/*
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
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 GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
+{
+ 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: " << PPOS(realpos) <<
+ " current or below is invalid element" << std::endl);
+ if (current.param0 == CONTENT_IGNORE) {
+ elem.type = 'i';
+ DEBUG_OUT(PPOS(ipos) << ": " << 'i' << std::endl);
+ }
+ return;
+ }
+
+ //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) {
+ elem.type = 's';
+ DEBUG_OUT(PPOS(ipos) << ": " << 's' << std::endl);
+ } else {
+ elem.type = '-';
+ DEBUG_OUT(PPOS(ipos) << ": " << '-' << std::endl);
+ }
+ return;
+ }
+
+ elem.valid = true;
+ elem.pos = realpos;
+ elem.type = 'g';
+ DEBUG_OUT(PPOS(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();
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;
}
/******************************************************************************/
/******************************************************************************/
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));
}
/******************************************************************************/
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;
}
projects / oweals / minetest.git / commitdiff