_cost(const path_cost& b); PathCost(const PathCost &b);
/** assignment operator */ /** assignment operator */
path_cost& operator= (const path_cost& b); PathCost &operator= (const PathCost &b);
bool valid; /**< movement is possible */ bool valid; /**< movement is possible */
int value; /**< cost of movement */ int value; /**< cost of movement */
@ -87,33 +87,33 @@ public:
/** representation of a mapnode to be used for pathfinding */ /** representation of a mapnode to be used for pathfinding */
class path_gridnode { class PathGridnode {
public: public:
/** default constructor */ /** default constructor */
path_gridnode(); PathGridnode();
/** copy constructor */ /** copy constructor */
path_gridnode(const path_gridnode& b); PathGridnode(const PathGridnode &b);
/** /**
* assignment operator * assignment operator
* @param b node to copy * @param b node to copy
*/ */
path_gridnode& operator= (const path_gridnode& b); PathGridnode &operator= (const PathGridnode &b);
/** /**
* read cost in a specific direction * read cost in a specific direction
* @param dir direction of cost to fetch * @param dir direction of cost to fetch
*/ */
path_cost get_cost(v3s16 dir); PathCost getCost(v3s16 dir);
/** /**
* set cost value for movement * set cost value for movement
* @param dir direction to set cost for * @param dir direction to set cost for
* @cost cost to set * @cost cost to set
*/ */
void set_cost(v3s16 dir,path_cost cost); void setCost(v3s16 dir, PathCost cost);
bool valid; /**< node is on surface */ bool valid; /**< node is on surface */
bool target; /**< node is target position */ bool target; /**< node is target position */
@ -122,7 +122,7 @@ public:
v3s16 sourcedir; /**< origin of movement for current cost */ v3s16 sourcedir; /**< origin of movement for current cost */
int surfaces; /**< number of surfaces with same x,z value*/ int surfaces; /**< number of surfaces with same x,z value*/
v3s16 pos; /**< real position of node */ v3s16 pos; /**< real position of node */
path_cost directions[4]; /**< cost in different directions */ PathCost directions[4]; /**< cost in different directions */
/* debug values */ /* debug values */
bool is_element; /**< node is element of path detected */ bool is_element; /**< node is element of path detected */
@ -130,13 +130,13 @@ public:
}; };
/** class doing pathfinding */ /** class doing pathfinding */
class pathfinder { class Pathfinder {
public: public:
/** /**
* default constructor * default constructor
*/ */
pathfinder(); Pathfinder();
/** /**
* path evaluation function * path evaluation function
@ -146,15 +146,15 @@ public:
* @param searchdistance maximum number of nodes to look in each direction * @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_jump maximum number of blocks a path may jump up
* @param max_drop maximum number of blocks a path may drop * @param max_drop maximum number of blocks a path may drop
* @param algo algorithm to use for finding a path * @param algo Algorithm to use for finding a path
*/ */
std::vector<v3s16> get_Path(ServerEnvironment* env, std::vector<v3s16> getPath(ServerEnvironment *env,
v3s16 source, v3s16 source,
v3s16 destination, v3s16 destination,
unsigned int searchdistance, unsigned int searchdistance,
unsigned int max_jump, unsigned int max_jump,
unsigned int max_drop, unsigned int max_drop,
algorithm algo); PathAlgorithm algo);
private: private:
/** data struct for storing internal information */ /** data struct for storing internal information */
@ -190,7 +190,7 @@ private:
* @param ipos index position * @param ipos index position
* @return gridnode for index * @return gridnode for index
*/ */
path_gridnode& getIndexElement(v3s16 ipos); PathGridnode &getIndexElement(v3s16 ipos);
/** /**
* invert a 3d position * invert a 3d position
@ -204,7 +204,7 @@ private:
* @param index position to validate * @param index position to validate
* @return true/false * @return true/false
*/ */
bool valid_index(v3s16 index); bool isValidIndex(v3s16 index);
/** /**
* translate position to float position * translate position to float position
@ -217,11 +217,11 @@ private:
/* algorithm functions */ /* algorithm functions */
/** /**
* calculate 2d manahttan distance to target * calculate 2d manahttan distance to target on the xz plane
* @param pos position to calc distance * @param pos position to calc distance
* @return integer distance * @return integer distance
*/ */
