/*
Minetest
Copyright (C) 2013 sapier, sapier at gmx dot net
+Copyright (C) 2016 est31, <MTest31@outlook.com>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
/******************************************************************************/
#include "pathfinder.h"
-#include "environment.h"
-#include "map.h"
-#include "log.h"
-#include "irr_aabb3d.h"
+#include "serverenvironment.h"
+#include "server.h"
+#include "nodedef.h"
//#define PATHFINDER_DEBUG
//#define PATHFINDER_CALC_TIME
/* Typedefs and macros */
/******************************************************************************/
-/** shortcut to print a 3d pos */
-#define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"
-
#define LVL "(" << level << ")" <<
#ifdef PATHFINDER_DEBUG
#define DEBUG_OUT(a) while(0)
#define INFO_TARGET infostream << "Pathfinder: "
#define VERBOSE_TARGET verbosestream << "Pathfinder: "
-#define ERROR_TARGET errorstream << "Pathfinder: "
+#define ERROR_TARGET warningstream << "Pathfinder: "
#endif
/******************************************************************************/
* @param dir direction to set cost for
* @cost cost to set
*/
- void setCost(v3s16 dir, PathCost cost);
+ void setCost(v3s16 dir, const PathCost &cost);
bool valid; /**< node is on surface */
bool target; /**< node is target position */
bool source; /**< node is stating position */
int totalcost; /**< cost to move here from starting point */
v3s16 sourcedir; /**< origin of movement for current cost */
- int surfaces; /**< number of surfaces with same x,z value*/
v3s16 pos; /**< real position of node */
PathCost directions[4]; /**< cost in different directions */
char type; /**< type of node */
};
+class Pathfinder;
+
+/** Abstract class to manage the map data */
+class GridNodeContainer {
+public:
+ virtual PathGridnode &access(v3s16 p)=0;
+ virtual ~GridNodeContainer() {}
+protected:
+ Pathfinder *m_pathf;
+
+ void initNode(v3s16 ipos, PathGridnode *p_node);
+};
+
+class ArrayGridNodeContainer : public GridNodeContainer {
+public:
+ virtual ~ArrayGridNodeContainer() {}
+ ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
+ virtual PathGridnode &access(v3s16 p);
+private:
+ v3s16 m_dimensions;
+
+ int m_x_stride;
+ int m_y_stride;
+ std::vector<PathGridnode> m_nodes_array;
+};
+
+class MapGridNodeContainer : public GridNodeContainer {
+public:
+ virtual ~MapGridNodeContainer() {}
+ MapGridNodeContainer(Pathfinder *pathf);
+ virtual PathGridnode &access(v3s16 p);
+private:
+ std::map<v3s16, PathGridnode> m_nodes;
+};
+
/** class doing pathfinding */
class Pathfinder {
*/
Pathfinder();
+ ~Pathfinder();
+
/**
* path evaluation function
* @param env environment to look for path
*/
PathGridnode &getIndexElement(v3s16 ipos);
+ /**
+ * Get gridnode at a specific index position
+ * @return gridnode for index
+ */
+ PathGridnode &getIdxElem(s16 x, s16 y, s16 z);
+
/**
* invert a 3d position
* @param pos 3d position
core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
- /** 3d grid containing all map data already collected and analyzed */
- std::vector<std::vector<std::vector<PathGridnode> > > m_data;
+ /** contains all map data already collected and analyzed.
