src/pathfinder.cpp

   1 /*
   2 Minetest
   3 Copyright (C) 2013 sapier, sapier at gmx dot net
   4 Copyright (C) 2016 est31, <MTest31@outlook.com>
   5
   6 This program is free software; you can redistribute it and/or modify
   7 it under the terms of the GNU Lesser General Public License as published by
   8 the Free Software Foundation; either version 2.1 of the License, or
   9 (at your option) any later version.
  10
  11 This program is distributed in the hope that it will be useful,
  12 but WITHOUT ANY WARRANTY; without even the implied warranty of
  13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14 GNU Lesser General Public License for more details.
  15
  16 You should have received a copy of the GNU Lesser General Public License along
  17 with this program; if not, write to the Free Software Foundation, Inc.,
  18 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  19 */
  20
  21 /******************************************************************************/
  22 /* Includes                                                                   */
  23 /******************************************************************************/
  24
  25 #include "pathfinder.h"
  26 #include "serverenvironment.h"
  27 #include "server.h"
  28 #include "nodedef.h"
  29
  30 //#define PATHFINDER_DEBUG
  31 //#define PATHFINDER_CALC_TIME
  32
  33 #ifdef PATHFINDER_DEBUG
  34         #include <string>
  35 #endif
  36 #ifdef PATHFINDER_DEBUG
  37         #include <iomanip>
  38 #endif
  39 #ifdef PATHFINDER_CALC_TIME
  40         #include <sys/time.h>
  41 #endif
  42
  43 /******************************************************************************/
  44 /* Typedefs and macros                                                        */
  45 /******************************************************************************/
  46
  47 #define LVL "(" << level << ")" <<
  48
  49 #ifdef PATHFINDER_DEBUG
  50 #define DEBUG_OUT(a)     std::cout << a
  51 #define INFO_TARGET      std::cout
  52 #define VERBOSE_TARGET   std::cout
  53 #define ERROR_TARGET     std::cout
  54 #else
  55 #define DEBUG_OUT(a)     while(0)
  56 #define INFO_TARGET      infostream << "Pathfinder: "
  57 #define VERBOSE_TARGET   verbosestream << "Pathfinder: "
  58 #define ERROR_TARGET     warningstream << "Pathfinder: "
  59 #endif
  60
  61 #define PATHFINDER_MAX_WAYPOINTS 700
  62
  63 /******************************************************************************/
  64 /* Class definitions                                                          */
  65 /******************************************************************************/
  66
  67
  68 /** representation of cost in specific direction */
  69 class PathCost {
  70 public:
  71
  72         /** default constructor */
  73         PathCost() = default;
  74
  75         /** copy constructor */
  76         PathCost(const PathCost &b);
  77
  78         /** assignment operator */
  79         PathCost &operator= (const PathCost &b);
  80
  81         bool valid = false;              /**< movement is possible         */
  82         int  value = 0;                  /**< cost of movement             */
  83         int  y_change = 0;               /**< change of y position of movement */
  84         bool updated = false;            /**< this cost has ben calculated */
  85
  86 };
  87
  88
  89 /** representation of a mapnode to be used for pathfinding */
  90 class PathGridnode {
  91
  92 public:
  93         /** default constructor */
  94         PathGridnode() = default;
  95
  96         /** copy constructor */
  97         PathGridnode(const PathGridnode &b);
  98
  99         /**
 100          * assignment operator
 101          * @param b node to copy
 102          */
 103         PathGridnode &operator= (const PathGridnode &b);
 104
 105         /**
 106          * read cost in a specific direction
 107          * @param dir direction of cost to fetch
 108          */
 109         PathCost getCost(v3s16 dir);
 110
 111         /**
 112          * set cost value for movement
 113          * @param dir direction to set cost for
 114          * @cost cost to set
 115          */
 116         void      setCost(v3s16 dir, const PathCost &cost);
 117
 118         bool      valid = false;               /**< node is on surface                    */
 119         bool      target = false;              /**< node is target position               */
 120         bool      source = false;              /**< node is stating position              */
 121         int       totalcost = -1;              /**< cost to move here from starting point */
 122         int       estimated_cost = -1;         /**< totalcost + heuristic cost to end     */
 123         v3s16     sourcedir;                   /**< origin of movement for current cost   */
 124         v3s16     pos;                         /**< real position of node                 */
 125         PathCost directions[4];                /**< cost in different directions          */
 126         bool      is_closed = false;           /**< for A* search: if true, is in closed list */
 127         bool      is_open = false;             /**< for A* search: if true, is in open list */
 128
 129         /* debug values */
 130         bool      is_element = false;          /**< node is element of path detected      */
 131         char      type = 'u';                  /**< Type of pathfinding node.