int get_manhattandistance(v3s16 pos); int getXZManhattanDist(v3s16 pos);
/** /**
* get best direction based uppon heuristics * get best direction based uppon heuristics
@ -229,13 +229,13 @@ private:
* @param g_pos mapnode to start from * @param g_pos mapnode to start from
* @return direction to check * @return direction to check
*/ */
v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos); v3s16 getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos);
/** /**
* build internal data representation of search area * build internal data representation of search area
* @return true/false if costmap creation was successfull * @return true/false if costmap creation was successfull
*/ */
bool build_costmap(); bool buildCostmap();
/** /**
* calculate cost of movement * calculate cost of movement
@ -243,7 +243,7 @@ private:
* @param dir direction to move to * @param dir direction to move to
* @return cost information * @return cost information
*/ */
path_cost calc_cost(v3s16 pos,v3s16 dir); PathCost calcCost(v3s16 pos, v3s16 dir);
/** /**
* recursive update whole search areas total cost information * recursive update whole search areas total cost information
@ -253,7 +253,7 @@ private:
* @param level current recursion depth * @param level current recursion depth
* @return true/false path to destination has been found * @return true/false path to destination has been found
*/ */
bool update_all_costs(v3s16 ipos,v3s16 srcdir,int total_cost,int level); bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int total_cost, int level);
/** /**
* recursive try to find a patrh to destionation * recursive try to find a patrh to destionation
@ -263,7 +263,7 @@ private:
* @param level current recursion depth * @param level current recursion depth
* @return true/false path to destination has been found * @return true/false path to destination has been found
*/ */
bool update_cost_heuristic(v3s16 ipos,v3s16 srcdir,int current_cost,int level); bool updateCostHeuristic(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
/** /**
* recursive build a vector containing all nodes from source to destination * recursive build a vector containing all nodes from source to destination
@ -271,7 +271,7 @@ private:
* @param pos pos to check next * @param pos pos to check next
* @param level recursion depth * @param level recursion depth
*/ */
void build_path(std::vector<v3s16>& path,v3s16 pos, int level); void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
/* variables */ /* variables */
int m_max_index_x; /**< max index of search area in x direction */ int m_max_index_x; /**< max index of search area in x direction */
@ -292,7 +292,7 @@ private:
limits m_limits; /**< position limits in real map coordinates */ limits m_limits; /**< position limits in real map coordinates */
/** 3d grid containing all map data already collected and analyzed */ /** 3d grid containing all map data already collected and analyzed */
std::vector<std::vector<std::vector<path_gridnode> > > m_data; std::vector<std::vector<std::vector<PathGridnode> > > m_data;
ServerEnvironment *m_env; /**< minetest environment pointer */ ServerEnvironment *m_env; /**< minetest environment pointer */
@ -301,47 +301,47 @@ private:
/** /**
* print collected cost information * print collected cost information
*/ */
void print_cost(); void printCost();
/** /**
* print collected cost information in a specific direction * print collected cost information in a specific direction
* @param dir direction to print * @param dir direction to print
*/ */
void print_cost(path_directions dir); void printCost(PathDirections dir);
/** /**
* print type of node as evaluated * print type of node as evaluated
*/ */
void print_type(); void printType();
/** /**
* print pathlenght for all nodes in search area * print pathlenght for all nodes in search area
*/ */
void print_pathlen(); void printPathLen();
/** /**
* print a path * print a path
* @param path path to show * @param path path to show
*/ */
void print_path(std::vector<v3s16> path); void printPath(std::vector<v3s16> path);
/** /**
* print y direction for all movements * print y direction for all movements
*/ */
void print_ydir(); void printYdir();
/** /**
* print y direction for moving in a specific direction * print y direction for moving in a specific direction
* @param dir direction to show data * @param dir direction to show data
*/ */
void print_ydir(path_directions dir); void printYdir(PathDirections dir);
