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1442 lines
39 KiB
C++
1442 lines
39 KiB
C++
/*
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Minetest
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Copyright (C) 2013 sapier, sapier at gmx dot net
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Copyright (C) 2016 est31, <MTest31@outlook.com>
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation; either version 2.1 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License along
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with this program; if not, write to the Free Software Foundation, Inc.,
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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/******************************************************************************/
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/* Includes */
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/******************************************************************************/
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#include "pathfinder.h"
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#include "map.h"
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#include "nodedef.h"
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//#define PATHFINDER_DEBUG
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//#define PATHFINDER_CALC_TIME
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#ifdef PATHFINDER_DEBUG
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#include <string>
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#endif
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#ifdef PATHFINDER_DEBUG
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#include <iomanip>
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#endif
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#ifdef PATHFINDER_CALC_TIME
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#include <sys/time.h>
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#endif
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/******************************************************************************/
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/* Typedefs and macros */
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/******************************************************************************/
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#define LVL "(" << level << ")" <<
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#ifdef PATHFINDER_DEBUG
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#define DEBUG_OUT(a) std::cout << a
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#define INFO_TARGET std::cout
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#define VERBOSE_TARGET std::cout
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#define ERROR_TARGET std::cout
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#else
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#define DEBUG_OUT(a) while(0)
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#define INFO_TARGET infostream << "Pathfinder: "
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#define VERBOSE_TARGET verbosestream << "Pathfinder: "
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#define ERROR_TARGET warningstream << "Pathfinder: "
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#endif
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#define PATHFINDER_MAX_WAYPOINTS 700
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/******************************************************************************/
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/* Class definitions */
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/******************************************************************************/
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/** representation of cost in specific direction */
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class PathCost {
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public:
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/** default constructor */
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PathCost() = default;
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/** copy constructor */
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PathCost(const PathCost &b);
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/** assignment operator */
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PathCost &operator= (const PathCost &b);
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bool valid = false; /**< movement is possible */
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int value = 0; /**< cost of movement */
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int y_change = 0; /**< change of y position of movement */
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bool updated = false; /**< this cost has ben calculated */
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};
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/** representation of a mapnode to be used for pathfinding */
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class PathGridnode {
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public:
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/** default constructor */
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PathGridnode() = default;
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/** copy constructor */
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PathGridnode(const PathGridnode &b);
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/**
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* assignment operator
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* @param b node to copy
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*/
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PathGridnode &operator= (const PathGridnode &b);
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/**
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* read cost in a specific direction
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* @param dir direction of cost to fetch
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*/
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PathCost getCost(v3s16 dir);
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/**
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* set cost value for movement
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* @param dir direction to set cost for
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* @cost cost to set
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*/
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void setCost(v3s16 dir, const PathCost &cost);
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bool valid = false; /**< node is on surface */
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bool target = false; /**< node is target position */
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bool source = false; /**< node is stating position */
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int totalcost = -1; /**< cost to move here from starting point */
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int estimated_cost = -1; /**< totalcost + heuristic cost to end */
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v3s16 sourcedir; /**< origin of movement for current cost */
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v3s16 pos; /**< real position of node */
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PathCost directions[4]; /**< cost in different directions */
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bool is_closed = false; /**< for A* search: if true, is in closed list */
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bool is_open = false; /**< for A* search: if true, is in open list */
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/* debug values */
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bool is_element = false; /**< node is element of path detected */
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char type = 'u'; /**< Type of pathfinding node.
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* u = unknown
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* i = invalid
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* s = surface (walkable node)
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* - = non-walkable node (e.g. air) above surface
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* g = other non-walkable node
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*/
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};
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class Pathfinder;
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class PathfinderCompareHeuristic;
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/** Abstract class to manage the map data */
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class GridNodeContainer {
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public:
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virtual PathGridnode &access(v3s16 p)=0;
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virtual ~GridNodeContainer() = default;
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protected:
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Pathfinder *m_pathf;
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void initNode(v3s16 ipos, PathGridnode *p_node);
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};
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class ArrayGridNodeContainer : public GridNodeContainer {
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public:
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virtual ~ArrayGridNodeContainer() = default;
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ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
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virtual PathGridnode &access(v3s16 p);
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private:
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int m_x_stride;
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int m_y_stride;
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std::vector<PathGridnode> m_nodes_array;
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};
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class MapGridNodeContainer : public GridNodeContainer {
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public:
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virtual ~MapGridNodeContainer() = default;
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MapGridNodeContainer(Pathfinder *pathf);
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virtual PathGridnode &access(v3s16 p);
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private:
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std::map<v3s16, PathGridnode> m_nodes;
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};
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/** class doing pathfinding */
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class Pathfinder {
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public:
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Pathfinder() = delete;
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Pathfinder(Map *map, const NodeDefManager *ndef) : m_map(map), m_ndef(ndef) {}
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~Pathfinder();
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/**
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* path evaluation function
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* @param env environment to look for path
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* @param source origin of path
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* @param destination end position of path
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* @param searchdistance maximum number of nodes to look in each direction
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* @param max_jump maximum number of blocks a path may jump up
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* @param max_drop maximum number of blocks a path may drop
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* @param algo Algorithm to use for finding a path