 132                                                 * u = unknown
 133                                                 * i = invalid
 134                                                 * s = surface (walkable node)
 135                                                 * - = non-walkable node (e.g. air) above surface
 136                                                 * g = other non-walkable node
 137                                                 */
 138 };
 139
 140 class Pathfinder;
 141 class PathfinderCompareHeuristic;
 142
 143 /** Abstract class to manage the map data */
 144 class GridNodeContainer {
 145 public:
 146         virtual PathGridnode &access(v3s16 p)=0;
 147         virtual ~GridNodeContainer() = default;
 148
 149 protected:
 150         Pathfinder *m_pathf;
 151
 152         void initNode(v3s16 ipos, PathGridnode *p_node);
 153 };
 154
 155 class ArrayGridNodeContainer : public GridNodeContainer {
 156 public:
 157         virtual ~ArrayGridNodeContainer() = default;
 158
 159         ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
 160         virtual PathGridnode &access(v3s16 p);
 161 private:
 162         v3s16 m_dimensions;
 163
 164         int m_x_stride;
 165         int m_y_stride;
 166         std::vector<PathGridnode> m_nodes_array;
 167 };
 168
 169 class MapGridNodeContainer : public GridNodeContainer {
 170 public:
 171         virtual ~MapGridNodeContainer() = default;
 172
 173         MapGridNodeContainer(Pathfinder *pathf);
 174         virtual PathGridnode &access(v3s16 p);
 175 private:
 176         std::map<v3s16, PathGridnode> m_nodes;
 177 };
 178
 179 /** class doing pathfinding */
 180 class Pathfinder {
 181
 182 public:
 183         /**
 184          * default constructor
 185          */
 186         Pathfinder() = default;
 187
 188         ~Pathfinder();
 189
 190         /**
 191          * path evaluation function
 192          * @param env environment to look for path
 193          * @param source origin of path
 194          * @param destination end position of path
 195          * @param searchdistance maximum number of nodes to look in each direction
 196          * @param max_jump maximum number of blocks a path may jump up
 197          * @param max_drop maximum number of blocks a path may drop
 198          * @param algo Algorithm to use for finding a path
 199          */
 200         std::vector<v3s16> getPath(ServerEnvironment *env,
 201                         v3s16 source,
 202                         v3s16 destination,
 203                         unsigned int searchdistance,
 204                         unsigned int max_jump,
 205                         unsigned int max_drop,
 206                         PathAlgorithm algo);
 207
 208 private:
 209         /* helper functions */
 210
 211         /**
 212          * transform index pos to mappos
 213          * @param ipos a index position
 214          * @return map position
 215          */
 216         v3s16          getRealPos(v3s16 ipos);
 217
 218         /**
 219          * transform mappos to index pos
 220          * @param pos a real pos
 221          * @return index position
 222          */
 223         v3s16          getIndexPos(v3s16 pos);
 224
 225         /**
 226          * get gridnode at a specific index position
 227          * @param ipos index position
 228          * @return gridnode for index
 229          */
 230         PathGridnode &getIndexElement(v3s16 ipos);
 231
 232         /**
 233          * Get gridnode at a specific index position
 234          * @return gridnode for index
 235          */
 236         PathGridnode &getIdxElem(s16 x, s16 y, s16 z);
 237
 238         /**
 239          * invert a 3D position (change sign of coordinates)
 240          * @param pos 3D position
 241          * @return pos *-1
 242          */
 243         v3s16          invert(v3s16 pos);
 244
 245         /**
 246          * check if a index is within current search area
 247          * @param index position to validate
 248          * @return true/false
 249          */
 250         bool           isValidIndex(v3s16 index);
 251
 252
 253         /* algorithm functions */
 254
 255         /**
 256          * calculate 2D Manhattan distance to target
 257          * @param pos position to calc distance
 258          * @return integer distance
 259          */
 260         int           getXZManhattanDist(v3s16 pos);
 261
 262         /**
 263          * calculate cost of movement
 264          * @param pos real world position to start movement
 265          * @param dir direction to move to
 266          * @return cost information
 267          */
 268         PathCost     calcCost(v3s16 pos, v3s16 dir);
 269
 270         /**
 271          * recursive update whole search areas total cost information
 272          * @param ipos position to check next
 273          * @param srcdir positionc checked last time
 274          * @param total_cost cost of moving to ipos
 275          * @param level current recursion depth
 276          * @return true/false path to destination has been found
 277          */
 278         bool          updateAllCosts(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
 279
 280         /**
 281          * try to find a path to destination using a heuristic function
 282          * to estimate distance to target (A* search algorithm)
 283          * @param isource start position (index pos)
 284          * @param idestination end position (index pos)
 285          * @return true/false path to destination has been found
 286          */
 287         bool          updateCostHeuristic(v3s16 isource, v3s16 idestination);
 288
 289         /**
 290          * build a vector containing all nodes from destination to source;
 291          * to be called after the node costs have been processed
 292          * @param path vector to add nodes to
 293          * @param ipos initial pos to check (index pos)
 294          * @return true/false path has been fully built
 295          */
 296         bool          buildPath(std::vector<v3s16> &path, v3s16 ipos);
 297
 298         /**
 299          * go downwards from a position until some barrier
 300          * is hit.
 301          * @param pos position from which to go downwards
 302          * @param max_down maximum distance to go downwards
 303          * @return new position after movement; if too far down,
 304          * pos is returned
 305          */
 306         v3s16         walkDownwards(v3s16 pos, unsigned int max_down);
 307
 308         /* variables */
 309         int m_max_index_x = 0;            /**< max index of search area in x direction  */
 310         int m_max_index_y = 0;            /**< max index of search area in y direction  */
 311         int m_max_index_z = 0;            /**< max index of search area in z direction  */
 312
 313
 314         int m_searchdistance = 0;         /**< max distance to search in each direction */
 315         int m_maxdrop = 0;                /**< maximum number of blocks a path may drop */
 316         int m_maxjump = 0;                /**< maximum number of blocks a path may jump */
 317         int m_min_target_distance = 0;    /**< current smalest path to target           */
 318
 319         bool m_prefetch = true;              /**< prefetch cost data                       */
 320
 321         v3s16 m_start;                /**< source position                          */
 322         v3s16 m_destination;          /**< destination position                     */
 323
 324         core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates  */
 325
 326         /** contains all map data already collected and analyzed.
 327                 Access it via the getIndexElement/getIdxElem methods. */
 328         friend class GridNodeContainer;
 329         GridNodeContainer *m_nodes_container = nullptr;
 330
 331         ServerEnvironment *m_env = 0;     /**< minetest environment pointer             */
 332
 333         friend class PathfinderCompareHeuristic;
 334
 335 #ifdef PATHFINDER_DEBUG
 336
 337         /**
 338          * print collected cost information
 339          */
 340         void printCost();
 341
 342         /**
 343          * print collected cost information in a specific direction
 344          * @param dir direction to print
 345          */
 346         void printCost(PathDirections dir);
 347
 348         /**
 349          * print type of node as evaluated
 350          */
 351         void printType();
 352
 353         /**
 354          * print pathlenght for all nodes in search area
 355          */
 356         void printPathLen();
 357
 358         /**
 359          * print a path
 360          * @param path path to show
 361          */
 362         void printPath(std::vector<v3s16> path);
 363
 364         /**
 365          * print y direction for all movements
 366          */
 367         void printYdir();
 368
 369         /**
 370          * print y direction for moving in a specific direction
 371          * @param dir direction to show data
 372          */
 373         void printYdir(PathDirections dir);
 374
 375         /**
 376          * helper function to translate a direction to speaking text
 377          * @param dir direction to translate
 378          * @return textual name of direction
 379          */
 380         std::string dirToName(PathDirections dir);
 381 #endif
 382 };
 383
 384 /** Helper class for the open list priority queue in the A* pathfinder
 385  *  to sort the pathfinder nodes by cost.