/** /**
* helper function to translate a direction to speaking text * helper function to translate a direction to speaking text
* @param dir direction to translate * @param dir direction to translate
* @return textual name of direction * @return textual name of direction
*/ */
std::string dir_to_name(path_directions dir); std::string dirToName(PathDirections dir);
#endif #endif
}; };
@ -349,23 +349,23 @@ private:
/* implementation */ /* implementation */
/******************************************************************************/ /******************************************************************************/
std::vector<v3s16> get_Path(ServerEnvironment* env, std::vector<v3s16> get_path(ServerEnvironment* env,
v3s16 source, v3s16 source,
v3s16 destination, v3s16 destination,
unsigned int searchdistance, unsigned int searchdistance,
unsigned int max_jump, unsigned int max_jump,
unsigned int max_drop, unsigned int max_drop,
algorithm algo) { PathAlgorithm algo)
{
Pathfinder searchclass;
pathfinder searchclass; return searchclass.getPath(env,
return searchclass.get_Path(env,
source, destination, source, destination,
searchdistance, max_jump, max_drop, algo); searchdistance, max_jump, max_drop, algo);
} }
/******************************************************************************/ /******************************************************************************/
path_cost::path_cost() PathCost::PathCost()
: valid(false), : valid(false),
value(0), value(0),
direction(0), direction(0),
@ -375,7 +375,8 @@ path_cost::path_cost()
} }
/******************************************************************************/ /******************************************************************************/
path_cost::path_cost(const path_cost& b) { PathCost::PathCost(const PathCost &b)
{
valid = b.valid; valid = b.valid;
direction = b.direction; direction = b.direction;
value = b.value; value = b.value;
@ -383,7 +384,8 @@ path_cost::path_cost(const path_cost& b) {
} }
/******************************************************************************/ /******************************************************************************/
path_cost& path_cost::operator= (const path_cost& b) { PathCost &PathCost::operator= (const PathCost &b)
{
valid = b.valid; valid = b.valid;
direction = b.direction; direction = b.direction;
value = b.value; value = b.value;
@ -393,7 +395,7 @@ path_cost& path_cost::operator= (const path_cost& b) {
} }
/******************************************************************************/ /******************************************************************************/
path_gridnode::path_gridnode() PathGridnode::PathGridnode()
: valid(false), : valid(false),
target(false), target(false),
source(false), source(false),
@ -408,7 +410,7 @@ path_gridnode::path_gridnode()
} }
/******************************************************************************/ /******************************************************************************/
path_gridnode::path_gridnode(const path_gridnode& b) PathGridnode::PathGridnode(const PathGridnode &b)
: valid(b.valid), : valid(b.valid),
target(b.target), target(b.target),
source(b.source), source(b.source),
@ -427,7 +429,8 @@ path_gridnode::path_gridnode(const path_gridnode& b)
} }
/******************************************************************************/ /******************************************************************************/
path_gridnode& path_gridnode::operator= (const path_gridnode& b) { PathGridnode &PathGridnode::operator= (const PathGridnode &b)
{
valid = b.valid; valid = b.valid;
target = b.target; target = b.target;
source = b.source; source = b.source;
@ -447,7 +450,8 @@ path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
} }
/******************************************************************************/ /******************************************************************************/
path_cost path_gridnode::get_cost(v3s16 dir) { PathCost PathGridnode::getCost(v3s16 dir)
{
if (dir.X > 0) { if (dir.X > 0) {
return directions[DIR_XP]; return directions[DIR_XP];
} }
@ -460,12 +464,13 @@ path_cost path_gridnode::get_cost(v3s16 dir) {
if (dir.Z < 0) { if (dir.Z < 0) {
return directions[DIR_ZM]; return directions[DIR_ZM];
} }
path_cost retval; PathCost retval;
return retval; return retval;
} }
/******************************************************************************/ /******************************************************************************/