+ Access it via the getIndexElement/getIdxElem methods. */
+ friend class GridNodeContainer;
+ GridNodeContainer *m_nodes_container;
ServerEnvironment *m_env; /**< minetest environment pointer */
source(false),
totalcost(-1),
sourcedir(v3s16(0, 0, 0)),
- surfaces(0),
pos(v3s16(0, 0, 0)),
is_element(false),
type('u')
source(b.source),
totalcost(b.totalcost),
sourcedir(b.sourcedir),
- surfaces(b.surfaces),
pos(b.pos),
is_element(b.is_element),
type(b.type)
is_element = b.is_element;
totalcost = b.totalcost;
sourcedir = b.sourcedir;
- surfaces = b.surfaces;
pos = b.pos;
type = b.type;
}
/******************************************************************************/
-void PathGridnode::setCost(v3s16 dir, PathCost cost)
+void PathGridnode::setCost(v3s16 dir, const PathCost &cost)
{
if (dir.X > 0) {
directions[DIR_XP] = cost;
}
}
+void GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
+{
+ INodeDefManager *ndef = m_pathf->m_env->getGameDef()->ndef();
+ PathGridnode &elem = *p_node;
+
+ v3s16 realpos = m_pathf->getRealPos(ipos);
+
+ MapNode current = m_pathf->m_env->getMap().getNodeNoEx(realpos);
+ MapNode below = m_pathf->m_env->getMap().getNodeNoEx(realpos + v3s16(0, -1, 0));
+
+
+ if ((current.param0 == CONTENT_IGNORE) ||
+ (below.param0 == CONTENT_IGNORE)) {
+ DEBUG_OUT("Pathfinder: " << PP(realpos) <<
+ " current or below is invalid element" << std::endl);
+ if (current.param0 == CONTENT_IGNORE) {
+ elem.type = 'i';
+ DEBUG_OUT(PP(ipos) << ": " << 'i' << std::endl);
+ }
+ return;
+ }
+
+ //don't add anything if it isn't an air node
+ if (ndef->get(current).walkable || !ndef->get(below).walkable) {
+ DEBUG_OUT("Pathfinder: " << PP(realpos)
+ << " not on surface" << std::endl);
+ if (ndef->get(current).walkable) {
+ elem.type = 's';
+ DEBUG_OUT(PP(ipos) << ": " << 's' << std::endl);
+ } else {
+ elem.type = '-';
+ DEBUG_OUT(PP(ipos) << ": " << '-' << std::endl);
+ }
+ return;
+ }
+
+ elem.valid = true;
+ elem.pos = realpos;
+ elem.type = 'g';
+ DEBUG_OUT(PP(ipos) << ": " << 'a' << std::endl);
+
+ if (m_pathf->m_prefetch) {
+ elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
+ elem.directions[DIR_XM] = m_pathf->calcCost(realpos, v3s16(-1, 0, 0));
+ elem.directions[DIR_ZP] = m_pathf->calcCost(realpos, v3s16( 0, 0, 1));
+ elem.directions[DIR_ZM] = m_pathf->calcCost(realpos, v3s16( 0, 0,-1));
+ }
+}
+
+ArrayGridNodeContainer::ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions) :
+ m_x_stride(dimensions.Y * dimensions.Z),
+ m_y_stride(dimensions.Z)
+{
+ m_pathf = pathf;
+
+ m_nodes_array.resize(dimensions.X * dimensions.Y * dimensions.Z);
+ INFO_TARGET << "Pathfinder ArrayGridNodeContainer constructor." << std::endl;
+ for (int x = 0; x < dimensions.X; x++) {
+ for (int y = 0; y < dimensions.Y; y++) {
+ for (int z= 0; z < dimensions.Z; z++) {
+ v3s16 ipos(x, y, z);
+ initNode(ipos, &access(ipos));
+ }
+ }
+ }
+}
+
+PathGridnode &ArrayGridNodeContainer::access(v3s16 p)
+{
+ return m_nodes_array[p.X * m_x_stride + p.Y * m_y_stride + p.Z];
+}
+
+MapGridNodeContainer::MapGridNodeContainer(Pathfinder *pathf)
+{
+ m_pathf = pathf;
+}
+
+PathGridnode &MapGridNodeContainer::access(v3s16 p)
+{
+ std::map<v3s16, PathGridnode>::iterator it = m_nodes.find(p);
+ if (it != m_nodes.end()) {
+ return it->second;
+ }
+ PathGridnode &n = m_nodes[p];
+ initNode(p, &n);
+ return n;
+}
+
+
+
/******************************************************************************/
std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
m_max_index_y = diff.Y;
m_max_index_z = diff.Z;
- //build data map
- if (!buildCostmap()) {
- ERROR_TARGET << "failed to build costmap" << std::endl;
- return retval;
+ delete m_nodes_container;
+ if (diff.getLength() > 5) {
+ m_nodes_container = new MapGridNodeContainer(this);
+ } else {
+ m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
printType();
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
