/*
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 "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 ERROR_TARGET std::cout
#else
#define DEBUG_OUT(a) while(0)
-#define INFO_TARGET infostream << "pathfinder: "
-#define VERBOSE_TARGET verbosestream << "pathfinder: "
-#define ERROR_TARGET errorstream << "pathfinder: "
+#define INFO_TARGET infostream << "Pathfinder: "
+#define VERBOSE_TARGET verbosestream << "Pathfinder: "
+#define ERROR_TARGET warningstream << "Pathfinder: "
#endif
+#define PATHFINDER_MAX_WAYPOINTS 700
+
/******************************************************************************/
/* Class definitions */
/******************************************************************************/
/** representation of cost in specific direction */
-class path_cost {
+class PathCost {
public:
/** default constructor */
- path_cost();
+ PathCost() = default;
/** copy constructor */
- path_cost(const path_cost& b);
+ PathCost(const PathCost &b);
/** assignment operator */
- path_cost& operator= (const path_cost& b);
+ PathCost &operator= (const PathCost &b);
- bool valid; /**< movement is possible */
- int value; /**< cost of movement */
- int direction; /**< y-direction of movement */
- bool updated; /**< this cost has ben calculated */
+ bool valid = false; /**< movement is possible */
+ int value = 0; /**< cost of movement */
+ int y_change = 0; /**< change of y position of movement */
+ bool updated = false; /**< this cost has ben calculated */
};
/** representation of a mapnode to be used for pathfinding */
-class path_gridnode {
+class PathGridnode {
public:
/** default constructor */
- path_gridnode();
+ PathGridnode() = default;
/** copy constructor */
- path_gridnode(const path_gridnode& b);
+ PathGridnode(const PathGridnode &b);
/**
* assignment operator
* @param b node to copy
*/
- path_gridnode& operator= (const path_gridnode& b);
+ PathGridnode &operator= (const PathGridnode &b);
/**
* read cost in a specific direction
* @param dir direction of cost to fetch
*/
- path_cost get_cost(v3s16 dir);
+ PathCost getCost(v3s16 dir);
/**
* set cost value for movement
* @param dir direction to set cost for
* @cost cost to set
*/
- void set_cost(v3s16 dir,path_cost 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 */
- path_cost directions[4]; /**< cost in different directions */
+ void setCost(v3s16 dir, const PathCost &cost);
+
+ bool valid = false; /**< node is on surface */
+ bool target = false; /**< node is target position */
+ bool source = false; /**< node is stating position */
+ int totalcost = -1; /**< cost to move here from starting point */
+ int estimated_cost = -1; /**< totalcost + heuristic cost to end */
+ v3s16 sourcedir; /**< origin of movement for current cost */
+ v3s16 pos; /**< real position of node */
+ PathCost directions[4]; /**< cost in different directions */
+ bool is_closed = false; /**< for A* search: if true, is in closed list */
+ bool is_open = false; /**< for A* search: if true, is in open list */
/* debug values */
- bool is_element; /**< node is element of path detected */
- char type; /**< type of node */
+ bool is_element = false; /**< node is element of path detected */
+ char type = 'u'; /**< Type of pathfinding node.
+ * u = unknown
+ * i = invalid
+ * s = surface (walkable node)
+ * - = non-walkable node (e.g. air) above surface
+ * g = other non-walkable node
+ */
+};
+
+class Pathfinder;
+class PathfinderCompareHeuristic;
+
+/** Abstract class to manage the map data */
+class GridNodeContainer {
+public:
+ virtual PathGridnode &access(v3s16 p)=0;
+ virtual ~GridNodeContainer() = default;
+
+protected:
+ Pathfinder *m_pathf;
+
+ void initNode(v3s16 ipos, PathGridnode *p_node);
+};
+
+class ArrayGridNodeContainer : public GridNodeContainer {
+public:
+ virtual ~ArrayGridNodeContainer() = default;
+
+ 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() = default;
+
+ MapGridNodeContainer(Pathfinder *pathf);
+ virtual PathGridnode &access(v3s16 p);
+private:
+ std::map<v3s16, PathGridnode> m_nodes;
};
/** class doing pathfinding */
-class pathfinder {
+class Pathfinder {
public:
- /**
- * default constructor
- */
- pathfinder();
+ Pathfinder() = delete;
+ Pathfinder(Map *map, const NodeDefManager *ndef) : m_map(map), m_ndef(ndef) {}
+
+ ~Pathfinder();
/**
* path evaluation function
* @param searchdistance maximum number of nodes to look in each direction
* @param max_jump maximum number of blocks a path may jump up
* @param max_drop maximum number of blocks a path may drop
- * @param algo algorithm to use for finding a path
+ * @param algo Algorithm to use for finding a path
*/
- std::vector<v3s16> get_Path(ServerEnvironment* env,
- v3s16 source,
+ std::vector<v3s16> getPath(v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
- algorithm algo);
+ PathAlgorithm algo);
private:
- /** data struct for storing internal information */
- struct limits {
- struct limit {
- int min;
- int max;
- };
-
- limit X;
- limit Y;
- limit Z;
- };
-
/* helper functions */
/**
* @param ipos index position
* @return gridnode for index
*/
- path_gridnode& getIndexElement(v3s16 ipos);
+ 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
+ * invert a 3D position (change sign of coordinates)
+ * @param pos 3D position
* @return pos *-1
*/
v3s16 invert(v3s16 pos);
* @param index position to validate
* @return true/false
*/
- bool valid_index(v3s16 index);
-
- /**
- * translate position to float position
- * @param pos integer position
- * @return float position
- */
- v3f tov3f(v3s16 pos);
+ bool isValidIndex(v3s16 index);
/* algorithm functions */
/**