void path_gridnode::set_cost(v3s16 dir,path_cost cost) { void PathGridnode::setCost(v3s16 dir, PathCost cost)
{
if (dir.X > 0) { if (dir.X > 0) {
directions[DIR_XP] = cost; directions[DIR_XP] = cost;
} }
@ -481,13 +486,14 @@ void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
} }
/******************************************************************************/ /******************************************************************************/
std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env, std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source, v3s16 source,
v3s16 destination, v3s16 destination,
unsigned int searchdistance, unsigned int searchdistance,
unsigned int max_jump, unsigned int max_jump,
unsigned int max_drop, unsigned int max_drop,
algorithm algo) { PathAlgorithm algo)
{
#ifdef PATHFINDER_CALC_TIME #ifdef PATHFINDER_CALC_TIME
timespec ts; timespec ts;
clock_gettime(CLOCK_REALTIME, &ts); clock_gettime(CLOCK_REALTIME, &ts);
@ -509,7 +515,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
m_min_target_distance = -1; m_min_target_distance = -1;
m_prefetch = true; m_prefetch = true;
if (algo == A_PLAIN_NP) { if (algo == PA_PLAIN_NP) {
m_prefetch = false; m_prefetch = false;
} }
@ -534,22 +540,22 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
m_max_index_z = m_limits.Z.max - m_limits.Z.min; m_max_index_z = m_limits.Z.max - m_limits.Z.min;
//build data map //build data map
if (!build_costmap()) { if (!buildCostmap()) {
ERROR_TARGET << "failed to build costmap" << std::endl; ERROR_TARGET << "failed to build costmap" << std::endl;
return retval; return retval;
} }
#ifdef PATHFINDER_DEBUG #ifdef PATHFINDER_DEBUG
print_type(); printType();
print_cost(); printCost();
print_ydir(); printYdir();
#endif #endif
//validate and mark start and end pos //validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source); v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination); v3s16 EndIndex = getIndexPos(destination);
path_gridnode& startpos = getIndexElement(StartIndex); PathGridnode &startpos = getIndexElement(StartIndex);
path_gridnode& endpos = getIndexElement(EndIndex); PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) { if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" << VERBOSE_TARGET << "invalid startpos" <<
@ -571,15 +577,15 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
bool update_cost_retval = false; bool update_cost_retval = false;
switch (algo) { switch (algo) {
case DIJKSTRA: case PA_DIJKSTRA:
update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0); update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break; break;
case A_PLAIN_NP: case PA_PLAIN_NP:
case A_PLAIN: case PA_PLAIN:
update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0); update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break; break;
default: default:
ERROR_TARGET << "missing algorithm"<< std::endl; ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break; break;
} }
@ -587,16 +593,16 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
#ifdef PATHFINDER_DEBUG #ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl; std::cout << "Path to target found!" << std::endl;
print_pathlen(); printPathLen();
#endif #endif
//find path //find path
std::vector<v3s16> path; std::vector<v3s16> path;
build_path(path,EndIndex,0); buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG #ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl; std::cout << "Full index path:" << std::endl;
print_path(path); printPath(path);
#endif #endif
//finalize path //finalize path
@ -608,7 +614,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
#ifdef PATHFINDER_DEBUG #ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl; std::cout << "full path:" << std::endl;
print_path(full_path); printPath(full_path);
#endif #endif
#ifdef PATHFINDER_CALC_TIME #ifdef PATHFINDER_CALC_TIME
timespec ts2; timespec ts2;
@ -626,7 +632,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
} }
else { else {
#ifdef PATHFINDER_DEBUG #ifdef PATHFINDER_DEBUG
print_pathlen(); printPathLen();
#endif #endif
ERROR_TARGET << "failed to update cost map"<< std::endl; ERROR_TARGET << "failed to update cost map"<< std::endl;
} }
@ -637,7 +643,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
} }
