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Pathfinder: use core::aabbox3d instead of own type
There is no need to reinvent the wheel here, we have great classes from irrlicht.
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@ -25,6 +25,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
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#include "environment.h"
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#include "map.h"
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#include "log.h"
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#include "irr_aabb3d.h"
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//#define PATHFINDER_DEBUG
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//#define PATHFINDER_CALC_TIME
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@ -157,18 +158,6 @@ public:
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PathAlgorithm algo);
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private:
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/** data struct for storing internal information */
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struct limits {
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struct limit {
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int min;
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int max;
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};
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limit X;
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limit Y;
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limit Z;
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};
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/* helper functions */
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/**
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@ -274,27 +263,27 @@ private:
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void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
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/* variables */
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int m_max_index_x; /**< max index of search area in x direction */
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int m_max_index_y; /**< max index of search area in y direction */
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int m_max_index_z; /**< max index of search area in z direction */
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int m_max_index_x; /**< max index of search area in x direction */
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int m_max_index_y; /**< max index of search area in y direction */
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int m_max_index_z; /**< max index of search area in z direction */
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int m_searchdistance; /**< max distance to search in each direction */
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int m_maxdrop; /**< maximum number of blocks a path may drop */
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int m_maxjump; /**< maximum number of blocks a path may jump */
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int m_min_target_distance; /**< current smalest path to target */
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int m_searchdistance; /**< max distance to search in each direction */
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int m_maxdrop; /**< maximum number of blocks a path may drop */
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int m_maxjump; /**< maximum number of blocks a path may jump */
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int m_min_target_distance; /**< current smalest path to target */
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bool m_prefetch; /**< prefetch cost data */
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bool m_prefetch; /**< prefetch cost data */
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v3s16 m_start; /**< source position */
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v3s16 m_destination; /**< destination position */
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v3s16 m_start; /**< source position */
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v3s16 m_destination; /**< destination position */
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limits m_limits; /**< position limits in real map coordinates */
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core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
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/** 3d grid containing all map data already collected and analyzed */
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std::vector<std::vector<std::vector<PathGridnode> > > m_data;
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ServerEnvironment *m_env; /**< minetest environment pointer */
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ServerEnvironment *m_env; /**< minetest environment pointer */
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#ifdef PATHFINDER_DEBUG
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@ -528,16 +517,19 @@ std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
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int min_z = MYMIN(source.Z, destination.Z);
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int max_z = MYMAX(source.Z, destination.Z);
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m_limits.X.min = min_x - searchdistance;
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m_limits.X.max = max_x + searchdistance;
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m_limits.Y.min = min_y - searchdistance;
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m_limits.Y.max = max_y + searchdistance;
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m_limits.Z.min = min_z - searchdistance;
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m_limits.Z.max = max_z + searchdistance;
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m_limits.MinEdge.X = min_x - searchdistance;
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m_limits.MinEdge.Y = min_y - searchdistance;
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m_limits.MinEdge.Z = min_z - searchdistance;
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m_max_index_x = m_limits.X.max - m_limits.X.min;
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m_max_index_y = m_limits.Y.max - m_limits.Y.min;
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m_max_index_z = m_limits.Z.max - m_limits.Z.min;
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m_limits.MaxEdge.X = max_x + searchdistance;
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m_limits.MaxEdge.Y = max_y + searchdistance;
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m_limits.MaxEdge.Z = max_z + searchdistance;
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v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
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m_max_index_x = diff.X;
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m_max_index_y = diff.Y;
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m_max_index_z = diff.Z;
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//build data map
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if (!buildCostmap()) {
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@ -654,7 +646,6 @@ Pathfinder::Pathfinder() :
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m_prefetch(true),
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m_start(0, 0, 0),
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m_destination(0, 0, 0),
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m_limits(),
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m_data(),
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m_env(0)
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{
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@ -664,23 +655,14 @@ Pathfinder::Pathfinder() :
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/******************************************************************************/