- * calculate 2d manahttan distance to target
+ * calculate 2D Manhattan distance to target
* @param pos position to calc distance
* @return integer distance
*/
- int get_manhattandistance(v3s16 pos);
-
- /**
- * get best direction based uppon heuristics
- * @param directions list of unchecked directions
- * @param g_pos mapnode to start from
- * @return direction to check
- */
- v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
-
- /**
- * build internal data representation of search area
- * @return true/false if costmap creation was successfull
- */
- bool build_costmap();
+ int getXZManhattanDist(v3s16 pos);
/**
* calculate cost of movement
* @param dir direction to move to
* @return cost information
*/
- path_cost calc_cost(v3s16 pos,v3s16 dir);
+ PathCost calcCost(v3s16 pos, v3s16 dir);
/**
* recursive update whole search areas total cost information
* @param level current recursion depth
* @return true/false path to destination has been found
*/
- bool update_all_costs(v3s16 ipos,v3s16 srcdir,int total_cost,int level);
+ bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
/**
- * recursive try to find a patrh to destionation
- * @param ipos position to check next
- * @param srcdir positionc checked last time
- * @param total_cost cost of moving to ipos
- * @param level current recursion depth
+ * try to find a path to destination using a heuristic function
+ * to estimate distance to target (A* search algorithm)
+ * @param isource start position (index pos)
+ * @param idestination end position (index pos)
* @return true/false path to destination has been found
*/
- bool update_cost_heuristic(v3s16 ipos,v3s16 srcdir,int current_cost,int level);
+ bool updateCostHeuristic(v3s16 isource, v3s16 idestination);
/**
- * recursive build a vector containing all nodes from source to destination
+ * build a vector containing all nodes from destination to source;
+ * to be called after the node costs have been processed
* @param path vector to add nodes to
- * @param pos pos to check next
- * @param level recursion depth
+ * @param ipos initial pos to check (index pos)
+ * @return true/false path has been fully built
+ */
+ bool buildPath(std::vector<v3s16> &path, v3s16 ipos);
+
+ /**
+ * go downwards from a position until some barrier
+ * is hit.
+ * @param pos position from which to go downwards
+ * @param max_down maximum distance to go downwards
+ * @return new position after movement; if too far down,
+ * pos is returned
*/
- void build_path(std::vector<v3s16>& path,v3s16 pos, int level);
+ v3s16 walkDownwards(v3s16 pos, unsigned int max_down);
/* variables */
- int m_max_index_x; /**< max index of search area in x direction */
- int m_max_index_y; /**< max index of search area in y direction */
- int m_max_index_z; /**< max index of search area in z direction */
+ int m_max_index_x = 0; /**< max index of search area in x direction */
+ int m_max_index_y = 0; /**< max index of search area in y direction */
+ int m_max_index_z = 0; /**< max index of search area in z direction */
- int m_searchdistance; /**< max distance to search in each direction */
- int m_maxdrop; /**< maximum number of blocks a path may drop */
- int m_maxjump; /**< maximum number of blocks a path may jump */
- int m_min_target_distance; /**< current smalest path to target */
+ int m_searchdistance = 0; /**< max distance to search in each direction */
+ int m_maxdrop = 0; /**< maximum number of blocks a path may drop */
+ int m_maxjump = 0; /**< maximum number of blocks a path may jump */
+ int m_min_target_distance = 0; /**< current smalest path to target */
- bool m_prefetch; /**< prefetch cost data */
+ bool m_prefetch = true; /**< prefetch cost data */
- v3s16 m_start; /**< source position */
- v3s16 m_destination; /**< destination position */
+ v3s16 m_start; /**< source position */
+ v3s16 m_destination; /**< destination position */
- limits m_limits; /**< position limits in real map coordinates */
+ 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<path_gridnode> > > m_data;
+ /** contains all map data already collected and analyzed.
+ Access it via the getIndexElement/getIdxElem methods. */
+ friend class GridNodeContainer;
+ GridNodeContainer *m_nodes_container = nullptr;
- ServerEnvironment* m_env; /**< minetest environment pointer */
+ Map *m_map = nullptr;
+
+ const NodeDefManager *m_ndef = nullptr;
+
+ friend class PathfinderCompareHeuristic;
#ifdef PATHFINDER_DEBUG
/**
* print collected cost information
*/
- void print_cost();
+ void printCost();
/**
* print collected cost information in a specific direction
* @param dir direction to print
*/
- void print_cost(path_directions dir);
+ void printCost(PathDirections dir);
/**
* print type of node as evaluated
*/
- void print_type();
+ void printType();
/**
* print pathlenght for all nodes in search area
*/
- void print_pathlen();
+ void printPathLen();
/**
* print a path
* @param path path to show
*/
- void print_path(std::vector<v3s16> path);
+ void printPath(std::vector<v3s16> path);
/**
* print y direction for all movements
*/
- void print_ydir();
+ void printYdir();
/**
* print y direction for moving in a specific direction
* @param dir direction to show data
*/
- void print_ydir(path_directions dir);
+ void printYdir(PathDirections dir);
/**
* helper function to translate a direction to speaking text
* @param dir direction to translate
* @return textual name of direction
*/
- std::string dir_to_name(path_directions dir);
+ std::string dirToName(PathDirections dir);
#endif
};
+/** Helper class for the open list priority queue in the A* pathfinder
+ * to sort the pathfinder nodes by cost.