/******************************************************************************/ /******************************************************************************/
pathfinder::pathfinder() : Pathfinder::Pathfinder() :
m_max_index_x(0), m_max_index_x(0),
m_max_index_y(0), m_max_index_y(0),
m_max_index_z(0), m_max_index_z(0),
@ -656,8 +662,8 @@ pathfinder::pathfinder() :
} }
/******************************************************************************/ /******************************************************************************/
v3s16 pathfinder::getRealPos(v3s16 ipos) { v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
v3s16 retval = ipos; v3s16 retval = ipos;
retval.X += m_limits.X.min; retval.X += m_limits.X.min;
@ -668,7 +674,7 @@ v3s16 pathfinder::getRealPos(v3s16 ipos) {
} }
/******************************************************************************/ /******************************************************************************/
bool pathfinder::build_costmap() bool Pathfinder::buildCostmap()
{ {
INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << "," INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
<< m_limits.Z.min << ") (" << m_limits.Z.min << ") ("
@ -727,13 +733,13 @@ bool pathfinder::build_costmap()
if (m_prefetch) { if (m_prefetch) {
m_data[x][z][y].directions[DIR_XP] = m_data[x][z][y].directions[DIR_XP] =
calc_cost(realpos,v3s16( 1,0, 0)); calcCost(realpos,v3s16( 1, 0, 0));
m_data[x][z][y].directions[DIR_XM] = m_data[x][z][y].directions[DIR_XM] =
calc_cost(realpos,v3s16(-1,0, 0)); calcCost(realpos,v3s16(-1, 0, 0));
m_data[x][z][y].directions[DIR_ZP] = m_data[x][z][y].directions[DIR_ZP] =
calc_cost(realpos,v3s16( 0,0, 1)); calcCost(realpos,v3s16( 0, 0, 1));
m_data[x][z][y].directions[DIR_ZM] = m_data[x][z][y].directions[DIR_ZM] =
calc_cost(realpos,v3s16( 0,0,-1)); calcCost(realpos,v3s16( 0, 0,-1));
} }
} }
@ -751,8 +757,9 @@ bool pathfinder::build_costmap()
} }
/******************************************************************************/ /******************************************************************************/
path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) { PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
path_cost retval; {
PathCost retval;
retval.updated = true; retval.updated = true;
@ -864,8 +871,8 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
} }
/******************************************************************************/ /******************************************************************************/
v3s16 pathfinder::getIndexPos(v3s16 pos) { v3s16 Pathfinder::getIndexPos(v3s16 pos)
{
v3s16 retval = pos; v3s16 retval = pos;
retval.X -= m_limits.X.min; retval.X -= m_limits.X.min;
retval.Y -= m_limits.Y.min; retval.Y -= m_limits.Y.min;
@ -875,12 +882,14 @@ v3s16 pathfinder::getIndexPos(v3s16 pos) {
} }
/******************************************************************************/ /******************************************************************************/
path_gridnode& pathfinder::getIndexElement(v3s16 ipos) { PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
{
return m_data[ipos.X][ipos.Z][ipos.Y]; return m_data[ipos.X][ipos.Z][ipos.Y];
} }
/******************************************************************************/ /******************************************************************************/
bool pathfinder::valid_index(v3s16 index) { bool Pathfinder::isValidIndex(v3s16 index)
{
if ( (index.X < m_max_index_x) && if ( (index.X < m_max_index_x) &&
(index.Y < m_max_index_y) && (index.Y < m_max_index_y) &&
(index.Z < m_max_index_z) && (index.Z < m_max_index_z) &&
@ -893,7 +902,8 @@ bool pathfinder::valid_index(v3s16 index) {
} }
/******************************************************************************/ /******************************************************************************/
v3s16 pathfinder::invert(v3s16 pos) { v3s16 Pathfinder::invert(v3s16 pos)
{
v3s16 retval = pos; v3s16 retval = pos;
retval.X *=-1; retval.X *=-1;
@ -904,12 +914,12 @@ v3s16 pathfinder::invert(v3s16 pos) {
} }
/******************************************************************************/ /******************************************************************************/
bool pathfinder::update_all_costs( v3s16 ipos, bool Pathfinder::updateAllCosts(v3s16 ipos,
v3s16 srcdir, v3s16 srcdir,
int current_cost, int current_cost,
int level) { int level)
{
path_gridnode& g_pos = getIndexElement(ipos); PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost; g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir; g_pos.sourcedir = srcdir;