 386  */
 387 class PathfinderCompareHeuristic
 388 {
 389         private:
 390                 Pathfinder *myPathfinder;
 391         public:
 392                 PathfinderCompareHeuristic(Pathfinder *pf)
 393                 {
 394                         myPathfinder = pf;
 395                 }
 396                 bool operator() (v3s16 pos1, v3s16 pos2) {
 397                         v3s16 ipos1 = myPathfinder->getIndexPos(pos1);
 398                         v3s16 ipos2 = myPathfinder->getIndexPos(pos2);
 399                         PathGridnode &g_pos1 = myPathfinder->getIndexElement(ipos1);
 400                         PathGridnode &g_pos2 = myPathfinder->getIndexElement(ipos2);
 401                         if (!g_pos1.valid)
 402                                 return false;
 403                         if (!g_pos2.valid)
 404                                 return false;
 405                         return g_pos1.estimated_cost > g_pos2.estimated_cost;
 406                 }
 407 };
 408
 409 /******************************************************************************/
 410 /* implementation                                                             */
 411 /******************************************************************************/
 412
 413 std::vector<v3s16> get_path(ServerEnvironment* env,
 414                                                         v3s16 source,
 415                                                         v3s16 destination,
 416                                                         unsigned int searchdistance,
 417                                                         unsigned int max_jump,
 418                                                         unsigned int max_drop,
 419                                                         PathAlgorithm algo)
 420 {
 421         Pathfinder searchclass;
 422
 423         return searchclass.getPath(env,
 424                                 source, destination,
 425                                 searchdistance, max_jump, max_drop, algo);
 426 }
 427
 428 /******************************************************************************/
 429 PathCost::PathCost(const PathCost &b)
 430 {
 431         valid     = b.valid;
 432         y_change  = b.y_change;
 433         value     = b.value;
 434         updated   = b.updated;
 435 }
 436
 437 /******************************************************************************/
 438 PathCost &PathCost::operator= (const PathCost &b)
 439 {
 440         valid     = b.valid;
 441         y_change  = b.y_change;
 442         value     = b.value;
 443         updated   = b.updated;
 444
 445         return *this;
 446 }
 447
 448 /******************************************************************************/
 449 PathGridnode::PathGridnode(const PathGridnode &b)
 450 :       valid(b.valid),
 451         target(b.target),
 452         source(b.source),
 453         totalcost(b.totalcost),
 454         sourcedir(b.sourcedir),
 455         pos(b.pos),
 456         is_element(b.is_element),
 457         type(b.type)
 458 {
 459
 460         directions[DIR_XP] = b.directions[DIR_XP];
 461         directions[DIR_XM] = b.directions[DIR_XM];
 462         directions[DIR_ZP] = b.directions[DIR_ZP];
 463         directions[DIR_ZM] = b.directions[DIR_ZM];
 464 }
 465
 466 /******************************************************************************/
 467 PathGridnode &PathGridnode::operator= (const PathGridnode &b)
 468 {
 469         valid      = b.valid;
 470         target     = b.target;
 471         source     = b.source;
 472         is_element = b.is_element;
 473         totalcost  = b.totalcost;
 474         sourcedir  = b.sourcedir;
 475         pos        = b.pos;
 476         type       = b.type;
 477
 478         directions[DIR_XP] = b.directions[DIR_XP];
 479         directions[DIR_XM] = b.directions[DIR_XM];
 480         directions[DIR_ZP] = b.directions[DIR_ZP];
 481         directions[DIR_ZM] = b.directions[DIR_ZM];
 482
 483         return *this;
 484 }
 485
 486 /******************************************************************************/
 487 PathCost PathGridnode::getCost(v3s16 dir)
 488 {
 489         if (dir.X > 0) {
 490                 return directions[DIR_XP];
 491         }
 492         if (dir.X < 0) {
 493                 return directions[DIR_XM];
 494         }
 495         if (dir.Z > 0) {
 496                 return directions[DIR_ZP];
 497         }
 498         if (dir.Z < 0) {
 499                 return directions[DIR_ZM];
 500         }
 501         PathCost retval;
 502         return retval;
 503 }
 504
 505 /******************************************************************************/
 506 void PathGridnode::setCost(v3s16 dir, const PathCost &cost)
 507 {
 508         if (dir.X > 0) {
 509                 directions[DIR_XP] = cost;
 510         }
 511         if (dir.X < 0) {
 512                 directions[DIR_XM] = cost;
 513         }
 514         if (dir.Z > 0) {
 515                 directions[DIR_ZP] = cost;
 516         }
 517         if (dir.Z < 0) {
 518                 directions[DIR_ZM] = cost;
 519         }
 520 }
 521
 522 void GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
 523 {
 524         const NodeDefManager *ndef = m_pathf->m_env->getGameDef()->ndef();
 525         PathGridnode &elem = *p_node;
 526
 527         v3s16 realpos = m_pathf->getRealPos(ipos);
 528
 529         MapNode current = m_pathf->m_env->getMap().getNode(realpos);
 530         MapNode below   = m_pathf->m_env->getMap().getNode(realpos + v3s16(0, -1, 0));
 531
 532
 533         if ((current.param0 == CONTENT_IGNORE) ||
 534                         (below.param0 == CONTENT_IGNORE)) {
 535                 DEBUG_OUT("Pathfinder: " << PP(realpos) <<
 536                         " current or below is invalid element" << std::endl);
 537                 if (current.param0 == CONTENT_IGNORE) {
 538                         elem.type = 'i';
 539                         DEBUG_OUT(PP(ipos) << ": " << 'i' << std::endl);
 540                 }
 541                 return;
 542         }
 543
 544         //don't add anything if it isn't an air node
 545         if (ndef->get(current).walkable || !ndef->get(below).walkable) {
 546                         DEBUG_OUT("Pathfinder: " << PP(realpos)
 547                                 << " not on surface" << std::endl);
 548                         if (ndef->get(current).walkable) {
 549                                 elem.type = 's';
 550                                 DEBUG_OUT(PP(ipos) << ": " << 's' << std::endl);
 551                         } else {
 552                                 elem.type = '-';
 553                                 DEBUG_OUT(PP(ipos) << ": " << '-' << std::endl);
 554                         }
 555                         return;
 556         }
 557
 558         elem.valid = true;
 559         elem.pos   = realpos;
 560         elem.type  = 'g';
 561         DEBUG_OUT(PP(ipos) << ": " << 'a' << std::endl);
 562
 563         if (m_pathf->m_prefetch) {
 564                 elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
 565                 elem.directions[DIR_XM] = m_pathf->calcCost(realpos, v3s16(-1, 0, 0));
 566                 elem.directions[DIR_ZP] = m_pathf->calcCost(realpos, v3s16( 0, 0, 1));
 567                 elem.directions[DIR_ZM] = m_pathf->calcCost(realpos, v3s16( 0, 0,-1));
 568         }
 569 }
 570
 571 ArrayGridNodeContainer::ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions) :
 572         m_x_stride(dimensions.Y * dimensions.Z),
 573         m_y_stride(dimensions.Z)