+ */
+class PathfinderCompareHeuristic
+{
+ private:
+ Pathfinder *myPathfinder;
+ public:
+ PathfinderCompareHeuristic(Pathfinder *pf)
+ {
+ myPathfinder = pf;
+ }
+ bool operator() (v3s16 pos1, v3s16 pos2) {
+ v3s16 ipos1 = myPathfinder->getIndexPos(pos1);
+ v3s16 ipos2 = myPathfinder->getIndexPos(pos2);
+ PathGridnode &g_pos1 = myPathfinder->getIndexElement(ipos1);
+ PathGridnode &g_pos2 = myPathfinder->getIndexElement(ipos2);
+ if (!g_pos1.valid)
+ return false;
+ if (!g_pos2.valid)
+ return false;
+ return g_pos1.estimated_cost > g_pos2.estimated_cost;
+ }
+};
+
/******************************************************************************/
/* implementation */
/******************************************************************************/
-std::vector<v3s16> get_Path(ServerEnvironment* env,
- v3s16 source,
- v3s16 destination,
- unsigned int searchdistance,
- unsigned int max_jump,
- unsigned int max_drop,
- algorithm algo) {
-
- pathfinder searchclass;
-
- return searchclass.get_Path(env,
- source,destination,
- searchdistance,max_jump,max_drop,algo);
-}
-
-/******************************************************************************/
-path_cost::path_cost()
-: valid(false),
- value(0),
- direction(0),
- updated(false)
+std::vector<v3s16> get_path(Map* map, const NodeDefManager *ndef,
+ v3s16 source,
+ v3s16 destination,
+ unsigned int searchdistance,
+ unsigned int max_jump,
+ unsigned int max_drop,
+ PathAlgorithm algo)
{
- //intentionaly empty
+ return Pathfinder(map, ndef).getPath(source, destination,
+ searchdistance, max_jump, max_drop, algo);
}
/******************************************************************************/
-path_cost::path_cost(const path_cost& b) {
+PathCost::PathCost(const PathCost &b)
+{
valid = b.valid;
- direction = b.direction;
+ y_change = b.y_change;
value = b.value;
updated = b.updated;
}
/******************************************************************************/
-path_cost& path_cost::operator= (const path_cost& b) {
+PathCost &PathCost::operator= (const PathCost &b)
+{
valid = b.valid;
- direction = b.direction;
+ y_change = b.y_change;
value = b.value;
updated = b.updated;
}
/******************************************************************************/
-path_gridnode::path_gridnode()
-: valid(false),
- target(false),
- source(false),
- totalcost(-1),
- sourcedir(v3s16(0,0,0)),
- surfaces(0),
- pos(v3s16(0,0,0)),
- is_element(false),
- type('u')
-{
- //intentionaly empty
-}
-
-/******************************************************************************/
-path_gridnode::path_gridnode(const path_gridnode& b)
+PathGridnode::PathGridnode(const PathGridnode &b)
: valid(b.valid),
target(b.target),
source(b.source),
totalcost(b.totalcost),
sourcedir(b.sourcedir),
- surfaces(b.surfaces),
pos(b.pos),
is_element(b.is_element),
type(b.type)
- {
+{
directions[DIR_XP] = b.directions[DIR_XP];
directions[DIR_XM] = b.directions[DIR_XM];
}
/******************************************************************************/
-path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
+PathGridnode &PathGridnode::operator= (const PathGridnode &b)
+{
valid = b.valid;
target = b.target;
source = b.source;
is_element = b.is_element;
totalcost = b.totalcost;
sourcedir = b.sourcedir;
- surfaces = b.surfaces;
pos = b.pos;
type = b.type;
}
/******************************************************************************/
-path_cost path_gridnode::get_cost(v3s16 dir) {
+PathCost PathGridnode::getCost(v3s16 dir)
+{
if (dir.X > 0) {
return directions[DIR_XP];
}
if (dir.Z < 0) {
return directions[DIR_ZM];
}
- path_cost retval;
+ PathCost retval;
return retval;
}
/******************************************************************************/
-void path_gridnode::set_cost(v3s16 dir,path_cost 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)
+{
+ const NodeDefManager *ndef = m_pathf->m_ndef;
+ PathGridnode &elem = *p_node;
+
+ v3s16 realpos = m_pathf->getRealPos(ipos);
+
+ MapNode current = m_pathf->m_map->getNode(realpos);
+ MapNode below = m_pathf->m_map->getNode(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::get_Path(ServerEnvironment* env,
- v3s16 source,
+std::vector<v3s16> Pathfinder::getPath(v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
- algorithm algo) {
+ PathAlgorithm algo)
+{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
#endif
std::vector<v3s16> retval;
- //check parameters
- if (env == 0) {
- ERROR_TARGET << "missing environment pointer" << std::endl;
- return retval;
- }
-
+ //initialization
m_searchdistance = searchdistance;
- m_env = env;
m_maxjump = max_jump;
m_maxdrop = max_drop;
m_start = source;
m_min_target_distance = -1;
m_prefetch = true;
- if (algo == A_PLAIN_NP) {
+ if (algo == PA_PLAIN_NP) {
m_prefetch = false;
}
- int min_x = MYMIN(source.X,destination.X);
- int max_x = MYMAX(source.X,destination.X);
+ //calculate boundaries within we're allowed to search
+ int min_x = MYMIN(source.X, destination.X);
+ int max_x = MYMAX(source.X, destination.X);
- int min_y = MYMIN(source.Y,destination.Y);
- int max_y = MYMAX(source.Y,destination.Y);
+ int min_y = MYMIN(source.Y, destination.Y);
+ int max_y = MYMAX(source.Y, destination.Y);
- int min_z = MYMIN(source.Z,destination.Z);