@ -933,14 +943,14 @@ bool pathfinder::update_all_costs( v3s16 ipos,
for (unsigned int i=0; i < directions.size(); i++) { for (unsigned int i=0; i < directions.size(); i++) {
if (directions[i] != srcdir) { if (directions[i] != srcdir) {
path_cost cost = g_pos.get_cost(directions[i]); PathCost cost = g_pos.getCost(directions[i]);
if (cost.valid) { if (cost.valid) {
directions[i].Y = cost.direction; directions[i].Y = cost.direction;
v3s16 ipos2 = ipos + directions[i]; v3s16 ipos2 = ipos + directions[i];
if (!valid_index(ipos2)) { if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) << DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range (" << m_limits.X.max << "," << " out of range (" << m_limits.X.max << "," <<
m_limits.Y.max << "," << m_limits.Z.max m_limits.Y.max << "," << m_limits.Z.max
@ -948,7 +958,7 @@ bool pathfinder::update_all_costs( v3s16 ipos,
continue; continue;
} }
path_gridnode& g_pos2 = getIndexElement(ipos2); PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) { if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: " VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
@ -971,7 +981,7 @@ bool pathfinder::update_all_costs( v3s16 ipos,
DEBUG_OUT(LVL "Pathfinder: updating path at: "<< DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<< PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl); new_cost << std::endl);
if (update_all_costs(ipos2,invert(directions[i]), if (updateAllCosts(ipos2, invert(directions[i]),
new_cost, level)) { new_cost, level)) {
retval = true; retval = true;
} }
@ -993,8 +1003,8 @@ bool pathfinder::update_all_costs( v3s16 ipos,
} }
/******************************************************************************/ /******************************************************************************/
int pathfinder::get_manhattandistance(v3s16 pos) { int Pathfinder::getXZManhattanDist(v3s16 pos)
{
int min_x = MYMIN(pos.X, m_destination.X); int min_x = MYMIN(pos.X, m_destination.X);
int max_x = MYMAX(pos.X, m_destination.X); int max_x = MYMAX(pos.X, m_destination.X);
int min_z = MYMIN(pos.Z, m_destination.Z); int min_z = MYMIN(pos.Z, m_destination.Z);
@ -1004,7 +1014,8 @@ int pathfinder::get_manhattandistance(v3s16 pos) {
} }
/******************************************************************************/ /******************************************************************************/
v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos) { v3s16 Pathfinder::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos)
{
int minscore = -1; int minscore = -1;
v3s16 retdir = v3s16(0, 0, 0); v3s16 retdir = v3s16(0, 0, 0);
v3s16 srcpos = g_pos.pos; v3s16 srcpos = g_pos.pos;
@ -1017,12 +1028,12 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
v3s16 pos1 = v3s16(srcpos.X + iter->X, 0, srcpos.Z+iter->Z); v3s16 pos1 = v3s16(srcpos.X + iter->X, 0, srcpos.Z+iter->Z);
int cur_manhattan = get_manhattandistance(pos1); int cur_manhattan = getXZManhattanDist(pos1);
path_cost cost = g_pos.get_cost(*iter); PathCost cost = g_pos.getCost(*iter);
if (!cost.updated) { if (!cost.updated) {
cost = calc_cost(g_pos.pos,*iter); cost = calcCost(g_pos.pos, *iter);
g_pos.set_cost(*iter,cost); g_pos.setCost(*iter, cost);
} }
if (cost.valid) { if (cost.valid) {
@ -1057,12 +1068,13 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
} }
/******************************************************************************/ /******************************************************************************/
bool pathfinder::update_cost_heuristic( v3s16 ipos, bool Pathfinder::updateCostHeuristic( v3s16 ipos,
v3s16 srcdir, v3s16 srcdir,
int current_cost, int current_cost,
int level) { int level)
{
path_gridnode& g_pos = getIndexElement(ipos); PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost; g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir; g_pos.sourcedir = srcdir;
@ -1084,33 +1096,33 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
directions.push_back(v3s16( 0, 0, 1)); directions.push_back(v3s16( 0, 0, 1));
directions.push_back(v3s16( 0, 0, -1)); directions.push_back(v3s16( 0, 0, -1));
v3s16 direction = get_dir_heuristic(directions,g_pos); v3s16 direction = getDirHeuristic(directions, g_pos);
while (direction != v3s16(0, 0, 0) && (!retval)) { while (direction != v3s16(0, 0, 0) && (!retval)) {
if (direction != srcdir) { if (direction != srcdir) {
