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Pathfinder: Fix style

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* Fix naming style for methods and classes:
	Use camelCase for methods and PascalCase for classes as
	code style demands it. And use sneak_case for methods that
	are not member of a class.
* Replace "* " with " *" for Pointers
* Same for references
* Put function body opening braces on new line
* Other misc minor non functional style improvements
This commit is contained in:
est31
2016-04-01 01:52:17 +02:00
parent 46e5ef4e9a
commit ac8bb457aa
3 changed files with 211 additions and 192 deletions
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379
src/pathfinder.cpp
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@@ -55,9 +55,9 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#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 errorstream << "Pathfinder: "
#endif
/******************************************************************************/
@@ -66,17 +66,17 @@ with this program; if not, write to the Free Software Foundation, Inc.,
/** representation of cost in specific direction */
class path_cost {
class PathCost {
public:
/** default constructor */
path_cost();
PathCost();
/** 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 */
@@ -87,33 +87,33 @@ public:
/** representation of a mapnode to be used for pathfinding */
class path_gridnode {
class PathGridnode {
public:
/** default constructor */
path_gridnode();
PathGridnode();
/** 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);
void setCost(v3s16 dir, PathCost cost);
bool valid; /**< node is on surface */
bool target; /**< node is target position */
@@ -122,7 +122,7 @@ public:
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 */
PathCost directions[4]; /**< cost in different directions */
/* debug values */
bool is_element; /**< node is element of path detected */
@@ -130,13 +130,13 @@ public:
};
/** class doing pathfinding */
class pathfinder {
class Pathfinder {
public:
/**
* default constructor
*/
pathfinder();
Pathfinder();
/**
* path evaluation function
@@ -146,15 +146,15 @@ public:
* @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,
std::vector<v3s16> getPath(ServerEnvironment *env,
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 */
@@ -190,7 +190,7 @@ private:
* @param ipos index position
* @return gridnode for index
*/
path_gridnode& getIndexElement(v3s16 ipos);
PathGridnode &getIndexElement(v3s16 ipos);
/**
* invert a 3d position
@@ -204,7 +204,7 @@ private:
* @param index position to validate
* @return true/false
*/
bool valid_index(v3s16 index);
bool isValidIndex(v3s16 index);
/**
* translate position to float position
@@ -217,11 +217,11 @@ private:
/* algorithm functions */
/**
* calculate 2d manahttan distance to target
* calculate 2d manahttan distance to target on the xz plane
* @param pos position to calc distance
* @return integer distance
*/
int get_manhattandistance(v3s16 pos);
int getXZManhattanDist(v3s16 pos);
/**
* get best direction based uppon heuristics
@@ -229,13 +229,13 @@ private:
* @param g_pos mapnode to start from
* @return direction to check
*/
v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
v3s16 getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos);
/**
* build internal data representation of search area
* @return true/false if costmap creation was successfull
*/
bool build_costmap();
bool buildCostmap();
/**
* calculate cost of movement
@@ -243,7 +243,7 @@ private:
* @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
@@ -253,7 +253,7 @@ private:
* @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 total_cost, int level);
/**
* recursive try to find a patrh to destionation
@@ -263,7 +263,7 @@ private:
* @param level current recursion depth
* @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 ipos, v3s16 srcdir, int current_cost, int level);
/**
* recursive build a vector containing all nodes from source to destination
@@ -271,7 +271,7 @@ private:
* @param pos pos to check next
* @param level recursion depth
*/
void build_path(std::vector<v3s16>& path,v3s16 pos, int level);
void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
/* variables */
int m_max_index_x; /**< max index of search area in x direction */
@@ -292,56 +292,56 @@ private:
limits 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;
std::vector<std::vector<std::vector<PathGridnode> > > m_data;
ServerEnvironment* m_env; /**< minetest environment pointer */
ServerEnvironment *m_env; /**< minetest environment pointer */
#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
};
@@ -349,23 +349,23 @@ private:
/* implementation */
/******************************************************************************/
std::vector<v3s16> get_Path(ServerEnvironment* env,
std::vector<v3s16> get_path(ServerEnvironment* env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
algorithm algo) {
PathAlgorithm algo)
{
Pathfinder searchclass;
pathfinder searchclass;
return searchclass.get_Path(env,
source,destination,
searchdistance,max_jump,max_drop,algo);
return searchclass.getPath(env,
source, destination,
searchdistance, max_jump, max_drop, algo);
}
/******************************************************************************/
path_cost::path_cost()
PathCost::PathCost()
: valid(false),
value(0),
direction(0),
@@ -375,7 +375,8 @@ path_cost::path_cost()
}
/******************************************************************************/
path_cost::path_cost(const path_cost& b) {
PathCost::PathCost(const PathCost &b)
{
valid = b.valid;
direction = b.direction;
value = b.value;
@@ -383,7 +384,8 @@ path_cost::path_cost(const path_cost& b) {
}
/******************************************************************************/
path_cost& path_cost::operator= (const path_cost& b) {
PathCost &PathCost::operator= (const PathCost &b)
{
valid = b.valid;
direction = b.direction;
value = b.value;
@@ -393,14 +395,14 @@ path_cost& path_cost::operator= (const path_cost& b) {
}
/******************************************************************************/
path_gridnode::path_gridnode()
PathGridnode::PathGridnode()
: valid(false),
target(false),
source(false),
totalcost(-1),
sourcedir(v3s16(0,0,0)),
sourcedir(v3s16(0, 0, 0)),
surfaces(0),
pos(v3s16(0,0,0)),
pos(v3s16(0, 0, 0)),
is_element(false),
type('u')
{
@@ -408,7 +410,7 @@ path_gridnode::path_gridnode()
}
/******************************************************************************/
path_gridnode::path_gridnode(const path_gridnode& b)
PathGridnode::PathGridnode(const PathGridnode &b)
: valid(b.valid),
target(b.target),
source(b.source),
@@ -418,7 +420,7 @@ path_gridnode::path_gridnode(const path_gridnode& b)
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];
@@ -427,7 +429,8 @@ path_gridnode::path_gridnode(const path_gridnode& b)
}
/******************************************************************************/
path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
PathGridnode &PathGridnode::operator= (const PathGridnode &b)
{
valid = b.valid;
target = b.target;
source = b.source;
@@ -447,7 +450,8 @@ path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
}
/******************************************************************************/
path_cost path_gridnode::get_cost(v3s16 dir) {
PathCost PathGridnode::getCost(v3s16 dir)
{
if (dir.X > 0) {
return directions[DIR_XP];
}
@@ -460,12 +464,13 @@ path_cost path_gridnode::get_cost(v3s16 dir) {
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, PathCost cost)
{
if (dir.X > 0) {
directions[DIR_XP] = cost;
}
@@ -481,13 +486,14 @@ void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
}
/******************************************************************************/
std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
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);
@@ -509,18 +515,18 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
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);
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;
@@ -534,22 +540,22 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
m_max_index_z = m_limits.Z.max - m_limits.Z.min;
//build data map
if (!build_costmap()) {
if (!buildCostmap()) {
ERROR_TARGET << "failed to build costmap" << std::endl;
return retval;
}
#ifdef PATHFINDER_DEBUG
print_type();
print_cost();
print_ydir();
printType();
printCost();
printYdir();
#endif
//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" <<
@@ -571,15 +577,15 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
bool update_cost_retval = false;
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, v3s16(0, 0, 0), 0, 0);