- int max_z = MYMAX(source.Z,destination.Z);
+ int min_z = MYMIN(source.Z, destination.Z);
+ int max_z = MYMAX(source.Z, destination.Z);
- m_limits.X.min = min_x - searchdistance;
- m_limits.X.max = max_x + searchdistance;
- m_limits.Y.min = min_y - searchdistance;
- m_limits.Y.max = max_y + searchdistance;
- m_limits.Z.min = min_z - searchdistance;
- m_limits.Z.max = max_z + searchdistance;
+ m_limits.MinEdge.X = min_x - searchdistance;
+ m_limits.MinEdge.Y = min_y - searchdistance;
+ m_limits.MinEdge.Z = min_z - searchdistance;
- m_max_index_x = m_limits.X.max - m_limits.X.min;
- m_max_index_y = m_limits.Y.max - m_limits.Y.min;
- m_max_index_z = m_limits.Z.max - m_limits.Z.min;
+ m_limits.MaxEdge.X = max_x + searchdistance;
+ m_limits.MaxEdge.Y = max_y + searchdistance;
+ m_limits.MaxEdge.Z = max_z + searchdistance;
- //build data map
- if (!build_costmap()) {
- ERROR_TARGET << "failed to build costmap" << std::endl;
- return retval;
+ v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
+
+ m_max_index_x = diff.X;
+ m_max_index_y = diff.Y;
+ m_max_index_z = diff.Z;
+
+ delete m_nodes_container;
+ if (diff.getLength() > 5) {
+ m_nodes_container = new MapGridNodeContainer(this);
+ } else {
+ m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
- print_type();
- print_cost();
- print_ydir();
+ printType();
+ printCost();
+ printYdir();
#endif
+ //fail if source or destination is walkable
+ MapNode node_at_pos = m_map->getNode(destination);
+ if (m_ndef->get(node_at_pos).walkable) {
+ VERBOSE_TARGET << "Destination is walkable. " <<
+ "Pos: " << PP(destination) << std::endl;
+ return retval;
+ }
+ node_at_pos = m_map->getNode(source);
+ if (m_ndef->get(node_at_pos).walkable) {
+ VERBOSE_TARGET << "Source is walkable. " <<
+ "Pos: " << PP(source) << std::endl;
+ return retval;
+ }
+
+ //If source pos is hovering above air, drop
+ //to the first walkable node (up to m_maxdrop).
+ //All algorithms expect the source pos to be *directly* above
+ //a walkable node.
+ v3s16 true_source = v3s16(source);
+ source = walkDownwards(source, m_maxdrop);
+
+ //If destination pos is hovering above air, go downwards
+ //to the first walkable node (up to m_maxjump).
+ //This means a hovering destination pos could be reached
+ //by a final upwards jump.
+ v3s16 true_destination = v3s16(destination);
+ destination = walkDownwards(destination, m_maxjump);
+
//validate and mark start and end pos
+
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
- path_gridnode& startpos = getIndexElement(StartIndex);
- path_gridnode& endpos = getIndexElement(EndIndex);
+ PathGridnode &startpos = getIndexElement(StartIndex);
+ PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
- VERBOSE_TARGET << "invalid startpos" <<
- "Index: " << PPOS(StartIndex) <<
- "Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
+ VERBOSE_TARGET << "Invalid startpos " <<
+ "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;
+ VERBOSE_TARGET << "Invalid stoppos " <<
+ "Index: " << PP(EndIndex) <<
+ "Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
bool update_cost_retval = false;
+ //calculate node costs
switch (algo) {
- case DIJKSTRA:
- update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
+ case PA_DIJKSTRA:
+ update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
- case A_PLAIN_NP:
- case A_PLAIN:
- update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0);
+ case PA_PLAIN_NP:
+ case PA_PLAIN:
+ update_cost_retval = updateCostHeuristic(StartIndex, EndIndex);
break;
default:
- ERROR_TARGET << "missing algorithm"<< std::endl;
+ ERROR_TARGET << "Missing PathAlgorithm" << std::endl;
break;
}
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
- print_pathlen();
+ printPathLen();
#endif
//find path
- std::vector<v3s16> path;
- build_path(path,EndIndex,0);
+ std::vector<v3s16> index_path;
+ buildPath(index_path, EndIndex);
+ //Now we have a path of index positions,
+ //and it's in reverse.
+ //The "true" start or end position might be missing
+ //since those have been given special treatment.
#ifdef PATHFINDER_DEBUG
- std::cout << "Full index path:" << std::endl;
- print_path(path);
+ std::cout << "Index path:" << std::endl;
+ printPath(index_path);
#endif
-
- //finalize path
+ //from here we'll make the final changes to the path
std::vector<v3s16> full_path;
- for (std::vector<v3s16>::iterator i = path.begin();
- i != path.end(); ++i) {
- full_path.push_back(getIndexElement(*i).pos);
+
+ //calculate required size
+ int full_path_size = index_path.size();
+ if (source != true_source) {
+ full_path_size++;
+ }
+ if (destination != true_destination) {
+ full_path_size++;
+ }
+ full_path.reserve(full_path_size);
+
+ //manually add true_source to start of path, if needed
+ if (source != true_source) {
+ full_path.push_back(true_source);
+ }
+ //convert all index positions to "normal" positions and insert
+ //them into full_path in reverse
+ std::vector<v3s16>::reverse_iterator rit = index_path.rbegin();
+ for (; rit != index_path.rend(); ++rit) {
+ full_path.push_back(getIndexElement(*rit).pos);
}
+ //manually add true_destination to end of path, if needed
+ if (destination != true_destination) {
+ full_path.push_back(true_destination);
+ }
+
+ //Done! We now have a complete path of normal positions.