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*/
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std::vector<v3s16> getPath(v3s16 source,
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v3s16 destination,
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unsigned int searchdistance,
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unsigned int max_jump,
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unsigned int max_drop,
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PathAlgorithm algo);
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private:
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/* helper functions */
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/**
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* transform index pos to mappos
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* @param ipos an index position
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* @return map position
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*/
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v3s16 getRealPos(v3s16 ipos);
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/**
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* transform mappos to index pos
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* @param pos a real pos
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* @return index position
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*/
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v3s16 getIndexPos(v3s16 pos);
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/**
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* get gridnode at a specific index position
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* @param ipos index position
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* @return gridnode for index
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*/
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PathGridnode &getIndexElement(v3s16 ipos);
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/**
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* Get gridnode at a specific index position
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* @return gridnode for index
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*/
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PathGridnode &getIdxElem(s16 x, s16 y, s16 z);
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/**
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* invert a 3D position (change sign of coordinates)
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* @param pos 3D position
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* @return pos *-1
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*/
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v3s16 invert(v3s16 pos);
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/**
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* check if an index is within current search area
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* @param index position to validate
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* @return true/false
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*/
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bool isValidIndex(v3s16 index);
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/* algorithm functions */
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/**
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* calculate 2D Manhattan distance to target
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* @param pos position to calc distance
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* @return integer distance
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*/
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int getXZManhattanDist(v3s16 pos);
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/**
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* calculate cost of movement
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* @param pos real world position to start movement
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* @param dir direction to move to
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* @return cost information
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*/
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PathCost calcCost(v3s16 pos, v3s16 dir);
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/**
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* recursive update whole search areas total cost information
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* @param ipos position to check next
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* @param srcdir positionc checked last time
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* @param total_cost cost of moving to ipos
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* @param level current recursion depth
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* @return true/false path to destination has been found
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*/
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bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
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/**
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* try to find a path to destination using a heuristic function
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* to estimate distance to target (A* search algorithm)
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* @param isource start position (index pos)
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* @param idestination end position (index pos)
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* @return true/false path to destination has been found
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*/
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bool updateCostHeuristic(v3s16 isource, v3s16 idestination);
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/**
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* build a vector containing all nodes from destination to source;
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* to be called after the node costs have been processed
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* @param path vector to add nodes to
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* @param ipos initial pos to check (index pos)
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* @return true/false path has been fully built
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*/
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bool buildPath(std::vector<v3s16> &path, v3s16 ipos);
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/**
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* go downwards from a position until some barrier
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* is hit.
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* @param pos position from which to go downwards
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* @param max_down maximum distance to go downwards
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* @return new position after movement; if too far down,
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* pos is returned
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*/
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v3s16 walkDownwards(v3s16 pos, unsigned int max_down);
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/* variables */
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int m_max_index_x = 0; /**< max index of search area in x direction */
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int m_max_index_y = 0; /**< max index of search area in y direction */
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int m_max_index_z = 0; /**< max index of search area in z direction */
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int m_maxdrop = 0; /**< maximum number of blocks a path may drop */
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int m_maxjump = 0; /**< maximum number of blocks a path may jump */
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int m_min_target_distance = 0; /**< current smalest path to target */
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bool m_prefetch = true; /**< 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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core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
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/** contains all map data already collected and analyzed.
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Access it via the getIndexElement/getIdxElem methods. */
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friend class GridNodeContainer;
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GridNodeContainer *m_nodes_container = nullptr;
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Map *m_map = nullptr;
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const NodeDefManager *m_ndef = nullptr;
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friend class PathfinderCompareHeuristic;
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#ifdef PATHFINDER_DEBUG
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/**
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* print collected cost information
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*/
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void printCost();
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/**
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* print collected cost information in a specific direction
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* @param dir direction to print
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*/
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void printCost(PathDirections dir);
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/**
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* print type of node as evaluated
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*/
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void printType();
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/**
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* print pathlenght for all nodes in search area
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*/
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void printPathLen();
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/**
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* print a path
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* @param path path to show
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*/
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void printPath(std::vector<v3s16> path);
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/**
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* print y direction for all movements
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*/
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void printYdir();
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/**
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* print y direction for moving in a specific direction
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* @param dir direction to show data
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*/
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void printYdir(PathDirections dir);
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/**
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* helper function to translate a direction to speaking text
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* @param dir direction to translate
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* @return textual name of direction
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*/
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std::string dirToName(PathDirections dir);
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#endif
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};
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/** Helper class for the open list priority queue in the A* pathfinder
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* to sort the pathfinder nodes by cost.