- "Index: " << PPOS(StartIndex) <<
- "Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
+ "Index: " << PP(StartIndex) <<
+ "Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
return retval;
}
if (!endpos.valid) {
VERBOSE_TARGET << "invalid stoppos" <<
- "Index: " << PPOS(EndIndex) <<
- "Realpos: " << PPOS(getRealPos(EndIndex)) << std::endl;
+ "Index: " << PP(EndIndex) <<
+ "Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
m_prefetch(true),
m_start(0, 0, 0),
m_destination(0, 0, 0),
- m_data(),
+ m_nodes_container(NULL),
m_env(0)
{
//intentionaly empty
}
-/******************************************************************************/
-v3s16 Pathfinder::getRealPos(v3s16 ipos)
+Pathfinder::~Pathfinder()
{
- return m_limits.MinEdge + ipos;
+ delete m_nodes_container;
}
-
/******************************************************************************/
-bool Pathfinder::buildCostmap()
+v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
- INFO_TARGET << "Pathfinder build costmap: min="
- << PPOS(m_limits.MinEdge) << ", max=" << PPOS(m_limits.MaxEdge) << std::endl;
- m_data.resize(m_max_index_x);
- for (int x = 0; x < m_max_index_x; x++) {
- m_data[x].resize(m_max_index_z);
- for (int z = 0; z < m_max_index_z; z++) {
- m_data[x][z].resize(m_max_index_y);
-
- int surfaces = 0;
- for (int y = 0; y < m_max_index_y; y++) {
- v3s16 ipos(x, y, z);
-
- v3s16 realpos = getRealPos(ipos);
-
- MapNode current = m_env->getMap().getNodeNoEx(realpos);
- MapNode below = m_env->getMap().getNodeNoEx(realpos + v3s16(0, -1, 0));
-
-
- if ((current.param0 == CONTENT_IGNORE) ||
- (below.param0 == CONTENT_IGNORE)) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
- " current or below is invalid element" << std::endl);
- if (current.param0 == CONTENT_IGNORE) {
- m_data[x][z][y].type = 'i';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
- }
- continue;
- }
-
- //don't add anything if it isn't an air node
- if ((current.param0 != CONTENT_AIR) ||
- (below.param0 == CONTENT_AIR )) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos)
- << " not on surface" << std::endl);
- if (current.param0 != CONTENT_AIR) {
- m_data[x][z][y].type = 's';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
- }
- else {
- m_data[x][z][y].type = '-';
- DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
- }
- continue;
- }
-
- surfaces++;
-
- m_data[x][z][y].valid = true;
- m_data[x][z][y].pos = realpos;
- m_data[x][z][y].type = 'g';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);
-
- if (m_prefetch) {
- m_data[x][z][y].directions[DIR_XP] =
- calcCost(realpos,v3s16( 1, 0, 0));
- m_data[x][z][y].directions[DIR_XM] =
- calcCost(realpos,v3s16(-1, 0, 0));
- m_data[x][z][y].directions[DIR_ZP] =
- calcCost(realpos,v3s16( 0, 0, 1));
- m_data[x][z][y].directions[DIR_ZM] =
- calcCost(realpos,v3s16( 0, 0,-1));
- }
-
- }
-
- if (surfaces >= 1 ) {
- for (int y = 0; y < m_max_index_y; y++) {
- if (m_data[x][z][y].valid) {
- m_data[x][z][y].surfaces = surfaces;
- }
- }
- }
- }
- }
- return true;
+ return m_limits.MinEdge + ipos;
}
/******************************************************************************/
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
{
+ INodeDefManager *ndef = m_env->getGameDef()->ndef();
PathCost retval;
retval.updated = true;
//check limits
if (!m_limits.isPointInside(pos2)) {
- DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
+ DEBUG_OUT("Pathfinder: " << PP(pos2) <<
" no cost -> out of limits" << std::endl);
return retval;
}
//did we get information about node?
if (node_at_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
- << PPOS(pos2) << " not loaded";
+ << PP(pos2) << " not loaded";
return retval;
}
- if (node_at_pos2.param0 == CONTENT_AIR) {
+ if (!ndef->get(node_at_pos2).walkable) {
MapNode node_below_pos2 =
m_env->getMap().getNodeNoEx(pos2 + v3s16(0, -1, 0));
//did we get information about node?
