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minetest/src/pathfinder.cpp

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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
//optimize path
std::vector<v3s16> optimized_path;
std::vector<v3s16>::iterator startpos = path.begin();
optimized_path.push_back(source);
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); i++) {
if (!m_env->line_of_sight(
tov3f(getIndexElement(*startpos).pos),
tov3f(getIndexElement(*i).pos))) {
optimized_path.push_back(getIndexElement(*(i-1)).pos);
startpos = (i-1);
}
}
optimized_path.push_back(destination);
#ifdef PATHFINDER_DEBUG
std::cout << "Optimized path:" << std::endl;
print_path(optimized_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 optimized_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
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