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*/
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class PathfinderCompareHeuristic
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{
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private:
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Pathfinder *myPathfinder;
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public:
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PathfinderCompareHeuristic(Pathfinder *pf)
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{
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myPathfinder = pf;
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}
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bool operator() (v3s16 pos1, v3s16 pos2) {
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v3s16 ipos1 = myPathfinder->getIndexPos(pos1);
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v3s16 ipos2 = myPathfinder->getIndexPos(pos2);
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PathGridnode &g_pos1 = myPathfinder->getIndexElement(ipos1);
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PathGridnode &g_pos2 = myPathfinder->getIndexElement(ipos2);
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if (!g_pos1.valid)
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return false;
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if (!g_pos2.valid)
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return false;
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return g_pos1.estimated_cost > g_pos2.estimated_cost;
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}
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};
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/******************************************************************************/
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/* implementation */
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/******************************************************************************/
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std::vector<v3s16> get_path(Map* map, const NodeDefManager *ndef,
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v3s16 source,
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v3s16 destination,
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unsigned int searchdistance,
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unsigned int max_jump,
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unsigned int max_drop,
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PathAlgorithm algo)
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{
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return Pathfinder(map, ndef).getPath(source, destination,
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searchdistance, max_jump, max_drop, algo);
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}
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/******************************************************************************/
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PathCost::PathCost(const PathCost &b)
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{
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valid = b.valid;
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y_change = b.y_change;
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value = b.value;
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updated = b.updated;
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}
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/******************************************************************************/
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PathCost &PathCost::operator= (const PathCost &b)
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{
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valid = b.valid;
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y_change = b.y_change;
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value = b.value;
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updated = b.updated;
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return *this;
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}
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/******************************************************************************/
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PathGridnode::PathGridnode(const PathGridnode &b)
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: valid(b.valid),
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target(b.target),
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source(b.source),
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totalcost(b.totalcost),
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sourcedir(b.sourcedir),
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pos(b.pos),
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is_element(b.is_element),
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type(b.type)
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{
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directions[DIR_XP] = b.directions[DIR_XP];
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directions[DIR_XM] = b.directions[DIR_XM];
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directions[DIR_ZP] = b.directions[DIR_ZP];
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directions[DIR_ZM] = b.directions[DIR_ZM];
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}
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/******************************************************************************/
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PathGridnode &PathGridnode::operator= (const PathGridnode &b)
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{
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valid = b.valid;
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target = b.target;
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source = b.source;
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is_element = b.is_element;
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totalcost = b.totalcost;
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sourcedir = b.sourcedir;
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pos = b.pos;
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type = b.type;
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directions[DIR_XP] = b.directions[DIR_XP];
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directions[DIR_XM] = b.directions[DIR_XM];
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directions[DIR_ZP] = b.directions[DIR_ZP];
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directions[DIR_ZM] = b.directions[DIR_ZM];
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return *this;
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}
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/******************************************************************************/
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PathCost PathGridnode::getCost(v3s16 dir)
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{
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if (dir.X > 0) {
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return directions[DIR_XP];
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}
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if (dir.X < 0) {
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return directions[DIR_XM];
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}
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if (dir.Z > 0) {
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return directions[DIR_ZP];
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}
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if (dir.Z < 0) {
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return directions[DIR_ZM];
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}
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PathCost retval;
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return retval;
