diff --git a/src/pathfinder.cpp b/src/pathfinder.cpp index 90fc4ecda..28cad1733 100644 --- a/src/pathfinder.cpp +++ b/src/pathfinder.cpp @@ -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 get_Path(ServerEnvironment* env, + std::vector 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& directions,path_gridnode& g_pos); + v3s16 getDirHeuristic(std::vector &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& path,v3s16 pos, int level); + void buildPath(std::vector &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 > > m_data; + std::vector > > 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 path); + void printPath(std::vector 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 get_Path(ServerEnvironment* env, +std::vector 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 pathfinder::get_Path(ServerEnvironment* env, +std::vector 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 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 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 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 pathfinder::get_Path(ServerEnvironment* env, #ifdef PATHFINDER_DEBUG std::cout << "Path to target found!" << std::endl; - print_pathlen(); + printPathLen(); #endif //find path std::vector 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 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 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 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& directions,path_gridnode& g_pos) { +v3s16 Pathfinder::getDirHeuristic(std::vector &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& 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& directions,path_gridnode } } - if (retdir != v3s16(0,0,0)) { + if (retdir != v3s16(0, 0, 0)) { for (std::vector::iterator iter = directions.begin(); iter != directions.end(); ++iter) { @@ -1057,12 +1068,13 @@ v3s16 pathfinder::get_dir_heuristic(std::vector& 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 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& path,v3s16 pos, int level) { +void Pathfinder::buildPath(std::vector &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& 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 path) { - +void Pathfinder::printPath(std::vector path) +{ unsigned int current = 0; for (std::vector::iterator i = path.begin(); i != path.end(); ++i) { diff --git a/src/pathfinder.h b/src/pathfinder.h index 31ea2f285..ba95aaf1c 100644 --- a/src/pathfinder.h +++ b/src/pathfinder.h @@ -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 get_Path(ServerEnvironment* env, +std::vector 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_ */ diff --git a/src/script/lua_api/l_env.cpp b/src/script/lua_api/l_env.cpp index af89da9a1..8284c3fcb 100644 --- a/src/script/lua_api/l_env.cpp +++ b/src/script/lua_api/l_env.cpp @@ -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 path = - get_Path(env,pos1,pos2,searchdistance,max_jump,max_drop,algo); + std::vector path = get_path(env, pos1, pos2, + searchdistance, max_jump, max_drop, algo); if (path.size() > 0) {