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v3s16 Pathfinder::getRealPos(v3s16 ipos)
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{
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v3s16 retval = ipos;
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retval.X += m_limits.X.min;
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retval.Y += m_limits.Y.min;
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retval.Z += m_limits.Z.min;
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return retval;
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return m_limits.MinEdge + ipos;
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}
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/******************************************************************************/
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bool Pathfinder::buildCostmap()
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{
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INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
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<< m_limits.Z.min << ") ("
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<< m_limits.X.max << ","
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<< m_limits.Z.max << ")"
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<< std::endl;
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INFO_TARGET << "Pathfinder build costmap: min="
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<< PPOS(m_limits.MinEdge) << ", max=" << PPOS(m_limits.MaxEdge) << std::endl;
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m_data.resize(m_max_index_x);
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for (int x = 0; x < m_max_index_x; x++) {
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m_data[x].resize(m_max_index_z);
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@ -766,10 +748,7 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
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v3s16 pos2 = pos + dir;
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//check limits
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if ( (pos2.X < m_limits.X.min) ||
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(pos2.X >= m_limits.X.max) ||
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(pos2.Z < m_limits.Z.min) ||
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(pos2.Z >= m_limits.Z.max)) {
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if (!m_limits.isPointInside(pos2)) {
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DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
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" no cost -> out of limits" << std::endl);
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return retval;
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@ -808,13 +787,13 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
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while ((node_at_pos.param0 != CONTENT_IGNORE) &&
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(node_at_pos.param0 == CONTENT_AIR) &&
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(testpos.Y > m_limits.Y.min)) {
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(testpos.Y > m_limits.MinEdge.Y)) {
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testpos += v3s16(0, -1, 0);
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node_at_pos = m_env->getMap().getNodeNoEx(testpos);
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}
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//did we find surface?
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if ((testpos.Y >= m_limits.Y.min) &&
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if ((testpos.Y >= m_limits.MinEdge.Y) &&
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(node_at_pos.param0 != CONTENT_IGNORE) &&
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(node_at_pos.param0 != CONTENT_AIR)) {
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if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
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@ -842,13 +821,13 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
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while ((node_at_pos.param0 != CONTENT_IGNORE) &&
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(node_at_pos.param0 != CONTENT_AIR) &&
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(testpos.Y < m_limits.Y.max)) {
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(testpos.Y < m_limits.MaxEdge.Y)) {
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testpos += v3s16(0, 1, 0);
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node_at_pos = m_env->getMap().getNodeNoEx(testpos);
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}
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//did we find surface?
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if ((testpos.Y <= m_limits.Y.max) &&
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if ((testpos.Y <= m_limits.MaxEdge.Y) &&
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(node_at_pos.param0 == CONTENT_AIR)) {
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if (testpos.Y - pos2.Y <= m_maxjump) {
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@ -873,12 +852,7 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
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/******************************************************************************/
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v3s16 Pathfinder::getIndexPos(v3s16 pos)
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{
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v3s16 retval = pos;
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retval.X -= m_limits.X.min;
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retval.Y -= m_limits.Y.min;
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retval.Z -= m_limits.Z.min;
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return retval;
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return pos - m_limits.MinEdge;
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}
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/******************************************************************************/
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@ -952,9 +926,7 @@ bool Pathfinder::updateAllCosts(v3s16 ipos,
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if (!isValidIndex(ipos2)) {
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DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
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" out of range (" << m_limits.X.max << "," <<
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m_limits.Y.max << "," << m_limits.Z.max
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<<")" << std::endl);
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" out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
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continue;
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}
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@ -1110,9 +1082,7 @@ bool Pathfinder::updateCostHeuristic( v3s16 ipos,
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if (!isValidIndex(ipos2)) {
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DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
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" out of range (" << m_limits.X.max << "," <<
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m_limits.Y.max << "," << m_limits.Z.max
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<<")" << std::endl);
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" out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
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direction = getDirHeuristic(directions, g_pos);
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continue;
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}
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