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}
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/******************************************************************************/
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void PathGridnode::setCost(v3s16 dir, const PathCost &cost)
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{
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if (dir.X > 0) {
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directions[DIR_XP] = cost;
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}
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if (dir.X < 0) {
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directions[DIR_XM] = cost;
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}
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if (dir.Z > 0) {
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directions[DIR_ZP] = cost;
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}
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if (dir.Z < 0) {
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directions[DIR_ZM] = cost;
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}
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}
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void GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
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{
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const NodeDefManager *ndef = m_pathf->m_ndef;
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PathGridnode &elem = *p_node;
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v3s16 realpos = m_pathf->getRealPos(ipos);
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MapNode current = m_pathf->m_map->getNode(realpos);
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MapNode below = m_pathf->m_map->getNode(realpos + v3s16(0, -1, 0));
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if ((current.param0 == CONTENT_IGNORE) ||
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(below.param0 == CONTENT_IGNORE)) {
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DEBUG_OUT("Pathfinder: " << PP(realpos) <<
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" current or below is invalid element" << std::endl);
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if (current.param0 == CONTENT_IGNORE) {
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elem.type = 'i';
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DEBUG_OUT(PP(ipos) << ": " << 'i' << std::endl);
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}
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return;
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}
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//don't add anything if it isn't an air node
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if (ndef->get(current).walkable || !ndef->get(below).walkable) {
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DEBUG_OUT("Pathfinder: " << PP(realpos)
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<< " not on surface" << std::endl);
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if (ndef->get(current).walkable) {
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elem.type = 's';
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DEBUG_OUT(PP(ipos) << ": " << 's' << std::endl);
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} else {
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elem.type = '-';
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DEBUG_OUT(PP(ipos) << ": " << '-' << std::endl);
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}
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return;
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}
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elem.valid = true;
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elem.pos = realpos;
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elem.type = 'g';
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DEBUG_OUT(PP(ipos) << ": " << 'a' << std::endl);
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if (m_pathf->m_prefetch) {
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elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
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elem.directions[DIR_XM] = m_pathf->calcCost(realpos, v3s16(-1, 0, 0));
|
|
elem.directions[DIR_ZP] = m_pathf->calcCost(realpos, v3s16( 0, 0, 1));
|
|
elem.directions[DIR_ZM] = m_pathf->calcCost(realpos, v3s16( 0, 0,-1));
|
|
}
|
|
}
|
|
|
|
ArrayGridNodeContainer::ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions) :
|
|
m_x_stride(dimensions.Y * dimensions.Z),
|
|
m_y_stride(dimensions.Z)
|
|
{
|
|
m_pathf = pathf;
|
|
|
|
m_nodes_array.resize(dimensions.X * dimensions.Y * dimensions.Z);
|
|
INFO_TARGET << "Pathfinder ArrayGridNodeContainer constructor." << std::endl;
|
|
for (int x = 0; x < dimensions.X; x++) {
|
|
for (int y = 0; y < dimensions.Y; y++) {
|
|
for (int z= 0; z < dimensions.Z; z++) {
|
|
v3s16 ipos(x, y, z);
|
|
initNode(ipos, &access(ipos));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
PathGridnode &ArrayGridNodeContainer::access(v3s16 p)
|
|
{
|
|
return m_nodes_array[p.X * m_x_stride + p.Y * m_y_stride + p.Z];
|
|
}
|
|
|
|
MapGridNodeContainer::MapGridNodeContainer(Pathfinder *pathf)
|
|
{
|
|
m_pathf = pathf;
|
|
}
|
|
|
|
PathGridnode &MapGridNodeContainer::access(v3s16 p)
|
|
{
|
|
std::map<v3s16, PathGridnode>::iterator it = m_nodes.find(p);
|
|
if (it != m_nodes.end()) {
|
|
return it->second;
|
|
}
|
|
PathGridnode &n = m_nodes[p];
|
|
initNode(p, &n);
|
|
return n;
|
|
}
|
|
|
|
|
|
|
|
/******************************************************************************/
|
|
std::vector<v3s16> Pathfinder::getPath(v3s16 source,
|
|
v3s16 destination,
|
|
unsigned int searchdistance,
|
|
unsigned int max_jump,
|
|
unsigned int max_drop,
|
|
PathAlgorithm algo)
|
|
{
|
|
#ifdef PATHFINDER_CALC_TIME
|
|
timespec ts;
|
|
clock_gettime(CLOCK_REALTIME, &ts);
|
|
#endif
|
|
std::vector<v3s16> retval;
|
|
|
|
//initialization
|
|
m_maxjump = max_jump;
|
|
m_maxdrop = max_drop;
|
|
m_start = source;
|
|
m_destination = destination;
|
|
m_min_target_distance = -1;
|
|
m_prefetch = true;
|
|
|
|
if (algo == PA_PLAIN_NP) {
|
|
m_prefetch = false;
|
|
}
|
|
|
|
//calculate boundaries within we're allowed to search
|
|
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.MinEdge.X = min_x - searchdistance;
|
|
m_limits.MinEdge.Y = min_y - searchdistance;
|
|
m_limits.MinEdge.Z = min_z - searchdistance;
|
|
|
|
m_limits.MaxEdge.X = max_x + searchdistance;
|
|
m_limits.MaxEdge.Y = max_y + searchdistance;
|
|
m_limits.MaxEdge.Z = max_z + searchdistance;
|
|
|
|
v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
|
|
|
|
m_max_index_x = diff.X;
|
|
m_max_index_y = diff.Y;
|
|
m_max_index_z = diff.Z;
|
|
|
|
delete m_nodes_container;
|
|
if (diff.getLength() > 5) {
|
|
m_nodes_container = new MapGridNodeContainer(this);
|
|
} else {
|
|
m_nodes_container = new ArrayGridNodeContainer(this, diff);
|
|
}
|
|
#ifdef PATHFINDER_DEBUG
|
|
printType();
|
|
printCost();
|
|
printYdir();
|
|
#endif
|
|
|
|
//fail if source or destination is walkable
|
|
MapNode node_at_pos = m_map->getNode(destination);
|
|
if (m_ndef->get(node_at_pos).walkable) {
|
|
VERBOSE_TARGET << "Destination is walkable. " <<
|
|
"Pos: " << PP(destination) << std::endl;
|
|
return retval;
|
|
}
|
|
node_at_pos = m_map->getNode(source);
|
|
if (m_ndef->get(node_at_pos).walkable) {
|
|
VERBOSE_TARGET << "Source is walkable. " <<
|
|
"Pos: " << PP(source) << std::endl;
|
|
return retval;
|
|
}
|
|
|
|
//If source pos is hovering above air, drop
|
|
//to the first walkable node (up to m_maxdrop).
|
|
//All algorithms expect the source pos to be *directly* above
|
|
//a walkable node.
|
|
v3s16 true_source = v3s16(source);
|
|
source = walkDownwards(source, m_maxdrop);
|
|
|
|
//If destination pos is hovering above air, go downwards
|
|
//to the first walkable node (up to m_maxjump).
|
|
//This means a hovering destination pos could be reached
|
|
//by a final upwards jump.