path_cost cost = g_pos.get_cost(direction); PathCost cost = g_pos.getCost(direction);
if (cost.valid) { if (cost.valid) {
direction.Y = cost.direction; direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction; v3s16 ipos2 = ipos + direction;
if (!valid_index(ipos2)) { if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) << DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range (" << m_limits.X.max << "," << " out of range (" << m_limits.X.max << "," <<
m_limits.Y.max << "," << m_limits.Z.max m_limits.Y.max << "," << m_limits.Z.max
<<")" << std::endl); <<")" << std::endl);
direction = get_dir_heuristic(directions,g_pos); direction = getDirHeuristic(directions, g_pos);
continue; continue;
} }
path_gridnode& g_pos2 = getIndexElement(ipos2); PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) { if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: " VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
<< PPOS(ipos2) << std::endl; << PPOS(ipos2) << std::endl;
direction = get_dir_heuristic(directions,g_pos); direction = getDirHeuristic(directions, g_pos);
continue; continue;
} }
@ -1133,7 +1145,7 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<< PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << " srcdir=" << new_cost << " srcdir=" <<
PPOS(invert(direction))<< std::endl); PPOS(invert(direction))<< std::endl);
if (update_cost_heuristic(ipos2,invert(direction), if (updateCostHeuristic(ipos2, invert(direction),
new_cost, level)) { new_cost, level)) {
retval = true; retval = true;
} }
@ -1155,13 +1167,14 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
" skipping srcdir: " " skipping srcdir: "
<< PPOS(direction) << std::endl); << PPOS(direction) << std::endl);
} }
direction = get_dir_heuristic(directions,g_pos); direction = getDirHeuristic(directions, g_pos);
} }
return retval; return retval;
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) { void Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 pos, int level)
{
level ++; level ++;
if (level > 700) { if (level > 700) {
ERROR_TARGET ERROR_TARGET
@ -1169,7 +1182,7 @@ void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
return; return;
} }
path_gridnode& g_pos = getIndexElement(pos); PathGridnode &g_pos = getIndexElement(pos);
if (!g_pos.valid) { if (!g_pos.valid) {
ERROR_TARGET ERROR_TARGET
<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl; << LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
@ -1184,37 +1197,40 @@ void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
return; return;
} }
build_path(path,pos + g_pos.sourcedir,level); buildPath(path, pos + g_pos.sourcedir, level);
path.push_back(pos); path.push_back(pos);
} }
/******************************************************************************/ /******************************************************************************/
v3f pathfinder::tov3f(v3s16 pos) { v3f Pathfinder::tov3f(v3s16 pos)
{
return v3f(BS * pos.X, BS * pos.Y, BS * pos.Z); return v3f(BS * pos.X, BS * pos.Y, BS * pos.Z);
} }
#ifdef PATHFINDER_DEBUG #ifdef PATHFINDER_DEBUG
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_cost() { void Pathfinder::printCost()
print_cost(DIR_XP); {
print_cost(DIR_XM); printCost(DIR_XP);
print_cost(DIR_ZP); printCost(DIR_XM);
print_cost(DIR_ZM); printCost(DIR_ZP);
printCost(DIR_ZM);
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_ydir() { void Pathfinder::printYdir()
print_ydir(DIR_XP); {
print_ydir(DIR_XM); printYdir(DIR_XP);
print_ydir(DIR_ZP); printYdir(DIR_XM);
print_ydir(DIR_ZM); printYdir(DIR_ZP);
printYdir(DIR_ZM);
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_cost(path_directions dir) { void Pathfinder::printCost(PathDirections dir)
{
std::cout << "Cost in direction: " << dir_to_name(dir) << std::endl; std::cout << "Cost in direction: " << dirToName(dir) << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl; std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' '); std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) { for (int y = 0; y < m_max_index_y; y++) {
@ -1243,9 +1259,9 @@ void pathfinder::print_cost(path_directions dir) {
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_ydir(path_directions dir) { void Pathfinder::printYdir(PathDirections dir)
{
