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1080 lines
28 KiB
C++
1080 lines
28 KiB
C++
/*
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Minetest
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Copyright (C) 2013 sapier, sapier at gmx dot net
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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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#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 PATHFINDER_CALC_TIME
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/** shortcut to print a 3d pos */
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#define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"
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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
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#define VERBOSE_TARGET verbosestream
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#define ERROR_TARGET errorstream
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#endif
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/******************************************************************************/
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/* implementation */
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/******************************************************************************/
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std::vector<v3s16> get_Path(ServerEnvironment* env,
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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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algorithm algo) {
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pathfinder searchclass;
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return searchclass.get_Path(env,
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source,destination,
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searchdistance,max_jump,max_drop,algo);
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}
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/******************************************************************************/
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path_cost::path_cost()
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: valid(false),
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value(0),
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direction(0),
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updated(false)
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{
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//intentionaly empty
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}
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/******************************************************************************/
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path_cost::path_cost(const path_cost& b) {
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valid = b.valid;
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direction = b.direction;
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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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path_cost& path_cost::operator= (const path_cost& b) {
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valid = b.valid;
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direction = b.direction;
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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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path_gridnode::path_gridnode()
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: valid(false),
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target(false),
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source(false),
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totalcost(-1),
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sourcedir(v3s16(0,0,0)),
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surfaces(0),
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pos(v3s16(0,0,0)),
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is_element(false),
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type('u')
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{
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//intentionaly empty
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}
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/******************************************************************************/
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path_gridnode::path_gridnode(const path_gridnode& 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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surfaces(b.surfaces),
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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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path_gridnode& path_gridnode::operator= (const path_gridnode& 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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is_element = b.is_element;
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totalcost = b.totalcost;
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sourcedir = b.sourcedir;
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surfaces = b.surfaces;
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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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path_cost path_gridnode::get_cost(v3s16 dir) {
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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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path_cost retval;
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return retval;
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}
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/******************************************************************************/
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void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
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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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/******************************************************************************/
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std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
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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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algorithm algo) {
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#ifdef PATHFINDER_CALC_TIME
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timespec ts;
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clock_gettime(CLOCK_REALTIME, &ts);
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#endif
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std::vector<v3s16> retval;
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//check parameters
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if (env == 0) {
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std::cout << "missing environment pointer" << std::endl;
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return retval;
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}
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m_searchdistance = searchdistance;
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m_env = env;
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m_maxjump = max_jump;
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m_maxdrop = max_drop;
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m_start = source;
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m_destination = destination;
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m_min_target_distance = -1;
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m_prefetch = true;
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if (algo == A_PLAIN_NP) {
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m_prefetch = false;
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}
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int min_x = MYMIN(source.X,destination.X);
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int max_x = MYMAX(source.X,destination.X);
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int min_y = MYMIN(source.Y,destination.Y);
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int max_y = MYMAX(source.Y,destination.Y);
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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_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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//build data map
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if (!build_costmap()) {
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std::cout << "failed to build costmap" << std::endl;
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return retval;
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}
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#ifdef PATHFINDER_DEBUG
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print_type();
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print_cost();
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print_ydir();
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#endif
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//validate and mark start and end pos
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v3s16 StartIndex = getIndexPos(source);
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v3s16 EndIndex = getIndexPos(destination);
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path_gridnode& startpos = getIndexElement(StartIndex);
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path_gridnode& endpos = getIndexElement(EndIndex);
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if (!startpos.valid) {
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std::cout << "invalid startpos" <<
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"Index: " << PPOS(StartIndex) <<
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"Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
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return retval;
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}
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if (!endpos.valid) {
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std::cout << "invalid stoppos" <<
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"Index: " << PPOS(EndIndex) <<
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"Realpos: " << PPOS(getRealPos(EndIndex)) << std::endl;
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return retval;
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}
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endpos.target = true;
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startpos.source = true;
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startpos.totalcost = 0;
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bool update_cost_retval = false;
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switch (algo) {
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case DIJKSTRA:
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update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
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break;
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case A_PLAIN_NP:
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case A_PLAIN:
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update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0);
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break;
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default:
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std::cout << "missing algorithm"<< std::endl;
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break;
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}
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if (update_cost_retval) {
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#ifdef PATHFINDER_DEBUG
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std::cout << "Path to target found!" << std::endl;
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print_pathlen();
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#endif
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//find path
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std::vector<v3s16> path;
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build_path(path,EndIndex,0);
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#ifdef PATHFINDER_DEBUG