|
|
v3s16 true_destination = v3s16(destination);
|
|
destination = walkDownwards(destination, m_maxjump);
|
|
|
|
//validate and mark start and end pos
|
|
|
|
v3s16 StartIndex = getIndexPos(source);
|
|
v3s16 EndIndex = getIndexPos(destination);
|
|
|
|
PathGridnode &startpos = getIndexElement(StartIndex);
|
|
PathGridnode &endpos = getIndexElement(EndIndex);
|
|
|
|
if (!startpos.valid) {
|
|
VERBOSE_TARGET << "Invalid startpos " <<
|
|
"Index: " << PP(StartIndex) <<
|
|
"Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
|
|
return retval;
|
|
}
|
|
if (!endpos.valid) {
|
|
VERBOSE_TARGET << "Invalid stoppos " <<
|
|
"Index: " << PP(EndIndex) <<
|
|
"Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
|
|
return retval;
|
|
}
|
|
|
|
endpos.target = true;
|
|
startpos.source = true;
|
|
startpos.totalcost = 0;
|
|
|
|
bool update_cost_retval = false;
|
|
|
|
//calculate node costs
|
|
switch (algo) {
|
|
case PA_DIJKSTRA:
|
|
update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
|
|
break;
|
|
case PA_PLAIN_NP:
|
|
case PA_PLAIN:
|
|
update_cost_retval = updateCostHeuristic(StartIndex, EndIndex);
|
|
break;
|
|
default:
|
|
ERROR_TARGET << "Missing PathAlgorithm" << std::endl;
|
|
break;
|
|
}
|
|
|
|
if (update_cost_retval) {
|
|
|
|
#ifdef PATHFINDER_DEBUG
|
|
std::cout << "Path to target found!" << std::endl;
|
|
printPathLen();
|
|
#endif
|
|
|
|
//find path
|
|
std::vector<v3s16> index_path;
|
|
buildPath(index_path, EndIndex);
|
|
//Now we have a path of index positions,
|
|
//and it's in reverse.
|
|
//The "true" start or end position might be missing
|
|
//since those have been given special treatment.
|
|
|
|
#ifdef PATHFINDER_DEBUG
|
|
std::cout << "Index path:" << std::endl;
|
|
printPath(index_path);
|
|
#endif
|
|
//from here we'll make the final changes to the path
|
|
std::vector<v3s16> full_path;
|
|
|
|
//calculate required size
|
|
int full_path_size = index_path.size();
|
|
if (source != true_source) {
|
|
full_path_size++;
|
|
}
|
|
if (destination != true_destination) {
|
|
full_path_size++;
|
|
}
|
|
full_path.reserve(full_path_size);
|
|
|
|
//manually add true_source to start of path, if needed
|
|
if (source != true_source) {
|
|
full_path.push_back(true_source);
|
|
}
|
|
//convert all index positions to "normal" positions and insert
|
|
//them into full_path in reverse
|
|
std::vector<v3s16>::reverse_iterator rit = index_path.rbegin();
|
|
for (; rit != index_path.rend(); ++rit) {
|
|
full_path.push_back(getIndexElement(*rit).pos);
|
|
}
|
|
//manually add true_destination to end of path, if needed
|
|
if (destination != true_destination) {
|
|
full_path.push_back(true_destination);
|
|
}
|
|
|
|
//Done! We now have a complete path of normal positions.
|
|
|
|
|
|
#ifdef PATHFINDER_DEBUG
|
|
std::cout << "Full path:" << std::endl;
|
|
printPath(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
|
|
printPathLen();
|
|
#endif
|
|
INFO_TARGET << "No path found" << std::endl;
|
|
}
|
|
|
|
|
|
//return
|
|
return retval;
|
|
}
|
|
|
|
Pathfinder::~Pathfinder()
|
|
{
|
|
delete m_nodes_container;
|
|
}
|
|
/******************************************************************************/
|
|
v3s16 Pathfinder::getRealPos(v3s16 ipos)
|
|
{
|
|
return m_limits.MinEdge + ipos;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
|
|
{
|
|
PathCost retval;
|
|
|
|
retval.updated = true;
|
|
|
|
v3s16 pos2 = pos + dir;
|
|
|
|
//check limits
|
|
if (!m_limits.isPointInside(pos2)) {
|
|
DEBUG_OUT("Pathfinder: " << PP(pos2) <<
|
|
" no cost -> out of limits" << std::endl);
|
|
return retval;
|
|
}
|
|
|
|
MapNode node_at_pos2 = m_map->getNode(pos2);
|
|
|
|
//did we get information about node?
|
|
if (node_at_pos2.param0 == CONTENT_IGNORE ) {
|
|
VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
|
|
<< PP(pos2) << " not loaded";
|
|
return retval;
|
|
}
|
|
|
|
if (!m_ndef->get(node_at_pos2).walkable) {
|
|
MapNode node_below_pos2 =
|
|
m_map->getNode(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: "
|
|
<< PP((pos2 + v3s16(0, -1, 0))) << " not loaded";
|
|
return retval;
|
|
}
|
|
|
|
//test if the same-height neighbor is suitable
|
|
if (m_ndef->get(node_below_pos2).walkable) {
|
|
//SUCCESS!