 574 {
 575         m_pathf = pathf;
 576
 577         m_nodes_array.resize(dimensions.X * dimensions.Y * dimensions.Z);
 578         INFO_TARGET << "Pathfinder ArrayGridNodeContainer constructor." << std::endl;
 579         for (int x = 0; x < dimensions.X; x++) {
 580                 for (int y = 0; y < dimensions.Y; y++) {
 581                         for (int z= 0; z < dimensions.Z; z++) {
 582                                 v3s16 ipos(x, y, z);
 583                                 initNode(ipos, &access(ipos));
 584                         }
 585                 }
 586         }
 587 }
 588
 589 PathGridnode &ArrayGridNodeContainer::access(v3s16 p)
 590 {
 591         return m_nodes_array[p.X * m_x_stride + p.Y * m_y_stride + p.Z];
 592 }
 593
 594 MapGridNodeContainer::MapGridNodeContainer(Pathfinder *pathf)
 595 {
 596         m_pathf = pathf;
 597 }
 598
 599 PathGridnode &MapGridNodeContainer::access(v3s16 p)
 600 {
 601         std::map<v3s16, PathGridnode>::iterator it = m_nodes.find(p);
 602         if (it != m_nodes.end()) {
 603                 return it->second;
 604         }
 605         PathGridnode &n = m_nodes[p];
 606         initNode(p, &n);
 607         return n;
 608 }
 609
 610
 611
 612 /******************************************************************************/
 613 std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
 614                                                         v3s16 source,
 615                                                         v3s16 destination,
 616                                                         unsigned int searchdistance,
 617                                                         unsigned int max_jump,
 618                                                         unsigned int max_drop,
 619                                                         PathAlgorithm algo)
 620 {
 621 #ifdef PATHFINDER_CALC_TIME
 622         timespec ts;
 623         clock_gettime(CLOCK_REALTIME, &ts);
 624 #endif
 625         std::vector<v3s16> retval;
 626
 627         //check parameters
 628         if (env == 0) {
 629                 ERROR_TARGET << "Missing environment pointer" << std::endl;
 630                 return retval;
 631         }
 632
 633         //initialization
 634         m_searchdistance = searchdistance;
 635         m_env = env;
 636         m_maxjump = max_jump;
 637         m_maxdrop = max_drop;
 638         m_start       = source;
 639         m_destination = destination;
 640         m_min_target_distance = -1;
 641         m_prefetch = true;
 642
 643         if (algo == PA_PLAIN_NP) {
 644                 m_prefetch = false;
 645         }
 646
 647         //calculate boundaries within we're allowed to search
 648         int min_x = MYMIN(source.X, destination.X);
 649         int max_x = MYMAX(source.X, destination.X);
 650
 651         int min_y = MYMIN(source.Y, destination.Y);
 652         int max_y = MYMAX(source.Y, destination.Y);
 653
 654         int min_z = MYMIN(source.Z, destination.Z);
 655         int max_z = MYMAX(source.Z, destination.Z);
 656
 657         m_limits.MinEdge.X = min_x - searchdistance;
 658         m_limits.MinEdge.Y = min_y - searchdistance;
 659         m_limits.MinEdge.Z = min_z - searchdistance;
 660
 661         m_limits.MaxEdge.X = max_x + searchdistance;
 662         m_limits.MaxEdge.Y = max_y + searchdistance;
 663         m_limits.MaxEdge.Z = max_z + searchdistance;
 664
 665         v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
 666
 667         m_max_index_x = diff.X;
 668         m_max_index_y = diff.Y;
 669         m_max_index_z = diff.Z;
 670
 671         delete m_nodes_container;
 672         if (diff.getLength() > 5) {
 673                 m_nodes_container = new MapGridNodeContainer(this);
 674         } else {
 675                 m_nodes_container = new ArrayGridNodeContainer(this, diff);
 676         }
 677 #ifdef PATHFINDER_DEBUG
 678         printType();
 679         printCost();
 680         printYdir();
 681 #endif
 682
 683         //fail if source or destination is walkable
 684         const NodeDefManager *ndef = m_env->getGameDef()->ndef();
 685         MapNode node_at_pos = m_env->getMap().getNode(destination);
 686         if (ndef->get(node_at_pos).walkable) {
 687                 VERBOSE_TARGET << "Destination is walkable. " <<
 688                                 "Pos: " << PP(destination) << std::endl;
 689                 return retval;
 690         }
 691         node_at_pos = m_env->getMap().getNode(source);
 692         if (ndef->get(node_at_pos).walkable) {
 693                 VERBOSE_TARGET << "Source is walkable. " <<
 694                                 "Pos: " << PP(source) << std::endl;
 695                 return retval;
 696         }
 697
 698         //If source pos is hovering above air, drop
 699         //to the first walkable node (up to m_maxdrop).
 700         //All algorithms expect the source pos to be *directly* above
 701         //a walkable node.
 702         v3s16 true_source = v3s16(source);
 703         source = walkDownwards(source, m_maxdrop);
 704
 705         //If destination pos is hovering above air, go downwards
 706         //to the first walkable node (up to m_maxjump).
 707         //This means a hovering destination pos could be reached
 708         //by a final upwards jump.
 709         v3s16 true_destination = v3s16(destination);
 710         destination = walkDownwards(destination, m_maxjump);
 711
 712         //validate and mark start and end pos
 713
 714         v3s16 StartIndex  = getIndexPos(source);
 715         v3s16 EndIndex    = getIndexPos(destination);
 716
 717         PathGridnode &startpos = getIndexElement(StartIndex);
 718         PathGridnode &endpos   = getIndexElement(EndIndex);
 719
 720         if (!startpos.valid) {
 721                 VERBOSE_TARGET << "Invalid startpos " <<
 722                                 "Index: " << PP(StartIndex) <<
 723                                 "Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
 724                 return retval;
 725         }
 726         if (!endpos.valid) {
 727                 VERBOSE_TARGET << "Invalid stoppos " <<
 728                                 "Index: " << PP(EndIndex) <<
 729                                 "Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
 730                 return retval;
 731         }
 732
 733         endpos.target      = true;
 734         startpos.source    = true;
 735         startpos.totalcost = 0;
 736
 737         bool update_cost_retval = false;
 738
 739         //calculate node costs
 740         switch (algo) {
 741                 case PA_DIJKSTRA:
 742                         update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
 743                         break;
 744                 case PA_PLAIN_NP:
 745                 case PA_PLAIN:
 746                         update_cost_retval = updateCostHeuristic(StartIndex, EndIndex);
 747                         break;
 748                 default:
 749                         ERROR_TARGET << "Missing PathAlgorithm" << std::endl;
 750                         break;
 751         }
 752
 753         if (update_cost_retval) {
 754
 755 #ifdef PATHFINDER_DEBUG
 756                 std::cout << "Path to target found!" << std::endl;
 757                 printPathLen();
 758 #endif
 759
 760                 //find path
 761                 std::vector<v3s16> index_path;
 762                 buildPath(index_path, EndIndex);
 763                 //Now we have a path of index positions,
 764                 //and it's in reverse.