if (node_below_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
- << PPOS((pos2 + v3s16(0, -1, 0))) << " not loaded";
+ << PP((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
- if (node_below_pos2.param0 != CONTENT_AIR) {
+ if (ndef->get(node_below_pos2).walkable) {
retval.valid = true;
retval.value = 1;
retval.direction = 0;
- DEBUG_OUT("Pathfinder: "<< PPOS(pos)
+ DEBUG_OUT("Pathfinder: "<< PP(pos)
<< " cost same height found" << std::endl);
}
else {
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 == CONTENT_AIR) &&
+ (!ndef->get(node_at_pos).walkable) &&
(testpos.Y > m_limits.MinEdge.Y)) {
testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
//did we find surface?
if ((testpos.Y >= m_limits.MinEdge.Y) &&
(node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 != CONTENT_AIR)) {
+ (ndef->get(node_at_pos).walkable)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
retval.valid = true;
retval.value = 2;
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 != CONTENT_AIR) &&
+ (ndef->get(node_at_pos).walkable) &&
(testpos.Y < m_limits.MaxEdge.Y)) {
testpos += v3s16(0, 1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
//did we find surface?
if ((testpos.Y <= m_limits.MaxEdge.Y) &&
- (node_at_pos.param0 == CONTENT_AIR)) {
+ (!ndef->get(node_at_pos).walkable)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
retval.valid = true;
/******************************************************************************/
PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
{
- return m_data[ipos.X][ipos.Z][ipos.Y];
+ return m_nodes_container->access(ipos);
+}
+
+/******************************************************************************/
+inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z)
+{
+ return m_nodes_container->access(v3s16(x,y,z));
}
/******************************************************************************/
v3s16 ipos2 = ipos + directions[i];
if (!isValidIndex(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
+ DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
+ " out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
continue;
}
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << PPOS(ipos2) << std::endl;
+ << PP(ipos2) << std::endl;
continue;
}
if ((g_pos2.totalcost < 0) ||
(g_pos2.totalcost > new_cost)) {
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
- PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
+ PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl);
if (updateAllCosts(ipos2, invert(directions[i]),
new_cost, level)) {
else {
DEBUG_OUT(LVL "Pathfinder:"
" already found shorter path to: "
- << PPOS(ipos2) << std::endl);
+ << PP(ipos2) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" not moving to invalid direction: "
- << PPOS(directions[i]) << std::endl);
+ << PP(directions[i]) << std::endl);
}
}
}
v3s16 ipos2 = ipos + direction;
if (!isValidIndex(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
+ DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
+ " out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
direction = getDirHeuristic(directions, g_pos);
continue;
}
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << PPOS(ipos2) << std::endl;
+ << PP(ipos2) << std::endl;
direction = getDirHeuristic(directions, g_pos);
continue;
}
(m_min_target_distance < new_cost)) {
DEBUG_OUT(LVL "Pathfinder:"
" already longer than best already found path "
- << PPOS(ipos2) << std::endl);
+ << PP(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 "<<
+ PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << " srcdir=" <<
- PPOS(invert(direction))<< std::endl);
+ PP(invert(direction))<< std::endl);
if (updateCostHeuristic(ipos2, invert(direction),
new_cost, level)) {
retval = true;
else {
DEBUG_OUT(LVL "Pathfinder:"
" already found shorter path to: "
- << PPOS(ipos2) << std::endl);
+ << PP(ipos2) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" not moving to invalid direction: "
- << PPOS(direction) << std::endl);
+ << PP(direction) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" skipping srcdir: "
- << PPOS(direction) << std::endl);
+ << PP(direction) << std::endl);
}
direction = getDirHeuristic(directions, g_pos);
}
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)
+ if (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
- << m_data[x][z][y].directions[dir].value;
+ << getIdxElem(x, y, z).directions[dir].value;
else
std::cout << std::setw(4) << "-";
}
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)
+ if (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
- << m_data[x][z][y].directions[dir].direction;
+ << getIdxElem(x, y, z).directions[dir].direction;
else
std::cout << std::setw(4) << "-";
}
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;
+ char toshow = getIdxElem(x, y, z).type;
std::cout << std::setw(3) << toshow;
}
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::setw(3) << getIdxElem(x, y, z).totalcost;
}
std::cout << std::endl;
}
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;
+ std::cout << std::setw(3) << current << ":" << PP((*i)) << std::endl;
current++;
}
}
projects / oweals / minetest.git / blobdiff