|
|
retval.valid = true;
|
|
retval.value = 1;
|
|
retval.y_change = 0;
|
|
DEBUG_OUT("Pathfinder: "<< PP(pos)
|
|
<< " cost same height found" << std::endl);
|
|
}
|
|
else {
|
|
//test if we can fall a couple of nodes (m_maxdrop)
|
|
v3s16 testpos = pos2 + v3s16(0, -1, 0);
|
|
MapNode node_at_pos = m_map->getNode(testpos);
|
|
|
|
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
|
|
(!m_ndef->get(node_at_pos).walkable) &&
|
|
(testpos.Y > m_limits.MinEdge.Y)) {
|
|
testpos += v3s16(0, -1, 0);
|
|
node_at_pos = m_map->getNode(testpos);
|
|
}
|
|
|
|
//did we find surface?
|
|
if ((testpos.Y >= m_limits.MinEdge.Y) &&
|
|
(node_at_pos.param0 != CONTENT_IGNORE) &&
|
|
(m_ndef->get(node_at_pos).walkable)) {
|
|
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
|
|
//SUCCESS!
|
|
retval.valid = true;
|
|
retval.value = 2;
|
|
//difference of y-pos +1 (target node is ABOVE solid node)
|
|
retval.y_change = ((testpos.Y - pos2.Y) +1);
|
|
DEBUG_OUT("Pathfinder cost below height found" << std::endl);
|
|
}
|
|
else {
|
|
INFO_TARGET << "Pathfinder:"
|
|
" distance to surface below too big: "
|
|
<< (testpos.Y - pos2.Y) << " max: " << m_maxdrop
|
|
<< std::endl;
|
|
}
|
|
}
|
|
else {
|
|
DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
//test if we can jump upwards (m_maxjump)
|
|
|
|
v3s16 targetpos = pos2; // position for jump target
|
|
v3s16 jumppos = pos; // position for checking if jumping space is free
|
|
MapNode node_target = m_map->getNode(targetpos);
|
|
MapNode node_jump = m_map->getNode(jumppos);
|
|
bool headbanger = false; // true if anything blocks jumppath
|
|
|
|
while ((node_target.param0 != CONTENT_IGNORE) &&
|
|
(m_ndef->get(node_target).walkable) &&
|
|
(targetpos.Y < m_limits.MaxEdge.Y)) {
|
|
//if the jump would hit any solid node, discard
|
|
if ((node_jump.param0 == CONTENT_IGNORE) ||
|
|
(m_ndef->get(node_jump).walkable)) {
|
|
headbanger = true;
|
|
break;
|
|
}
|
|
targetpos += v3s16(0, 1, 0);
|
|
jumppos += v3s16(0, 1, 0);
|
|
node_target = m_map->getNode(targetpos);
|
|
node_jump = m_map->getNode(jumppos);
|
|
|
|
}
|
|
//check headbanger one last time
|
|
if ((node_jump.param0 == CONTENT_IGNORE) ||
|
|
(m_ndef->get(node_jump).walkable)) {
|
|
headbanger = true;
|
|
}
|
|
|
|
//did we find surface without banging our head?
|
|
if ((!headbanger) && (targetpos.Y <= m_limits.MaxEdge.Y) &&
|
|
(!m_ndef->get(node_target).walkable)) {
|
|
|
|
if (targetpos.Y - pos2.Y <= m_maxjump) {
|
|
//SUCCESS!
|
|
retval.valid = true;
|
|
retval.value = 2;
|
|
retval.y_change = (targetpos.Y - pos2.Y);
|
|
DEBUG_OUT("Pathfinder cost above found" << std::endl);
|
|
}
|
|
else {
|
|
DEBUG_OUT("Pathfinder: distance to surface above too big: "
|
|
<< (targetpos.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)
|
|
{
|
|
return pos - m_limits.MinEdge;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
|
|
{
|
|
return m_nodes_container->access(ipos);
|
|
}
|
|
|
|
/******************************************************************************/
|
|
inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z)
|
|
{
|
|
return m_nodes_container->access(v3s16(x,y,z));
|
|
}
|
|
|
|
/******************************************************************************/
|
|
bool Pathfinder::isValidIndex(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::updateAllCosts(v3s16 ipos,
|
|
v3s16 srcdir,
|
|
int current_cost,
|
|
int level)
|
|
{
|
|
PathGridnode &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;
|
|
|
|
// the 4 cardinal directions
|
|
const static v3s16 directions[4] = {
|
|
v3s16(1,0, 0),
|
|
v3s16(-1,0, 0),
|
|
v3s16(0,0, 1),
|
|
v3s16(0,0,-1)
|
|
};
|
|
|
|
for (v3s16 direction : directions) {
|
|
if (direction != srcdir) {
|
|
PathCost cost = g_pos.getCost(direction);
|
|
|
|
if (cost.valid) {
|
|
direction.Y = cost.y_change;
|
|
|
|
v3s16 ipos2 = ipos + direction;
|
|
|
|
if (!isValidIndex(ipos2)) {
|
|
DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
|
|
" out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
|
|
continue;
|
|
}
|
|
|
|
PathGridnode &g_pos2 = getIndexElement(ipos2);
|
|
|
|
if (!g_pos2.valid) {
|
|
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
|
|
<< PP(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: "<<
|
|
PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
|
|
new_cost << std::endl);
|
|
if (updateAllCosts(ipos2, invert(direction),
|
|
new_cost, level)) {
|
|
retval = true;
|
|
}
|
|
}
|
|
else {
|
|
DEBUG_OUT(LVL "Pathfinder:"
|
|
" already found shorter path to: "
|
|
<< PP(ipos2) << std::endl);
|
|
}
|
|
}
|
|
else {
|
|
DEBUG_OUT(LVL "Pathfinder:"
|
|
" not moving to invalid direction: "
|
|
<< PP(directions[i]) << std::endl);
|
|
}
|
|
}
|
|
}
|
|
return retval;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
int Pathfinder::getXZManhattanDist(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);
|
|
}
|
|
|
|
|
|
|
|
/******************************************************************************/
|
|
bool Pathfinder::updateCostHeuristic(v3s16 isource, v3s16 idestination)
|
|
{
|
|
// A* search algorithm.