 765                 //The "true" start or end position might be missing
 766                 //since those have been given special treatment.
 767
 768 #ifdef PATHFINDER_DEBUG
 769                 std::cout << "Index path:" << std::endl;
 770                 printPath(index_path);
 771 #endif
 772                 //from here we'll make the final changes to the path
 773                 std::vector<v3s16> full_path;
 774
 775                 //calculate required size
 776                 int full_path_size = index_path.size();
 777                 if (source != true_source) {
 778                         full_path_size++;
 779                 }
 780                 if (destination != true_destination) {
 781                         full_path_size++;
 782                 }
 783                 full_path.reserve(full_path_size);
 784
 785                 //manually add true_source to start of path, if needed
 786                 if (source != true_source) {
 787                         full_path.push_back(true_source);
 788                 }
 789                 //convert all index positions to "normal" positions and insert
 790                 //them into full_path in reverse
 791                 std::vector<v3s16>::reverse_iterator rit = index_path.rbegin();
 792                 for (; rit != index_path.rend(); ++rit) {
 793                         full_path.push_back(getIndexElement(*rit).pos);
 794                 }
 795                 //manually add true_destination to end of path, if needed
 796                 if (destination != true_destination) {
 797                         full_path.push_back(true_destination);
 798                 }
 799
 800                 //Done! We now have a complete path of normal positions.
 801
 802
 803 #ifdef PATHFINDER_DEBUG
 804                 std::cout << "Full path:" << std::endl;
 805                 printPath(full_path);
 806 #endif
 807 #ifdef PATHFINDER_CALC_TIME
 808                 timespec ts2;
 809                 clock_gettime(CLOCK_REALTIME, &ts2);
 810
 811                 int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
 812                 int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
 813                 int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
 814
 815
 816                 std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
 817                                 "s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
 818 #endif
 819                 return full_path;
 820         }
 821         else {
 822 #ifdef PATHFINDER_DEBUG
 823                 printPathLen();
 824 #endif
 825                 INFO_TARGET << "No path found" << std::endl;
 826         }
 827
 828
 829         //return
 830         return retval;
 831 }
 832
 833 Pathfinder::~Pathfinder()
 834 {
 835         delete m_nodes_container;
 836 }
 837 /******************************************************************************/
 838 v3s16 Pathfinder::getRealPos(v3s16 ipos)
 839 {
 840         return m_limits.MinEdge + ipos;
 841 }
 842
 843 /******************************************************************************/
 844 PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
 845 {
 846         const NodeDefManager *ndef = m_env->getGameDef()->ndef();
 847         PathCost retval;
 848
 849         retval.updated = true;
 850
 851         v3s16 pos2 = pos + dir;
 852
 853         //check limits
 854         if (!m_limits.isPointInside(pos2)) {
 855                 DEBUG_OUT("Pathfinder: " << PP(pos2) <<
 856                                 " no cost -> out of limits" << std::endl);
 857                 return retval;
 858         }
 859
 860         MapNode node_at_pos2 = m_env->getMap().getNode(pos2);
 861
 862         //did we get information about node?
 863         if (node_at_pos2.param0 == CONTENT_IGNORE ) {
 864                         VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
 865                                         << PP(pos2) << " not loaded";
 866                         return retval;
 867         }
 868
 869         if (!ndef->get(node_at_pos2).walkable) {
 870                 MapNode node_below_pos2 =
 871                         m_env->getMap().getNode(pos2 + v3s16(0, -1, 0));
 872
 873                 //did we get information about node?
 874                 if (node_below_pos2.param0 == CONTENT_IGNORE ) {
 875                                 VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
 876                                         << PP((pos2 + v3s16(0, -1, 0))) << " not loaded";
 877                                 return retval;
 878                 }
 879
 880                 //test if the same-height neighbor is suitable
 881                 if (ndef->get(node_below_pos2).walkable) {
 882                         //SUCCESS!
 883                         retval.valid = true;
 884                         retval.value = 1;
 885                         retval.y_change = 0;
 886                         DEBUG_OUT("Pathfinder: "<< PP(pos)
 887                                         << " cost same height found" << std::endl);
 888                 }
 889                 else {
 890                         //test if we can fall a couple of nodes (m_maxdrop)
 891                         v3s16 testpos = pos2 + v3s16(0, -1, 0);
 892                         MapNode node_at_pos = m_env->getMap().getNode(testpos);
 893
 894                         while ((node_at_pos.param0 != CONTENT_IGNORE) &&
 895                                         (!ndef->get(node_at_pos).walkable) &&
 896                                         (testpos.Y > m_limits.MinEdge.Y)) {
 897                                 testpos += v3s16(0, -1, 0);
 898                                 node_at_pos = m_env->getMap().getNode(testpos);
 899                         }
 900
 901                         //did we find surface?
 902                         if ((testpos.Y >= m_limits.MinEdge.Y) &&
 903                                         (node_at_pos.param0 != CONTENT_IGNORE) &&
 904                                         (ndef->get(node_at_pos).walkable)) {
 905                                 if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
 906                                         //SUCCESS!