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std::cout << "Full index path:" << std::endl;
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print_path(path);
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#endif
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//optimize path
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std::vector<v3s16> optimized_path;
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std::vector<v3s16>::iterator startpos = path.begin();
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optimized_path.push_back(source);
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for (std::vector<v3s16>::iterator i = path.begin();
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i != path.end(); i++) {
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if (!m_env->line_of_sight(
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tov3f(getIndexElement(*startpos).pos),
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tov3f(getIndexElement(*i).pos))) {
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optimized_path.push_back(getIndexElement(*(i-1)).pos);
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startpos = (i-1);
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}
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}
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optimized_path.push_back(destination);
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#ifdef PATHFINDER_DEBUG
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std::cout << "Optimized path:" << std::endl;
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print_path(optimized_path);
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#endif
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#ifdef PATHFINDER_CALC_TIME
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timespec ts2;
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clock_gettime(CLOCK_REALTIME, &ts2);
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int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
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int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
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int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
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std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
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"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
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#endif
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return optimized_path;
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}
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else {
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#ifdef PATHFINDER_DEBUG
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print_pathlen();
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#endif
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std::cout << "failed to update cost map"<< std::endl;
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}
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//return
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return retval;
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}
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/******************************************************************************/
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pathfinder::pathfinder() :
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m_max_index_x(0),
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m_max_index_y(0),
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m_max_index_z(0),
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m_searchdistance(0),
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m_maxdrop(0),
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m_maxjump(0),
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m_min_target_distance(0),
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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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//intentionaly empty
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}
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/******************************************************************************/
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v3s16 pathfinder::getRealPos(v3s16 ipos) {
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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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}
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/******************************************************************************/
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bool pathfinder::build_costmap()
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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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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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for (int z = 0; z < m_max_index_z; z++) {
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m_data[x][z].resize(m_max_index_y);
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int surfaces = 0;
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for (int y = 0; y < m_max_index_y; y++) {
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v3s16 ipos(x,y,z);
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v3s16 realpos = getRealPos(ipos);
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MapNode current = m_env->getMap().getNodeNoEx(realpos);
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MapNode below = m_env->getMap().getNodeNoEx(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: " << PPOS(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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m_data[x][z][y].type = 'i';
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DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
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}
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continue;
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}
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//don't add anything if it isn't an air node
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if ((current.param0 != CONTENT_AIR) ||
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(below.param0 == CONTENT_AIR )) {
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DEBUG_OUT("Pathfinder: " << PPOS(realpos)
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<< " not on surface" << std::endl);
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if (current.param0 != CONTENT_AIR) {
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m_data[x][z][y].type = 's';
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DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
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}
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else {
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m_data[x][z][y].type = '-';
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DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
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}
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continue;
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}
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surfaces++;
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m_data[x][z][y].valid = true;
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m_data[x][z][y].pos = realpos;
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m_data[x][z][y].type = 'g';
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DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);
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if (m_prefetch) {
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m_data[x][z][y].directions[DIR_XP] =
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calc_cost(realpos,v3s16( 1,0, 0));
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m_data[x][z][y].directions[DIR_XM] =
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calc_cost(realpos,v3s16(-1,0, 0));
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m_data[x][z][y].directions[DIR_ZP] =
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calc_cost(realpos,v3s16( 0,0, 1));
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m_data[x][z][y].directions[DIR_ZM] =
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calc_cost(realpos,v3s16( 0,0,-1));
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}
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}
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if (surfaces >= 1 ) {
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for (int y = 0; y < m_max_index_y; y++) {
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if (m_data[x][z][y].valid) {
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m_data[x][z][y].surfaces = surfaces;
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}
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}
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}
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}
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}
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return true;
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}
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/******************************************************************************/
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path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
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path_cost retval;
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retval.updated = true;
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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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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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}
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MapNode node_at_pos2 = m_env->getMap().getNodeNoEx(pos2);
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//did we get information about node?
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if (node_at_pos2.param0 == CONTENT_IGNORE ) {
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VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
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<< PPOS(pos2) << " not loaded";
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return retval;
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}
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if (node_at_pos2.param0 == CONTENT_AIR) {
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MapNode node_below_pos2 =
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m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));
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//did we get information about node?
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if (node_below_pos2.param0 == CONTENT_IGNORE ) {
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VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
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<< PPOS((pos2 + v3s16(0,-1,0))) << " not loaded";
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return retval;
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}
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if (node_below_pos2.param0 != CONTENT_AIR) {
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retval.valid = true;
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retval.value = 1;
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retval.direction = 0;
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DEBUG_OUT("Pathfinder: "<< PPOS(pos)
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<< " cost same height found" << std::endl);
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}
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else {
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v3s16 testpos = pos2 - v3s16(0,-1,0);
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MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
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while ((node_at_pos.param0 != CONTENT_IGNORE) &&
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(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);
|
|
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)) {
|
|
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 > 1000) {
|
|
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
|