break;
default:
ERROR_TARGET << "missing algorithm"<< std::endl;
ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
@@ -587,16 +593,16 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
#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);
buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
print_path(path);
printPath(path);
#endif
//finalize path
@@ -608,7 +614,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
print_path(full_path);
printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
@@ -626,7 +632,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
}
else {
#ifdef PATHFINDER_DEBUG
print_pathlen();
printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
@@ -637,7 +643,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
}
/******************************************************************************/
pathfinder::pathfinder() :
Pathfinder::Pathfinder() :
m_max_index_x(0),
m_max_index_y(0),
m_max_index_z(0),
@@ -646,8 +652,8 @@ pathfinder::pathfinder() :
m_maxjump(0),
m_min_target_distance(0),
m_prefetch(true),
m_start(0,0,0),
m_destination(0,0,0),
m_start(0, 0, 0),
m_destination(0, 0, 0),
m_limits(),
m_data(),
m_env(0)
@@ -656,8 +662,8 @@ pathfinder::pathfinder() :
}
/******************************************************************************/
v3s16 pathfinder::getRealPos(v3s16 ipos) {
v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
v3s16 retval = ipos;
retval.X += m_limits.X.min;
@@ -668,7 +674,7 @@ v3s16 pathfinder::getRealPos(v3s16 ipos) {
}
/******************************************************************************/
bool pathfinder::build_costmap()
bool Pathfinder::buildCostmap()
{
INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
<< m_limits.Z.min << ") ("
@@ -683,12 +689,12 @@ bool pathfinder::build_costmap()
int surfaces = 0;
for (int y = 0; y < m_max_index_y; y++) {
v3s16 ipos(x,y,z);
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));
MapNode below = m_env->getMap().getNodeNoEx(realpos + v3s16(0, -1, 0));
if ((current.param0 == CONTENT_IGNORE) ||
@@ -727,13 +733,13 @@ bool pathfinder::build_costmap()
if (m_prefetch) {
m_data[x][z][y].directions[DIR_XP] =
calc_cost(realpos,v3s16( 1,0, 0));
calcCost(realpos,v3s16( 1, 0, 0));
m_data[x][z][y].directions[DIR_XM] =
calc_cost(realpos,v3s16(-1,0, 0));
calcCost(realpos,v3s16(-1, 0, 0));
m_data[x][z][y].directions[DIR_ZP] =
calc_cost(realpos,v3s16( 0,0, 1));
calcCost(realpos,v3s16( 0, 0, 1));
m_data[x][z][y].directions[DIR_ZM] =
calc_cost(realpos,v3s16( 0,0,-1));
calcCost(realpos,v3s16( 0, 0,-1));
}
}
@@ -751,8 +757,9 @@ bool pathfinder::build_costmap()
}
/******************************************************************************/
path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
path_cost retval;
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
{
PathCost retval;
retval.updated = true;
@@ -779,12 +786,12 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
if (node_at_pos2.param0 == CONTENT_AIR) {
MapNode node_below_pos2 =
m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));
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";
<< PPOS((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
@@ -796,13 +803,13 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
<< " cost same height found" << std::endl);
}
else {
v3s16 testpos = pos2 - v3s16(0,-1,0);
v3s16 testpos = pos2 - v3s16(0, -1, 0);
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.min)) {
testpos += v3s16(0,-1,0);
testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
@@ -836,7 +843,7 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 != CONTENT_AIR) &&
(testpos.Y < m_limits.Y.max)) {
testpos += v3s16(0,1,0);
testpos += v3s16(0, 1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
@@ -864,8 +871,8 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
}
/******************************************************************************/
v3s16 pathfinder::getIndexPos(v3s16 pos) {
v3s16 Pathfinder::getIndexPos(v3s16 pos)
{
v3s16 retval = pos;
retval.X -= m_limits.X.min;
retval.Y -= m_limits.Y.min;
@@ -875,12 +882,14 @@ v3s16 pathfinder::getIndexPos(v3s16 pos) {
}
/******************************************************************************/
path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