std::cout << "Height difference in direction: " << dir_to_name(dir) << std::endl; std::cout << "Height difference in direction: " << dirToName(dir) << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl; std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' '); std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) { for (int y = 0; y < m_max_index_y; y++) {
@ -1274,7 +1290,8 @@ void pathfinder::print_ydir(path_directions dir) {
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_type() { void Pathfinder::printType()
{
std::cout << "Type of node:" << std::endl; std::cout << "Type of node:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl; std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' '); std::cout << std::setfill(' ');
@ -1302,7 +1319,8 @@ void pathfinder::print_type() {
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_pathlen() { void Pathfinder::printPathLen()
{
std::cout << "Pathlen:" << std::endl; std::cout << "Pathlen:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl; std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' '); std::cout << std::setfill(' ');
@ -1329,7 +1347,8 @@ void pathfinder::print_pathlen() {
} }
/******************************************************************************/ /******************************************************************************/
std::string pathfinder::dir_to_name(path_directions dir) { std::string Pathfinder::dirToName(PathDirections dir)
{
switch (dir) { switch (dir) {
case DIR_XP: case DIR_XP:
return "XP"; return "XP";
@ -1349,8 +1368,8 @@ std::string pathfinder::dir_to_name(path_directions dir) {
} }
/******************************************************************************/ /******************************************************************************/
void pathfinder::print_path(std::vector<v3s16> path) { void Pathfinder::printPath(std::vector<v3s16> path)
{
unsigned int current = 0; unsigned int current = 0;
for (std::vector<v3s16>::iterator i = path.begin(); for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) { i != path.end(); ++i) {

14
src/pathfinder.h
View File

@ -41,26 +41,26 @@ typedef enum {
DIR_XM, DIR_XM,
DIR_ZP, DIR_ZP,
DIR_ZM DIR_ZM
} path_directions; } PathDirections;
/** List of supported algorithms */ /** List of supported algorithms */
typedef enum { typedef enum {
DIJKSTRA, /**< Dijkstra shortest path algorithm */ PA_DIJKSTRA, /**< Dijkstra shortest path algorithm */
A_PLAIN, /**< A* algorithm using heuristics to find a path */ PA_PLAIN, /**< A* algorithm using heuristics to find a path */
A_PLAIN_NP /**< A* algorithm without prefetching of map data */ PA_PLAIN_NP /**< A* algorithm without prefetching of map data */
} algorithm; } PathAlgorithm;
/******************************************************************************/ /******************************************************************************/
/* declarations */ /* declarations */
/******************************************************************************/ /******************************************************************************/
/** c wrapper function to use from scriptapi */ /** c wrapper function to use from scriptapi */
std::vector<v3s16> get_Path(ServerEnvironment* env, std::vector<v3s16> get_path(ServerEnvironment *env,
v3s16 source, v3s16 source,
v3s16 destination, v3s16 destination,
unsigned int searchdistance, unsigned int searchdistance,
unsigned int max_jump, unsigned int max_jump,
unsigned int max_drop, unsigned int max_drop,
algorithm algo); PathAlgorithm algo);
#endif /* PATHFINDER_H_ */ #endif /* PATHFINDER_H_ */

10
src/script/lua_api/l_env.cpp
View File

@ -915,19 +915,19 @@ int ModApiEnvMod::l_find_path(lua_State *L)
unsigned int searchdistance = luaL_checkint(L, 3); unsigned int searchdistance = luaL_checkint(L, 3);
unsigned int max_jump = luaL_checkint(L, 4); unsigned int max_jump = luaL_checkint(L, 4);
unsigned int max_drop = luaL_checkint(L, 5); unsigned int max_drop = luaL_checkint(L, 5);
algorithm algo = A_PLAIN_NP; PathAlgorithm algo = PA_PLAIN_NP;
if (!lua_isnil(L, 6)) { if (!lua_isnil(L, 6)) {
std::string algorithm = luaL_checkstring(L,6); std::string algorithm = luaL_checkstring(L,6);
if (algorithm == "A*") if (algorithm == "A*")
algo = A_PLAIN; algo = PA_PLAIN;
if (algorithm == "Dijkstra") if (algorithm == "Dijkstra")
algo = DIJKSTRA; algo = PA_DIJKSTRA;
} }
std::vector<v3s16> path = std::vector<v3s16> path = get_path(env, pos1, pos2,
get_Path(env,pos1,pos2,searchdistance,max_jump,max_drop,algo); searchdistance, max_jump, max_drop, algo);
if (path.size() > 0) if (path.size() > 0)
{ {