 907                                         retval.valid = true;
 908                                         retval.value = 2;
 909                                         //difference of y-pos +1 (target node is ABOVE solid node)
 910                                         retval.y_change = ((testpos.Y - pos2.Y) +1);
 911                                         DEBUG_OUT("Pathfinder cost below height found" << std::endl);
 912                                 }
 913                                 else {
 914                                         INFO_TARGET << "Pathfinder:"
 915                                                         " distance to surface below too big: "
 916                                                         << (testpos.Y - pos2.Y) << " max: " << m_maxdrop
 917                                                         << std::endl;
 918                                 }
 919                         }
 920                         else {
 921                                 DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
 922                         }
 923                 }
 924         }
 925         else {
 926                 //test if we can jump upwards (m_maxjump)
 927
 928                 v3s16 targetpos = pos2; // position for jump target
 929                 v3s16 jumppos = pos; // position for checking if jumping space is free
 930                 MapNode node_target = m_env->getMap().getNode(targetpos);
 931                 MapNode node_jump = m_env->getMap().getNode(jumppos);
 932                 bool headbanger = false; // true if anything blocks jumppath
 933
 934                 while ((node_target.param0 != CONTENT_IGNORE) &&
 935                                 (ndef->get(node_target).walkable) &&
 936                                 (targetpos.Y < m_limits.MaxEdge.Y)) {
 937                         //if the jump would hit any solid node, discard
 938                         if ((node_jump.param0 == CONTENT_IGNORE) ||
 939                                         (ndef->get(node_jump).walkable)) {
 940                                         headbanger = true;
 941                                 break;
 942                         }
 943                         targetpos += v3s16(0, 1, 0);
 944                         jumppos   += v3s16(0, 1, 0);
 945                         node_target = m_env->getMap().getNode(targetpos);
 946                         node_jump   = m_env->getMap().getNode(jumppos);
 947
 948                 }
 949                 //check headbanger one last time
 950                 if ((node_jump.param0 == CONTENT_IGNORE) ||
 951                         (ndef->get(node_jump).walkable)) {
 952                         headbanger = true;
 953                 }
 954
 955                 //did we find surface without banging our head?
 956                 if ((!headbanger) && (targetpos.Y <= m_limits.MaxEdge.Y) &&
 957                                 (!ndef->get(node_target).walkable)) {
 958
 959                         if (targetpos.Y - pos2.Y <= m_maxjump) {
 960                                 //SUCCESS!
 961                                 retval.valid = true;
 962                                 retval.value = 2;
 963                                 retval.y_change = (targetpos.Y - pos2.Y);
 964                                 DEBUG_OUT("Pathfinder cost above found" << std::endl);
 965                         }
 966                         else {
 967                                 DEBUG_OUT("Pathfinder: distance to surface above too big: "
 968                                                 << (targetpos.Y - pos2.Y) << " max: " << m_maxjump
 969                                                 << std::endl);
 970                         }
 971                 }
 972                 else {
 973                         DEBUG_OUT("Pathfinder: no surface above found" << std::endl);
 974                 }
 975         }
 976         return retval;
 977 }
 978
 979 /******************************************************************************/
 980 v3s16 Pathfinder::getIndexPos(v3s16 pos)
 981 {
 982         return pos - m_limits.MinEdge;
 983 }
 984
 985 /******************************************************************************/
 986 PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
 987 {
 988         return m_nodes_container->access(ipos);
 989 }
 990
 991 /******************************************************************************/
 992 inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z)
 993 {
 994         return m_nodes_container->access(v3s16(x,y,z));
 995 }
 996
 997 /******************************************************************************/
 998 bool Pathfinder::isValidIndex(v3s16 index)
 999 {
1000         if (    (index.X < m_max_index_x) &&
1001                         (index.Y < m_max_index_y) &&
1002                         (index.Z < m_max_index_z) &&
1003                         (index.X >= 0) &&
1004                         (index.Y >= 0) &&
1005                         (index.Z >= 0))
1006                 return true;
1007
1008         return false;
1009 }
1010
1011 /******************************************************************************/
1012 v3s16 Pathfinder::invert(v3s16 pos)
1013 {
1014         v3s16 retval = pos;
1015
1016         retval.X *=-1;
1017         retval.Y *=-1;
1018         retval.Z *=-1;
1019
1020         return retval;
1021 }
1022
1023 /******************************************************************************/
1024 bool Pathfinder::updateAllCosts(v3s16 ipos,
1025                                                                 v3s16 srcdir,
1026                                                                 int current_cost,
1027                                                                 int level)
1028 {
1029         PathGridnode &g_pos = getIndexElement(ipos);
1030         g_pos.totalcost = current_cost;
1031         g_pos.sourcedir = srcdir;
1032
1033         level ++;
1034
1035         //check if target has been found
1036         if (g_pos.target) {
1037                 m_min_target_distance = current_cost;
1038                 DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
1039                 return true;
1040         }
1041
1042         bool retval = false;
1043
1044         // the 4 cardinal directions
1045         const static v3s16 directions[4] = {
1046                 v3s16(1,0, 0),
1047                 v3s16(-1,0, 0),
1048                 v3s16(0,0, 1),
1049                 v3s16(0,0,-1)
1050         };
1051
1052         for (v3s16 direction : directions) {
1053                 if (direction != srcdir) {
1054                         PathCost cost = g_pos.getCost(direction);
1055
1056                         if (cost.valid) {
1057                                 direction.Y = cost.y_change;
1058
1059                                 v3s16 ipos2 = ipos + direction;
1060
1061                                 if (!isValidIndex(ipos2)) {
1062                                         DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
1063                                                 " out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
1064                                         continue;
1065                                 }
1066
1067                                 PathGridnode &g_pos2 = getIndexElement(ipos2);
1068
1069                                 if (!g_pos2.valid) {
1070                                         VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
1071                                                                                                 << PP(ipos2) << std::endl;
1072                                         continue;
1073                                 }
1074
1075                                 assert(cost.value > 0);
1076
1077                                 int new_cost = current_cost + cost.value;
1078
1079                                 // check if there already is a smaller path
1080                                 if ((m_min_target_distance > 0) &&
1081                                                 (m_min_target_distance < new_cost)) {
1082                                         return false;
1083                                 }
1084
1085                                 if ((g_pos2.totalcost < 0) ||
1086                                                 (g_pos2.totalcost > new_cost)) {
1087                                         DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
1088                                                         PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
1089                                                         new_cost << std::endl);
1090                                         if (updateAllCosts(ipos2, invert(direction),
1091                                                                                         new_cost, level)) {
1092                                                 retval = true;
1093                                                 }
1094                                         }
1095                                 else {
1096                                         DEBUG_OUT(LVL "Pathfinder:"
1097                                                         " already found shorter path to: "
1098                                                         << PP(ipos2) << std::endl);
1099                                 }
1100                         }
1101                         else {
1102                                 DEBUG_OUT(LVL "Pathfinder:"
1103                                                 " not moving to invalid direction: "
1104                                                 << PP(directions[i]) << std::endl);
1105                         }
1106                 }
1107         }
1108         return retval;
1109 }
1110
1111 /******************************************************************************/
1112 int Pathfinder::getXZManhattanDist(v3s16 pos)
1113 {
1114         int min_x = MYMIN(pos.X, m_destination.X);
1115         int max_x = MYMAX(pos.X, m_destination.X);
1116         int min_z = MYMIN(pos.Z, m_destination.Z);
1117         int max_z = MYMAX(pos.Z, m_destination.Z);
1118
1119         return (max_x - min_x) + (max_z - min_z);
1120 }
1121
1122
1123
1124 /******************************************************************************/
1125 bool Pathfinder::updateCostHeuristic(v3s16 isource, v3s16 idestination)
1126 {
1127         // A* search algorithm.