+
#ifdef PATHFINDER_DEBUG
- std::cout << "full path:" << std::endl;
- print_path(full_path);
+ std::cout << "Full path:" << std::endl;
+ printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
}
else {
#ifdef PATHFINDER_DEBUG
- print_pathlen();
+ printPathLen();
#endif
- ERROR_TARGET << "failed to update cost map"<< std::endl;
+ INFO_TARGET << "No path found" << std::endl;
}
return retval;
}
-/******************************************************************************/
-pathfinder::pathfinder() :
- m_max_index_x(0),
- m_max_index_y(0),
- m_max_index_z(0),
- m_searchdistance(0),
- m_maxdrop(0),
- m_maxjump(0),
- m_min_target_distance(0),
- m_prefetch(true),
- m_start(0,0,0),
- m_destination(0,0,0),
- m_limits(),
- m_data(),
- m_env(0)
+Pathfinder::~Pathfinder()
{
- //intentionaly empty
-}
-
-/******************************************************************************/
-v3s16 pathfinder::getRealPos(v3s16 ipos) {
-
- v3s16 retval = ipos;
-
- retval.X += m_limits.X.min;
- retval.Y += m_limits.Y.min;
- retval.Z += m_limits.Z.min;
-
- return retval;
+ delete m_nodes_container;
}
-
/******************************************************************************/
-bool pathfinder::build_costmap()
+v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
- INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
- << m_limits.Z.min << ") ("
- << m_limits.X.max << ","
- << m_limits.Z.max << ")"
- << std::endl;
- m_data.resize(m_max_index_x);
- for (int x = 0; x < m_max_index_x; x++) {
- m_data[x].resize(m_max_index_z);
- for (int z = 0; z < m_max_index_z; z++) {
- m_data[x][z].resize(m_max_index_y);
-
- int surfaces = 0;
- for (int y = 0; y < m_max_index_y; y++) {
- v3s16 ipos(x,y,z);
-
- v3s16 realpos = getRealPos(ipos);
-
- MapNode current = m_env->getMap().getNodeNoEx(realpos);
- MapNode below = m_env->getMap().getNodeNoEx(realpos + v3s16(0,-1,0));
-
-
- if ((current.param0 == CONTENT_IGNORE) ||
- (below.param0 == CONTENT_IGNORE)) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
- " current or below is invalid element" << std::endl);
- if (current.param0 == CONTENT_IGNORE) {
- m_data[x][z][y].type = 'i';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
- }
- continue;
- }
-
- //don't add anything if it isn't an air node
- if ((current.param0 != CONTENT_AIR) ||
- (below.param0 == CONTENT_AIR )) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos)
- << " not on surface" << std::endl);
- if (current.param0 != CONTENT_AIR) {
- m_data[x][z][y].type = 's';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
- }
- else {
- m_data[x][z][y].type = '-';
- DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
- }
- continue;
- }
-
- surfaces++;
-
- m_data[x][z][y].valid = true;
- m_data[x][z][y].pos = realpos;
- m_data[x][z][y].type = 'g';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);
-
- if (m_prefetch) {
- m_data[x][z][y].directions[DIR_XP] =
- calc_cost(realpos,v3s16( 1,0, 0));
- m_data[x][z][y].directions[DIR_XM] =
- calc_cost(realpos,v3s16(-1,0, 0));
- m_data[x][z][y].directions[DIR_ZP] =
- calc_cost(realpos,v3s16( 0,0, 1));
- m_data[x][z][y].directions[DIR_ZM] =
- calc_cost(realpos,v3s16( 0,0,-1));
- }
-
- }
-
- if (surfaces >= 1 ) {
- for (int y = 0; y < m_max_index_y; y++) {
- if (m_data[x][z][y].valid) {
- m_data[x][z][y].surfaces = surfaces;
- }
- }
- }
- }
- }
- return true;
+ return m_limits.MinEdge + ipos;
}
/******************************************************************************/
-path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
- path_cost retval;
+PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
+{
+ PathCost retval;
retval.updated = true;
v3s16 pos2 = pos + dir;
//check limits
- if ( (pos2.X < m_limits.X.min) ||
- (pos2.X >= m_limits.X.max) ||
- (pos2.Z < m_limits.Z.min) ||
- (pos2.Z >= m_limits.Z.max)) {
- DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
+ if (!m_limits.isPointInside(pos2)) {
+ DEBUG_OUT("Pathfinder: " << PP(pos2) <<
" no cost -> out of limits" << std::endl);
return retval;
}
- MapNode node_at_pos2 = m_env->getMap().getNodeNoEx(pos2);
+ MapNode node_at_pos2 = m_map->getNode(pos2);
//did we get information about node?
if (node_at_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
- << PPOS(pos2) << " not loaded";
+ << PP(pos2) << " not loaded";
return retval;
}
- if (node_at_pos2.param0 == CONTENT_AIR) {
+ if (!m_ndef->get(node_at_pos2).walkable) {
MapNode node_below_pos2 =
- m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));
+ m_map->getNode(pos2 + v3s16(0, -1, 0));
//did we get information about node?
if (node_below_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
- << 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) {
+ //test if the same-height neighbor is suitable
+ if (m_ndef->get(node_below_pos2).walkable) {
+ //SUCCESS!
retval.valid = true;
retval.value = 1;
- retval.direction = 0;
- DEBUG_OUT("Pathfinder: "<< PPOS(pos)
+ retval.y_change = 0;
+ DEBUG_OUT("Pathfinder: "<< PP(pos)
<< " cost same height found" << std::endl);
}
else {
- v3s16 testpos = pos2 - v3s16(0,-1,0);
- MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
+ //test if we can fall a couple of nodes (m_maxdrop)
+ v3s16 testpos = pos2 + v3s16(0, -1, 0);
+ MapNode node_at_pos = m_map->getNode(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (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);
+ (!m_ndef->get(node_at_pos).walkable) &&
+ (testpos.Y > m_limits.MinEdge.Y)) {
+ testpos += v3s16(0, -1, 0);
+ node_at_pos = m_map->getNode(testpos);
}
//did we find surface?