{
return m_data[ipos.X][ipos.Z][ipos.Y];
}
/******************************************************************************/
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) &&
@@ -893,7 +902,8 @@ bool pathfinder::valid_index(v3s16 index) {
}
/******************************************************************************/
v3s16 pathfinder::invert(v3s16 pos) {
v3s16 Pathfinder::invert(v3s16 pos)
{
v3s16 retval = pos;
retval.X *=-1;
@@ -904,12 +914,12 @@ v3s16 pathfinder::invert(v3s16 pos) {
}
/******************************************************************************/
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;
@@ -933,14 +943,14 @@ bool pathfinder::update_all_costs( v3s16 ipos,
for (unsigned int i=0; i < directions.size(); i++) {
if (directions[i] != srcdir) {
path_cost cost = g_pos.get_cost(directions[i]);
PathCost cost = g_pos.getCost(directions[i]);
if (cost.valid) {
directions[i].Y = cost.direction;
v3s16 ipos2 = ipos + directions[i];
if (!valid_index(ipos2)) {
if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range (" << m_limits.X.max << "," <<
m_limits.Y.max << "," << m_limits.Z.max
@@ -948,7 +958,7 @@ bool pathfinder::update_all_costs( v3s16 ipos,
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: "
@@ -971,8 +981,8 @@ bool pathfinder::update_all_costs( v3s16 ipos,
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl);
if (update_all_costs(ipos2,invert(directions[i]),
new_cost,level)) {
if (updateAllCosts(ipos2, invert(directions[i]),
new_cost, level)) {
retval = true;
}
}
@@ -993,20 +1003,21 @@ bool pathfinder::update_all_costs( v3s16 ipos,
}
/******************************************************************************/
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) {
v3s16 Pathfinder::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos)
{
int minscore = -1;
v3s16 retdir = v3s16(0,0,0);
v3s16 retdir = v3s16(0, 0, 0);
v3s16 srcpos = g_pos.pos;
DEBUG_OUT("Pathfinder: remaining dirs at beginning:"
<< directions.size() << std::endl);
@@ -1015,14 +1026,14 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
iter != directions.end();
++iter) {
v3s16 pos1 = v3s16(srcpos.X + iter->X,0,srcpos.Z+iter->Z);
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);
int cur_manhattan = getXZManhattanDist(pos1);
PathCost cost = g_pos.getCost(*iter);
if (!cost.updated) {
cost = calc_cost(g_pos.pos,*iter);
g_pos.set_cost(*iter,cost);
cost = calcCost(g_pos.pos, *iter);
g_pos.setCost(*iter, cost);
}
if (cost.valid) {
@@ -1035,7 +1046,7 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
}
}
if (retdir != v3s16(0,0,0)) {
if (retdir != v3s16(0, 0, 0)) {
for (std::vector<v3s16>::iterator iter = directions.begin();
iter != directions.end();
++iter) {
@@ -1057,12 +1068,13 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
}
/******************************************************************************/
bool pathfinder::update_cost_heuristic( v3s16 ipos,
v3s16 srcdir,
int current_cost,
int level) {
bool Pathfinder::updateCostHeuristic( v3s16 ipos,
v3s16 srcdir,
int current_cost,
int level)
{
path_gridnode& g_pos = getIndexElement(ipos);
PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
@@ -1079,38 +1091,38 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
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));
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);
v3s16 direction = getDirHeuristic(directions, g_pos);
while (direction != v3s16(0,0,0) && (!retval)) {
while (direction != v3s16(0, 0, 0) && (!retval)) {
if (direction != srcdir) {
path_cost cost = g_pos.get_cost(direction);
PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction;
if (!valid_index(ipos2)) {
if (!isValidIndex(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);
direction = getDirHeuristic(directions, g_pos);
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;
direction = get_dir_heuristic(directions,g_pos);
direction = getDirHeuristic(directions, g_pos);
continue;
}
@@ -1133,8 +1145,8 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
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)) {
if (updateCostHeuristic(ipos2, invert(direction),
new_cost, level)) {
retval = true;
}
}
@@ -1155,24 +1167,25 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
" skipping srcdir: "
<< PPOS(direction) << std::endl);