1128
1129         // The open list contains the pathfinder nodes that still need to be
1130         // checked. The priority queue sorts the pathfinder nodes by
1131         // estimated cost, with lowest cost on the top.
1132         std::priority_queue<v3s16, std::vector<v3s16>, PathfinderCompareHeuristic>
1133                         openList(PathfinderCompareHeuristic(this));
1134
1135         v3s16 source = getRealPos(isource);
1136         v3s16 destination = getRealPos(idestination);
1137
1138         // initial position
1139         openList.push(source);
1140
1141         // the 4 cardinal directions
1142         const static v3s16 directions[4] = {
1143                 v3s16(1,0, 0),
1144                 v3s16(-1,0, 0),
1145                 v3s16(0,0, 1),
1146                 v3s16(0,0,-1)
1147         };
1148
1149         v3s16 current_pos;
1150         PathGridnode& s_pos = getIndexElement(isource);
1151         s_pos.source = true;
1152         s_pos.totalcost = 0;
1153
1154         // estimated cost from start to finish
1155         int cur_manhattan = getXZManhattanDist(destination);
1156         s_pos.estimated_cost = cur_manhattan;
1157
1158         while (!openList.empty()) {
1159                 // Pick node with lowest total cost estimate.
1160                 // The "cheapest" node is always on top.
1161                 current_pos = openList.top();
1162                 openList.pop();
1163                 v3s16 ipos = getIndexPos(current_pos);
1164
1165                 // check if node is inside searchdistance and valid
1166                 if (!isValidIndex(ipos)) {
1167                         DEBUG_OUT(LVL " Pathfinder: " << PP(current_pos) <<
1168                                 " out of search distance, max=" << PP(m_limits.MaxEdge) << std::endl);
1169                         continue;
1170                 }
1171
1172                 PathGridnode& g_pos = getIndexElement(ipos);
1173                 g_pos.is_closed = true;
1174                 g_pos.is_open = false;
1175                 if (!g_pos.valid) {
1176                         continue;
1177                 }
1178
1179                 if (current_pos == destination) {
1180                         // destination found, terminate
1181                         g_pos.target = true;
1182                         return true;
1183                 }
1184
1185                 // for this node, check the 4 cardinal directions
1186                 for (v3s16 direction_flat : directions) {
1187                         int current_totalcost = g_pos.totalcost;
1188
1189                         // get cost from current node to currently checked direction
1190                         PathCost cost = g_pos.getCost(direction_flat);
1191                         if (!cost.updated) {
1192                                 cost = calcCost(current_pos, direction_flat);
1193                                 g_pos.setCost(direction_flat, cost);
1194                         }
1195                         // update Y component of direction if neighbor requires jump or fall
1196                         v3s16 direction_3d = v3s16(direction_flat);
1197                         direction_3d.Y = cost.y_change;
1198
1199                         // get position of true neighbor
1200                         v3s16 neighbor = current_pos + direction_3d;
1201                         v3s16 ineighbor = getIndexPos(neighbor);
1202                         PathGridnode &n_pos = getIndexElement(ineighbor);
1203
1204                         if (cost.valid && !n_pos.is_closed && !n_pos.is_open) {
1205                                 // heuristic function; estimate cost from neighbor to destination
1206                                 cur_manhattan = getXZManhattanDist(neighbor);
1207
1208                                 // add neighbor to open list
1209                                 n_pos.sourcedir = invert(direction_3d);
1210                                 n_pos.totalcost = current_totalcost + cost.value;
1211                                 n_pos.estimated_cost = current_totalcost + cost.value + cur_manhattan;
1212                                 n_pos.is_open = true;
1213                                 openList.push(neighbor);
1214                         }
1215                 }
1216         }
1217         // no path found; all possible nodes within searchdistance have been exhausted
1218         return false;
1219 }
1220
1221 /******************************************************************************/
1222 bool Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 ipos)
1223 {
1224         // The cost calculation should have set a source direction for all relevant nodes.
1225         // To build the path, we go backwards from the destination until we reach the start.
1226         for(u32 waypoints = 1; waypoints++; ) {
1227                 if (waypoints > PATHFINDER_MAX_WAYPOINTS) {
1228                         ERROR_TARGET << "Pathfinder: buildPath: path is too long (too many waypoints), aborting" << std::endl;
1229                         return false;
1230                 }
1231                 // Insert node into path
1232                 PathGridnode &g_pos = getIndexElement(ipos);
1233                 if (!g_pos.valid) {
1234                         ERROR_TARGET << "Pathfinder: buildPath: invalid next pos detected, aborting" << std::endl;
1235                         return false;
1236                 }
1237
1238                 g_pos.is_element = true;
1239                 path.push_back(ipos);
1240                 if (g_pos.source)
1241                         // start node found, terminate
1242                         return true;
1243
1244                 // go to the node from which the pathfinder came
1245                 ipos += g_pos.sourcedir;
1246         }
1247
1248         ERROR_TARGET << "Pathfinder: buildPath: no source node found" << std::endl;
1249         return false;
1250 }
1251
1252 /******************************************************************************/
1253 v3s16 Pathfinder::walkDownwards(v3s16 pos, unsigned int max_down) {
1254         if (max_down == 0)
1255                 return pos;
1256         v3s16 testpos = v3s16(pos);
1257         MapNode node_at_pos = m_env->getMap().getNode(testpos);
1258         const NodeDefManager *ndef = m_env->getGameDef()->ndef();
1259         unsigned int down = 0;
1260         while ((node_at_pos.param0 != CONTENT_IGNORE) &&
1261                         (!ndef->get(node_at_pos).walkable) &&
1262                         (testpos.Y > m_limits.MinEdge.Y) &&
1263                         (down <= max_down)) {
1264                 testpos += v3s16(0, -1, 0);
1265                 down++;
1266                 node_at_pos = m_env->getMap().getNode(testpos);
1267         }
1268         //did we find surface?