- if ((testpos.Y >= m_limits.Y.min) &&
+ if ((testpos.Y >= m_limits.MinEdge.Y) &&
(node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 != CONTENT_AIR)) {
+ (m_ndef->get(node_at_pos).walkable)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
+ //SUCCESS!
retval.valid = true;
retval.value = 2;
//difference of y-pos +1 (target node is ABOVE solid node)
- retval.direction = ((testpos.Y - pos2.Y) +1);
+ retval.y_change = ((testpos.Y - pos2.Y) +1);
DEBUG_OUT("Pathfinder cost below height found" << std::endl);
}
else {
INFO_TARGET << "Pathfinder:"
- " distance to surface below to big: "
+ " distance to surface below too big: "
<< (testpos.Y - pos2.Y) << " max: " << m_maxdrop
<< 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);
+ //test if we can jump upwards (m_maxjump)
+
+ v3s16 targetpos = pos2; // position for jump target
+ v3s16 jumppos = pos; // position for checking if jumping space is free
+ MapNode node_target = m_map->getNode(targetpos);
+ MapNode node_jump = m_map->getNode(jumppos);
+ bool headbanger = false; // true if anything blocks jumppath
+
+ while ((node_target.param0 != CONTENT_IGNORE) &&
+ (m_ndef->get(node_target).walkable) &&
+ (targetpos.Y < m_limits.MaxEdge.Y)) {
+ //if the jump would hit any solid node, discard
+ if ((node_jump.param0 == CONTENT_IGNORE) ||
+ (m_ndef->get(node_jump).walkable)) {
+ headbanger = true;
+ break;
+ }
+ targetpos += v3s16(0, 1, 0);
+ jumppos += v3s16(0, 1, 0);
+ node_target = m_map->getNode(targetpos);
+ node_jump = m_map->getNode(jumppos);
+
+ }
+ //check headbanger one last time
+ if ((node_jump.param0 == CONTENT_IGNORE) ||
+ (m_ndef->get(node_jump).walkable)) {
+ headbanger = true;
}
- //did we find surface?
- if ((testpos.Y <= m_limits.Y.max) &&
- (node_at_pos.param0 == CONTENT_AIR)) {
+ //did we find surface without banging our head?
+ if ((!headbanger) && (targetpos.Y <= m_limits.MaxEdge.Y) &&
+ (!m_ndef->get(node_target).walkable)) {
- if (testpos.Y - pos2.Y <= m_maxjump) {
+ if (targetpos.Y - pos2.Y <= m_maxjump) {
+ //SUCCESS!
retval.valid = true;
retval.value = 2;
- retval.direction = (testpos.Y - pos2.Y);
+ retval.y_change = (targetpos.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
+ DEBUG_OUT("Pathfinder: distance to surface above too big: "
+ << (targetpos.Y - pos2.Y) << " max: " << m_maxjump
<< std::endl);
}
}
}
/******************************************************************************/
-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;
+v3s16 Pathfinder::getIndexPos(v3s16 pos)
+{
+ return pos - m_limits.MinEdge;
+}
- return retval;
+/******************************************************************************/
+PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
+{
+ return m_nodes_container->access(ipos);
}
/******************************************************************************/
-path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
- return m_data[ipos.X][ipos.Z][ipos.Y];
+inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z)
+{
+ return m_nodes_container->access(v3s16(x,y,z));
}
/******************************************************************************/
-bool pathfinder::valid_index(v3s16 index) {
+bool Pathfinder::isValidIndex(v3s16 index)
+{
if ( (index.X < m_max_index_x) &&
(index.Y < m_max_index_y) &&
(index.Z < m_max_index_z) &&
}
/******************************************************************************/
-v3s16 pathfinder::invert(v3s16 pos) {
+v3s16 Pathfinder::invert(v3s16 pos)
+{
v3s16 retval = pos;
retval.X *=-1;
}
/******************************************************************************/
-bool pathfinder::update_all_costs( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
-
- path_gridnode& g_pos = getIndexElement(ipos);
+bool Pathfinder::updateAllCosts(v3s16 ipos,
+ v3s16 srcdir,
+ int current_cost,
+ int level)
+{
+ PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
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));
+ // the 4 cardinal directions
+ const static v3s16 directions[4] = {
+ v3s16(1,0, 0),
+ v3s16(-1,0, 0),
+ v3s16(0,0, 1),
+ v3s16(0,0,-1)
+ };
- for (unsigned int i=0; i < directions.size(); i++) {
- if (directions[i] != srcdir) {
- path_cost cost = g_pos.get_cost(directions[i]);
+ for (v3s16 direction : directions) {
+ if (direction != srcdir) {
+ PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
- directions[i].Y = cost.direction;
+ direction.Y = cost.y_change;
- v3s16 ipos2 = ipos + directions[i];
+ 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);
+ if (!isValidIndex(ipos2)) {
+ DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
+ " out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
continue;
}
- path_gridnode& g_pos2 = getIndexElement(ipos2);
+ PathGridnode &g_pos2 = getIndexElement(ipos2);
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 (update_all_costs(ipos2,invert(directions[i]),
- new_cost,level)) {
+ if (updateAllCosts(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(directions[i]) << std::endl);
+ << PP(directions[i]) << std::endl);
}
}
}
}
/******************************************************************************/
-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);
+int Pathfinder::getXZManhattanDist(v3s16 pos)
+{
+ int min_x = MYMIN(pos.X, m_destination.X);
+ int max_x = MYMAX(pos.X, m_destination.X);
+ int min_z = MYMIN(pos.Z, m_destination.Z);
+ int max_z = MYMAX(pos.Z, m_destination.Z);
return (max_x - min_x) + (max_z - min_z);
}
-/******************************************************************************/
-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);
+/******************************************************************************/
+bool Pathfinder::updateCostHeuristic(v3s16 isource, v3s16 idestination)
+{
+ // A* search algorithm.