|
|
|
|
// The open list contains the pathfinder nodes that still need to be
|
|
// checked. The priority queue sorts the pathfinder nodes by
|
|
// estimated cost, with lowest cost on the top.
|
|
std::priority_queue<v3s16, std::vector<v3s16>, PathfinderCompareHeuristic>
|
|
openList(PathfinderCompareHeuristic(this));
|
|
|
|
v3s16 source = getRealPos(isource);
|
|
v3s16 destination = getRealPos(idestination);
|
|
|
|
// initial position
|
|
openList.push(source);
|
|
|
|
// the 4 cardinal directions
|
|
const static v3s16 directions[4] = {
|
|
v3s16(1,0, 0),
|
|
v3s16(-1,0, 0),
|
|
v3s16(0,0, 1),
|
|
v3s16(0,0,-1)
|
|
};
|
|
|
|
v3s16 current_pos;
|
|
PathGridnode& s_pos = getIndexElement(isource);
|
|
s_pos.source = true;
|
|
s_pos.totalcost = 0;
|
|
|
|
// estimated cost from start to finish
|
|
int cur_manhattan = getXZManhattanDist(destination);
|
|
s_pos.estimated_cost = cur_manhattan;
|
|
|
|
while (!openList.empty()) {
|
|
// Pick node with lowest total cost estimate.
|
|
// The "cheapest" node is always on top.
|
|
current_pos = openList.top();
|
|
openList.pop();
|
|
v3s16 ipos = getIndexPos(current_pos);
|
|
|
|
// check if node is inside searchdistance and valid
|
|
if (!isValidIndex(ipos)) {
|
|
DEBUG_OUT(LVL " Pathfinder: " << PP(current_pos) <<
|
|
" out of search distance, max=" << PP(m_limits.MaxEdge) << std::endl);
|
|
continue;
|
|
}
|
|
|
|
PathGridnode& g_pos = getIndexElement(ipos);
|
|
g_pos.is_closed = true;
|
|
g_pos.is_open = false;
|
|
if (!g_pos.valid) {
|
|
continue;
|
|
}
|
|
|
|
if (current_pos == destination) {
|
|
// destination found, terminate
|
|
g_pos.target = true;
|
|
return true;
|
|
}
|
|
|
|
// for this node, check the 4 cardinal directions
|
|
for (v3s16 direction_flat : directions) {
|
|
int current_totalcost = g_pos.totalcost;
|
|
|
|
// get cost from current node to currently checked direction
|
|
PathCost cost = g_pos.getCost(direction_flat);
|
|
if (!cost.updated) {
|
|
cost = calcCost(current_pos, direction_flat);
|
|
g_pos.setCost(direction_flat, cost);
|
|
}
|
|
// update Y component of direction if neighbor requires jump or fall
|
|
v3s16 direction_3d = v3s16(direction_flat);
|
|
direction_3d.Y = cost.y_change;
|
|
|
|
// get position of true neighbor
|
|
v3s16 neighbor = current_pos + direction_3d;
|
|
v3s16 ineighbor = getIndexPos(neighbor);
|
|
PathGridnode &n_pos = getIndexElement(ineighbor);
|
|
|
|
if (cost.valid && !n_pos.is_closed && !n_pos.is_open) {
|
|
// heuristic function; estimate cost from neighbor to destination
|
|
cur_manhattan = getXZManhattanDist(neighbor);
|
|
|
|
// add neighbor to open list
|
|
n_pos.sourcedir = invert(direction_3d);
|
|
n_pos.totalcost = current_totalcost + cost.value;
|
|
n_pos.estimated_cost = current_totalcost + cost.value + cur_manhattan;
|
|
n_pos.is_open = true;
|
|
openList.push(neighbor);
|
|
}
|
|
}
|
|
}
|
|
// no path found; all possible nodes within searchdistance have been exhausted
|
|
return false;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
bool Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 ipos)
|
|
{
|
|
// The cost calculation should have set a source direction for all relevant nodes.