}
direction = get_dir_heuristic(directions,g_pos);
direction = getDirHeuristic(directions, g_pos);
}
return retval;
}
/******************************************************************************/
void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
void Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 pos, int level)
{
level ++;
if (level > 700) {
ERROR_TARGET
<< LVL "Pathfinder: path is too long aborting" << std::endl;
<< LVL "Pathfinder: path is too long aborting" << std::endl;
return;
}
path_gridnode& g_pos = getIndexElement(pos);
PathGridnode &g_pos = getIndexElement(pos);
if (!g_pos.valid) {
ERROR_TARGET
<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
return;
}
@@ -1184,37 +1197,40 @@ void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
return;
}
build_path(path,pos + g_pos.sourcedir,level);
buildPath(path, pos + g_pos.sourcedir, level);
path.push_back(pos);
}
/******************************************************************************/
v3f pathfinder::tov3f(v3s16 pos) {
return v3f(BS*pos.X,BS*pos.Y,BS*pos.Z);
v3f Pathfinder::tov3f(v3s16 pos)
{
return v3f(BS * pos.X, BS * pos.Y, BS * pos.Z);
}
#ifdef PATHFINDER_DEBUG
/******************************************************************************/
void pathfinder::print_cost() {
print_cost(DIR_XP);
print_cost(DIR_XM);
print_cost(DIR_ZP);
print_cost(DIR_ZM);
void Pathfinder::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++) {
@@ -1243,9 +1259,9 @@ void pathfinder::print_cost(path_directions dir) {
}
/******************************************************************************/
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++) {
@@ -1274,7 +1290,8 @@ void pathfinder::print_ydir(path_directions dir) {
}
/******************************************************************************/
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(' ');
@@ -1302,7 +1319,8 @@ void pathfinder::print_type() {
}
/******************************************************************************/
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(' ');
@@ -1329,7 +1347,8 @@ void pathfinder::print_pathlen() {
}
/******************************************************************************/
std::string pathfinder::dir_to_name(path_directions dir) {
std::string Pathfinder::dirToName(PathDirections dir)
{
switch (dir) {
case DIR_XP:
return "XP";
@@ -1349,8 +1368,8 @@ std::string pathfinder::dir_to_name(path_directions dir) {
}
/******************************************************************************/
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) {

14
src/pathfinder.h
View File

@@ -41,26 +41,26 @@ typedef enum {
DIR_XM,
DIR_ZP,
DIR_ZM
} path_directions;
} PathDirections;
/** List of supported algorithms */
typedef enum {
DIJKSTRA, /**< Dijkstra shortest path algorithm */
A_PLAIN, /**< A* algorithm using heuristics to find a path */
A_PLAIN_NP /**< A* algorithm without prefetching of map data */
} algorithm;
PA_DIJKSTRA, /**< Dijkstra shortest path algorithm */
PA_PLAIN, /**< A* algorithm using heuristics to find a path */
PA_PLAIN_NP /**< A* algorithm without prefetching of map data */
} PathAlgorithm;
/******************************************************************************/
/* declarations */
/******************************************************************************/
/** c wrapper function to use from scriptapi */
std::vector<v3s16> get_Path(ServerEnvironment* env,
std::vector<v3s16> get_path(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
algorithm algo);
PathAlgorithm algo);
#endif /* PATHFINDER_H_ */

10
src/script/lua_api/l_env.cpp
View File

@@ -915,19 +915,19 @@ int ModApiEnvMod::l_find_path(lua_State *L)
unsigned int searchdistance = luaL_checkint(L, 3);
unsigned int max_jump = luaL_checkint(L, 4);
unsigned int max_drop = luaL_checkint(L, 5);
algorithm algo = A_PLAIN_NP;
PathAlgorithm algo = PA_PLAIN_NP;
if (!lua_isnil(L, 6)) {
std::string algorithm = luaL_checkstring(L,6);
if (algorithm == "A*")
algo = A_PLAIN;
algo = PA_PLAIN;
if (algorithm == "Dijkstra")
algo = DIJKSTRA;
algo = PA_DIJKSTRA;
}
std::vector<v3s16> path =
get_Path(env,pos1,pos2,searchdistance,max_jump,max_drop,algo);
std::vector<v3s16> path = get_path(env, pos1, pos2,
searchdistance, max_jump, max_drop, algo);
if (path.size() > 0)
{