+
+ // The open list contains the pathfinder nodes that still need to be
+ // checked. The priority queue sorts the pathfinder nodes by
+ // estimated cost, with lowest cost on the top.
+ std::priority_queue<v3s16, std::vector<v3s16>, PathfinderCompareHeuristic>
+ openList(PathfinderCompareHeuristic(this));
+
+ v3s16 source = getRealPos(isource);
+ v3s16 destination = getRealPos(idestination);
+
+ // initial position
+ openList.push(source);
+
+ // the 4 cardinal directions
+ const static v3s16 directions[4] = {
+ v3s16(1,0, 0),
+ v3s16(-1,0, 0),
+ v3s16(0,0, 1),
+ v3s16(0,0,-1)
+ };
- if (!cost.updated) {
- cost = calc_cost(g_pos.pos,*iter);
- g_pos.set_cost(*iter,cost);
+ v3s16 current_pos;
+ PathGridnode& s_pos = getIndexElement(isource);
+ s_pos.source = true;
+ s_pos.totalcost = 0;
+
+ // estimated cost from start to finish
+ int cur_manhattan = getXZManhattanDist(destination);
+ s_pos.estimated_cost = cur_manhattan;
+
+ while (!openList.empty()) {
+ // Pick node with lowest total cost estimate.
+ // The "cheapest" node is always on top.
+ current_pos = openList.top();
+ openList.pop();
+ v3s16 ipos = getIndexPos(current_pos);
+
+ // check if node is inside searchdistance and valid
+ if (!isValidIndex(ipos)) {
+ DEBUG_OUT(LVL " Pathfinder: " << PP(current_pos) <<
+ " out of search distance, max=" << PP(m_limits.MaxEdge) << std::endl);
+ continue;
}
- if (cost.valid) {
- int score = cost.value + cur_manhattan;
-
- if ((minscore < 0)|| (score < minscore)) {
- minscore = score;
- retdir = *iter;
- }
+ PathGridnode& g_pos = getIndexElement(ipos);
+ g_pos.is_closed = true;
+ g_pos.is_open = false;
+ if (!g_pos.valid) {
+ continue;
}
- }
- 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;
- }
+ if (current_pos == destination) {
+ // destination found, terminate
+ g_pos.target = true;
+ return true;
}
- }
- 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);
+ // for this node, check the 4 cardinal directions
+ for (v3s16 direction_flat : directions) {
+ int current_totalcost = g_pos.totalcost;
- while (direction != v3s16(0,0,0) && (!retval)) {
-
- if (direction != srcdir) {
- path_cost cost = g_pos.get_cost(direction);
-
- if (cost.valid) {
- direction.Y = cost.direction;
-
- v3s16 ipos2 = ipos + direction;
-
- if (!valid_index(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range (" << m_limits.X.max << "," <<
- m_limits.Y.max << "," << m_limits.Z.max
- <<")" << std::endl);
- direction = get_dir_heuristic(directions,g_pos);
- continue;
- }
-
- path_gridnode& g_pos2 = getIndexElement(ipos2);
-
- if (!g_pos2.valid) {
- VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << PPOS(ipos2) << std::endl;
- direction = get_dir_heuristic(directions,g_pos);
- continue;
- }
-
- assert(cost.value > 0);
-
- int new_cost = current_cost + cost.value;
-
- // check if there already is a smaller path
- if ((m_min_target_distance > 0) &&
- (m_min_target_distance < new_cost)) {
- DEBUG_OUT(LVL "Pathfinder:"
- " already longer than best already found path "
- << PPOS(ipos2) << std::endl);
- return false;
- }
-
- if ((g_pos2.totalcost < 0) ||
- (g_pos2.totalcost > new_cost)) {
- DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
- PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
- new_cost << " srcdir=" <<
- PPOS(invert(direction))<< std::endl);
- if (update_cost_heuristic(ipos2,invert(direction),
- new_cost,level)) {
- retval = true;
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " already found shorter path to: "
- << PPOS(ipos2) << std::endl);
- }
+ // get cost from current node to currently checked direction
+ PathCost cost = g_pos.getCost(direction_flat);
+ if (!cost.updated) {
+ cost = calcCost(current_pos, direction_flat);
+ g_pos.setCost(direction_flat, cost);
}
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " not moving to invalid direction: "
- << PPOS(direction) << std::endl);
+ // update Y component of direction if neighbor requires jump or fall
+ v3s16 direction_3d = v3s16(direction_flat);
+ direction_3d.Y = cost.y_change;
+
+ // get position of true neighbor
+ v3s16 neighbor = current_pos + direction_3d;
+ v3s16 ineighbor = getIndexPos(neighbor);
+ PathGridnode &n_pos = getIndexElement(ineighbor);
+
+ if (cost.valid && !n_pos.is_closed && !n_pos.is_open) {
+ // heuristic function; estimate cost from neighbor to destination
+ cur_manhattan = getXZManhattanDist(neighbor);
+
+ // add neighbor to open list
+ n_pos.sourcedir = invert(direction_3d);
+ n_pos.totalcost = current_totalcost + cost.value;
+ n_pos.estimated_cost = current_totalcost + cost.value + cur_manhattan;
+ n_pos.is_open = true;
+ openList.push(neighbor);
}
}
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " skipping srcdir: "
- << PPOS(direction) << std::endl);
- }
- direction = get_dir_heuristic(directions,g_pos);
}
- return retval;
+ // no path found; all possible nodes within searchdistance have been exhausted
+ return false;
}
/******************************************************************************/
-void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
- level ++;
- if (level > 700) {
- ERROR_TARGET
- << LVL "Pathfinder: path is too long aborting" << std::endl;
- return;
- }
-
- path_gridnode& g_pos = getIndexElement(pos);
- if (!g_pos.valid) {
- ERROR_TARGET
- << LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
- return;
- }
+bool Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 ipos)
+{
+ // The cost calculation should have set a source direction for all relevant nodes.