1269         if ((testpos.Y >= m_limits.MinEdge.Y) &&
1270                         (node_at_pos.param0 != CONTENT_IGNORE) &&
1271                         (ndef->get(node_at_pos).walkable)) {
1272                 if (down == 0) {
1273                         pos = testpos;
1274                 } else if ((down - 1) <= max_down) {
1275                         //difference of y-pos +1 (target node is ABOVE solid node)
1276                         testpos += v3s16(0, 1, 0);
1277                         pos = testpos;
1278                 }
1279                 else {
1280                         VERBOSE_TARGET << "Pos too far above ground: " <<
1281                                 "Index: " << PP(getIndexPos(pos)) <<
1282                                 "Realpos: " << PP(getRealPos(getIndexPos(pos))) << std::endl;
1283                 }
1284         } else {
1285                 DEBUG_OUT("Pathfinder: no surface found below pos" << std::endl);
1286         }
1287         return pos;
1288 }
1289
1290 #ifdef PATHFINDER_DEBUG
1291
1292 /******************************************************************************/
1293 void Pathfinder::printCost()
1294 {
1295         printCost(DIR_XP);
1296         printCost(DIR_XM);
1297         printCost(DIR_ZP);
1298         printCost(DIR_ZM);
1299 }
1300
1301 /******************************************************************************/
1302 void Pathfinder::printYdir()
1303 {
1304         printYdir(DIR_XP);
1305         printYdir(DIR_XM);
1306         printYdir(DIR_ZP);
1307         printYdir(DIR_ZM);
1308 }
1309
1310 /******************************************************************************/
1311 void Pathfinder::printCost(PathDirections dir)
1312 {
1313         std::cout << "Cost in direction: " << dirToName(dir) << std::endl;
1314         std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
1315         std::cout << std::setfill(' ');
1316         for (int y = 0; y < m_max_index_y; y++) {
1317
1318                 std::cout << "Level: " << y << std::endl;
1319
1320                 std::cout << std::setw(4) << " " << "  ";
1321                 for (int x = 0; x < m_max_index_x; x++) {
1322                         std::cout << std::setw(4) << x;
1323                 }
1324                 std::cout << std::endl;
1325
1326                 for (int z = 0; z < m_max_index_z; z++) {
1327                         std::cout << std::setw(4) << z <<": ";
1328                         for (int x = 0; x < m_max_index_x; x++) {
1329                                 if (getIdxElem(x, y, z).directions[dir].valid)
1330                                         std::cout << std::setw(4)
1331                                                 << getIdxElem(x, y, z).directions[dir].value;
1332                                 else
1333                                         std::cout << std::setw(4) << "-";
1334                                 }
1335                         std::cout << std::endl;
1336                 }
1337                 std::cout << std::endl;
1338         }
1339 }
1340
1341 /******************************************************************************/
1342 void Pathfinder::printYdir(PathDirections dir)
1343 {
1344         std::cout << "Height difference in direction: " << dirToName(dir) << std::endl;
1345         std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
1346         std::cout << std::setfill(' ');
1347         for (int y = 0; y < m_max_index_y; y++) {
1348
1349                 std::cout << "Level: " << y << std::endl;
1350
1351                 std::cout << std::setw(4) << " " << "  ";
1352                 for (int x = 0; x < m_max_index_x; x++) {
1353                         std::cout << std::setw(4) << x;
1354                 }
1355                 std::cout << std::endl;
1356
1357                 for (int z = 0; z < m_max_index_z; z++) {
1358                         std::cout << std::setw(4) << z <<": ";
1359                         for (int x = 0; x < m_max_index_x; x++) {
1360                                 if (getIdxElem(x, y, z).directions[dir].valid)
1361                                         std::cout << std::setw(4)
1362                                                 << getIdxElem(x, y, z).directions[dir].y_change;
1363                                 else
1364                                         std::cout << std::setw(4) << "-";
1365                                 }
1366                         std::cout << std::endl;
1367                 }
1368                 std::cout << std::endl;
1369         }
1370 }
1371
1372 /******************************************************************************/
1373 void Pathfinder::printType()
1374 {
1375         std::cout << "Type of node:" << std::endl;
1376         std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
1377         std::cout << std::setfill(' ');
1378         for (int y = 0; y < m_max_index_y; y++) {
1379
1380                 std::cout << "Level: " << y << std::endl;
1381
1382                 std::cout << std::setw(3) << " " << "  ";
1383                 for (int x = 0; x < m_max_index_x; x++) {
1384                         std::cout << std::setw(3) << x;
1385                 }
1386                 std::cout << std::endl;
1387
1388                 for (int z = 0; z < m_max_index_z; z++) {
1389                         std::cout << std::setw(3) << z <<": ";
1390                         for (int x = 0; x < m_max_index_x; x++) {
1391                                 char toshow = getIdxElem(x, y, z).type;
1392                                 std::cout << std::setw(3) << toshow;
1393                         }
1394                         std::cout << std::endl;
1395                 }
1396                 std::cout << std::endl;
1397         }
1398         std::cout << std::endl;
1399 }
1400
1401 /******************************************************************************/
1402 void Pathfinder::printPathLen()
1403 {
1404         std::cout << "Pathlen:" << std::endl;
1405                 std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
1406                 std::cout << std::setfill(' ');
1407                 for (int y = 0; y < m_max_index_y; y++) {
1408
1409                         std::cout << "Level: " << y << std::endl;
1410
1411                         std::cout << std::setw(3) << " " << "  ";
1412                         for (int x = 0; x < m_max_index_x; x++) {
1413                                 std::cout << std::setw(3) << x;
1414                         }
1415                         std::cout << std::endl;
1416
1417                         for (int z = 0; z < m_max_index_z; z++) {
1418                                 std::cout << std::setw(3) << z <<": ";
1419                                 for (int x = 0; x < m_max_index_x; x++) {
1420                                         std::cout << std::setw(3) << getIdxElem(x, y, z).totalcost;
1421                                 }
1422                                 std::cout << std::endl;
1423                         }
1424                         std::cout << std::endl;
1425                 }
1426                 std::cout << std::endl;
1427 }
1428
1429 /******************************************************************************/
1430 std::string Pathfinder::dirToName(PathDirections dir)
1431 {
1432         switch (dir) {
1433         case DIR_XP:
1434                 return "XP";
1435                 break;
1436         case DIR_XM:
1437                 return "XM";
1438                 break;
1439         case DIR_ZP:
1440                 return "ZP";
1441                 break;
1442         case DIR_ZM:
1443                 return "ZM";
1444                 break;
1445         default:
1446                 return "UKN";
1447         }
1448 }
1449
1450 /******************************************************************************/
1451 void Pathfinder::printPath(std::vector<v3s16> path)
1452 {
1453         unsigned int current = 0;
1454         for (std::vector<v3s16>::iterator i = path.begin();
1455                         i != path.end(); ++i) {
1456                 std::cout << std::setw(3) << current << ":" << PP((*i)) << std::endl;
1457                 current++;
1458         }
1459 }
1460
1461 #endif