|
|
// To build the path, we go backwards from the destination until we reach the start.
|
|
for(u32 waypoints = 1; waypoints++; ) {
|
|
if (waypoints > PATHFINDER_MAX_WAYPOINTS) {
|
|
ERROR_TARGET << "Pathfinder: buildPath: path is too long (too many waypoints), aborting" << std::endl;
|
|
return false;
|
|
}
|
|
// Insert node into path
|
|
PathGridnode &g_pos = getIndexElement(ipos);
|
|
if (!g_pos.valid) {
|
|
ERROR_TARGET << "Pathfinder: buildPath: invalid next pos detected, aborting" << std::endl;
|
|
return false;
|
|
}
|
|
|
|
g_pos.is_element = true;
|
|
path.push_back(ipos);
|
|
if (g_pos.source)
|
|
// start node found, terminate
|
|
return true;
|
|
|
|
// go to the node from which the pathfinder came
|
|
ipos += g_pos.sourcedir;
|
|
}
|
|
|
|
ERROR_TARGET << "Pathfinder: buildPath: no source node found" << std::endl;
|
|
return false;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
v3s16 Pathfinder::walkDownwards(v3s16 pos, unsigned int max_down) {
|
|
if (max_down == 0)
|
|
return pos;
|
|
v3s16 testpos = v3s16(pos);
|
|
MapNode node_at_pos = m_map->getNode(testpos);
|
|
unsigned int down = 0;
|
|
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
|
|
(!m_ndef->get(node_at_pos).walkable) &&
|
|
(testpos.Y > m_limits.MinEdge.Y) &&
|
|
(down <= max_down)) {
|
|
testpos += v3s16(0, -1, 0);
|
|
down++;
|
|
node_at_pos = m_map->getNode(testpos);
|
|
}
|
|
//did we find surface?
|
|
if ((testpos.Y >= m_limits.MinEdge.Y) &&
|
|
(node_at_pos.param0 != CONTENT_IGNORE) &&
|
|
(m_ndef->get(node_at_pos).walkable)) {
|
|
if (down == 0) {
|
|
pos = testpos;
|
|
} else if ((down - 1) <= max_down) {
|
|
//difference of y-pos +1 (target node is ABOVE solid node)
|
|
testpos += v3s16(0, 1, 0);
|
|
pos = testpos;
|
|
}
|
|
else {
|
|
VERBOSE_TARGET << "Pos too far above ground: " <<
|
|
"Index: " << PP(getIndexPos(pos)) <<
|
|
"Realpos: " << PP(getRealPos(getIndexPos(pos))) << std::endl;
|
|
}
|
|
} else {
|
|
DEBUG_OUT("Pathfinder: no surface found below pos" << std::endl);
|
|
}
|
|
return pos;
|
|
}
|
|
|
|
#ifdef PATHFINDER_DEBUG
|
|
|
|
/******************************************************************************/
|
|
void Pathfinder::printCost()
|
|
{
|
|
printCost(DIR_XP);
|
|
printCost(DIR_XM);
|
|
printCost(DIR_ZP);
|
|
printCost(DIR_ZM);
|
|
}
|
|
|
|
/******************************************************************************/
|
|
void Pathfinder::printYdir()
|
|
{
|
|
printYdir(DIR_XP);
|
|
printYdir(DIR_XM);
|
|
printYdir(DIR_ZP);
|
|
printYdir(DIR_ZM);
|
|
}
|
|
|
|
/******************************************************************************/
|
|
void Pathfinder::printCost(PathDirections dir)
|
|
{
|
|
std::cout << "Cost in direction: " << dirToName(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 (getIdxElem(x, y, z).directions[dir].valid)
|
|
std::cout << std::setw(4)
|
|
<< getIdxElem(x, y, z).directions[dir].value;
|
|
else
|
|
std::cout << std::setw(4) << "-";
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
}
|
|
|
|
/******************************************************************************/
|
|
void Pathfinder::printYdir(PathDirections dir)
|
|
{
|
|
std::cout << "Height difference in direction: " << dirToName(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 (getIdxElem(x, y, z).directions[dir].valid)
|
|
std::cout << std::setw(4)
|
|
<< getIdxElem(x, y, z).directions[dir].y_change;
|
|
else
|
|
std::cout << std::setw(4) << "-";
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
}
|
|
|
|
/******************************************************************************/
|
|
void Pathfinder::printType()
|
|
{
|
|
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 = getIdxElem(x, y, z).type;
|
|
std::cout << std::setw(3) << toshow;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
void Pathfinder::printPathLen()
|
|
{
|
|
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) << getIdxElem(x, y, z).totalcost;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
std::string Pathfinder::dirToName(PathDirections 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::printPath(const 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 << ":" << PP((*i)) << std::endl;
|
|
current++;
|
|
}
|
|
}
|
|
|
|
#endif
|