+ // To build the path, we go backwards from the destination until we reach the start.
+ for(u32 waypoints = 1; waypoints++; ) {
+ if (waypoints > PATHFINDER_MAX_WAYPOINTS) {
+ ERROR_TARGET << "Pathfinder: buildPath: path is too long (too many waypoints), aborting" << std::endl;
+ return false;
+ }
+ // Insert node into path
+ PathGridnode &g_pos = getIndexElement(ipos);
+ if (!g_pos.valid) {
+ ERROR_TARGET << "Pathfinder: buildPath: invalid next pos detected, aborting" << std::endl;
+ return false;
+ }
- g_pos.is_element = true;
+ g_pos.is_element = true;
+ path.push_back(ipos);
+ if (g_pos.source)
+ // start node found, terminate
+ return true;
- //check if source reached
- if (g_pos.source) {
- path.push_back(pos);
- return;
+ // go to the node from which the pathfinder came
+ ipos += g_pos.sourcedir;
}
- build_path(path,pos + g_pos.sourcedir,level);
- path.push_back(pos);
+ ERROR_TARGET << "Pathfinder: buildPath: no source node found" << std::endl;
+ return false;
}
/******************************************************************************/
-v3f pathfinder::tov3f(v3s16 pos) {
- return v3f(BS*pos.X,BS*pos.Y,BS*pos.Z);
+v3s16 Pathfinder::walkDownwards(v3s16 pos, unsigned int max_down) {
+ if (max_down == 0)
+ return pos;
+ v3s16 testpos = v3s16(pos);
+ MapNode node_at_pos = m_map->getNode(testpos);
+ unsigned int down = 0;
+ while ((node_at_pos.param0 != CONTENT_IGNORE) &&
+ (!m_ndef->get(node_at_pos).walkable) &&
+ (testpos.Y > m_limits.MinEdge.Y) &&
+ (down <= max_down)) {
+ testpos += v3s16(0, -1, 0);
+ down++;
+ node_at_pos = m_map->getNode(testpos);
+ }
+ //did we find surface?
+ if ((testpos.Y >= m_limits.MinEdge.Y) &&
+ (node_at_pos.param0 != CONTENT_IGNORE) &&
+ (m_ndef->get(node_at_pos).walkable)) {
+ if (down == 0) {
+ pos = testpos;
+ } else if ((down - 1) <= max_down) {
+ //difference of y-pos +1 (target node is ABOVE solid node)
+ testpos += v3s16(0, 1, 0);
+ pos = testpos;
+ }
+ else {
+ VERBOSE_TARGET << "Pos too far above ground: " <<
+ "Index: " << PP(getIndexPos(pos)) <<
+ "Realpos: " << PP(getRealPos(getIndexPos(pos))) << std::endl;
+ }
+ } else {
+ DEBUG_OUT("Pathfinder: no surface found below pos" << std::endl);
+ }
+ return pos;
}
#ifdef PATHFINDER_DEBUG
/******************************************************************************/
-void pathfinder::print_cost() {
- print_cost(DIR_XP);
- print_cost(DIR_XM);
- print_cost(DIR_ZP);
- print_cost(DIR_ZM);
+void Pathfinder::printCost()
+{
+ printCost(DIR_XP);
+ printCost(DIR_XM);
+ printCost(DIR_ZP);
+ printCost(DIR_ZM);
}
/******************************************************************************/
-void pathfinder::print_ydir() {
- print_ydir(DIR_XP);
- print_ydir(DIR_XM);
- print_ydir(DIR_ZP);
- print_ydir(DIR_ZM);
+void Pathfinder::printYdir()
+{
+ printYdir(DIR_XP);
+ printYdir(DIR_XM);
+ printYdir(DIR_ZP);
+ printYdir(DIR_ZM);
}
/******************************************************************************/
-void pathfinder::print_cost(path_directions dir) {
-
- std::cout << "Cost in direction: " << dir_to_name(dir) << std::endl;
+void Pathfinder::printCost(PathDirections dir)
+{
+ std::cout << "Cost in direction: " << dirToName(dir) << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) {
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) << "-";
}
}
/******************************************************************************/
-void pathfinder::print_ydir(path_directions dir) {
-
- std::cout << "Height difference in direction: " << dir_to_name(dir) << std::endl;
+void Pathfinder::printYdir(PathDirections dir)
+{
+ std::cout << "Height difference in direction: " << dirToName(dir) << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) {
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].y_change;
else
std::cout << std::setw(4) << "-";
}
}
/******************************************************************************/
-void pathfinder::print_type() {
+void Pathfinder::printType()
+{
std::cout << "Type of node:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int 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;
}
/******************************************************************************/
-void pathfinder::print_pathlen() {
+void Pathfinder::printPathLen()
+{
std::cout << "Pathlen:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
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;
}
}
/******************************************************************************/
-std::string pathfinder::dir_to_name(path_directions dir) {
+std::string Pathfinder::dirToName(PathDirections dir)
+{
switch (dir) {
case DIR_XP:
return "XP";
}
/******************************************************************************/
-void pathfinder::print_path(std::vector<v3s16> path) {
-
+void Pathfinder::printPath(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;
+ std::cout << std::setw(3) << current << ":" << PP((*i)) << std::endl;
current++;
}
}
projects / oweals / minetest.git / blobdiff