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minetest/src/pathfinder.cpp

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/*
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
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
/******************************************************************************/
/* Includes */
/******************************************************************************/
#include "pathfinder.h"
#include "serverenvironment.h"
#include "server.h"
#include "nodedef.h"
//#define PATHFINDER_DEBUG
//#define PATHFINDER_CALC_TIME
#ifdef PATHFINDER_DEBUG
#include <string>
#endif
#ifdef PATHFINDER_DEBUG
#include <iomanip>
#endif
#ifdef PATHFINDER_CALC_TIME
#include <sys/time.h>
#endif
/******************************************************************************/
/* Typedefs and macros */
/******************************************************************************/
#define LVL "(" << level << ")" <<
#ifdef PATHFINDER_DEBUG
#define DEBUG_OUT(a) std::cout << a
#define INFO_TARGET std::cout
#define VERBOSE_TARGET std::cout
#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 warningstream << "Pathfinder: "
#endif
/******************************************************************************/
/* Class definitions */
/******************************************************************************/
/** representation of cost in specific direction */
class PathCost {
public:
/** default constructor */
PathCost() = default;
/** copy constructor */
PathCost(const PathCost &b);
/** assignment operator */
PathCost &operator= (const PathCost &b);
bool valid = false; /**< movement is possible */
int value = 0; /**< cost of movement */
int direction = 0; /**< y-direction of movement */
bool updated = false; /**< this cost has ben calculated */
};
/** representation of a mapnode to be used for pathfinding */
class PathGridnode {
public:
/** default constructor */
PathGridnode() = default;
/** copy constructor */
PathGridnode(const PathGridnode &b);
/**
* assignment operator
* @param b node to copy
*/
PathGridnode &operator= (const PathGridnode &b);
/**
* read cost in a specific direction
* @param dir direction of cost to fetch
*/
PathCost getCost(v3s16 dir);
/**
* set cost value for movement
* @param dir direction to set cost for
* @cost cost to set
*/
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 */
v3s16 sourcedir; /**< origin of movement for current cost */
v3s16 pos; /**< real position of node */
PathCost directions[4]; /**< cost in different directions */
/* debug values */
bool is_element = false; /**< node is element of path detected */
char type = 'u'; /**< type of node */
};
class Pathfinder;
/** 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 {
public:
/**
* default constructor
*/
Pathfinder() = default;
~Pathfinder();
/**
* path evaluation function
* @param env environment to look for path
* @param source origin of path
* @param destination end position of path
* @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
*/
std::vector<v3s16> getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo);
private:
/* helper functions */
/**
* transform index pos to mappos
* @param ipos a index position
* @return map position
*/
v3s16 getRealPos(v3s16 ipos);
/**
* transform mappos to index pos
* @param pos a real pos
* @return index position
*/
v3s16 getIndexPos(v3s16 pos);
/**
* get gridnode at a specific index position
* @param ipos index position
* @return gridnode for index
*/
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
* @return pos *-1
*/
v3s16 invert(v3s16 pos);
/**
* check if a index is within current search area
* @param index position to validate
* @return true/false
*/
bool isValidIndex(v3s16 index);
/**
* translate position to float position
* @param pos integer position
* @return float position
*/
v3f tov3f(v3s16 pos);
/* algorithm functions */
/**
* calculate 2d manahttan distance to target on the xz plane
* @param pos position to calc distance
* @return integer distance
*/
int getXZManhattanDist(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 getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos);
/**
* build internal data representation of search area
* @return true/false if costmap creation was successfull
*/
bool buildCostmap();
/**
* calculate cost of movement
* @param pos real world position to start movement
* @param dir direction to move to
* @return cost information
*/
PathCost calcCost(v3s16 pos, v3s16 dir);
/**
* recursive update whole search areas total cost information
* @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
* @return true/false path to destination has been found
*/
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
* @return true/false path to destination has been found
*/
bool updateCostHeuristic(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
/**
* recursive build a vector containing all nodes from source to destination
* @param path vector to add nodes to
* @param pos pos to check next
* @param level recursion depth
*/
void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
/* variables */
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 = 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 = true; /**< prefetch cost data */
v3s16 m_start; /**< source position */
v3s16 m_destination; /**< destination position */
core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
/** 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 = 0; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
/**
* print collected cost information
*/
void printCost();
/**
* print collected cost information in a specific direction
* @param dir direction to print
*/
void printCost(PathDirections dir);
/**
* print type of node as evaluated
*/
void printType();
/**
* print pathlenght for all nodes in search area
*/
void printPathLen();
/**
* print a path
* @param path path to show
*/
void printPath(std::vector<v3s16> path);
/**
* print y direction for all movements
*/
void printYdir();
/**
* print y direction for moving in a specific direction
* @param dir direction to show data
*/
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 dirToName(PathDirections dir);
#endif
};
/******************************************************************************/
/* implementation */
/******************************************************************************/
std::vector<v3s16> get_path(ServerEnvironment* env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo)
{
Pathfinder searchclass;
return searchclass.getPath(env,
source, destination,
searchdistance, max_jump, max_drop, algo);
}
/******************************************************************************/
PathCost::PathCost(const PathCost &b)
{
valid = b.valid;
direction = b.direction;
value = b.value;
updated = b.updated;
}
/******************************************************************************/
PathCost &PathCost::operator= (const PathCost &b)
{
valid = b.valid;
direction = b.direction;
value = b.value;
updated = b.updated;
return *this;
}
/******************************************************************************/
PathGridnode::PathGridnode(const PathGridnode &b)
: valid(b.valid),
target(b.target),
source(b.source),
totalcost(b.totalcost),
sourcedir(b.sourcedir),
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];
directions[DIR_ZP] = b.directions[DIR_ZP];
directions[DIR_ZM] = b.directions[DIR_ZM];
}
/******************************************************************************/
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;
pos = b.pos;
type = b.type;
directions[DIR_XP] = b.directions[DIR_XP];
directions[DIR_XM] = b.directions[DIR_XM];
directions[DIR_ZP] = b.directions[DIR_ZP];
directions[DIR_ZM] = b.directions[DIR_ZM];
return *this;
}
/******************************************************************************/
PathCost PathGridnode::getCost(v3s16 dir)
{
if (dir.X > 0) {
return directions[DIR_XP];
}
if (dir.X < 0) {
return directions[DIR_XM];
}
if (dir.Z > 0) {
return directions[DIR_ZP];
}
if (dir.Z < 0) {
return directions[DIR_ZM];
}
PathCost retval;
return retval;
}
/******************************************************************************/
void PathGridnode::setCost(v3s16 dir, const PathCost &cost)
{
if (dir.X > 0) {
directions[DIR_XP] = cost;
}
if (dir.X < 0) {
directions[DIR_XM] = cost;
}
if (dir.Z > 0) {
directions[DIR_ZP] = cost;
}
if (dir.Z < 0) {
directions[DIR_ZM] = cost;
}
}
void GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
{
const NodeDefManager *ndef = m_pathf->m_env->getGameDef()->ndef();
PathGridnode &elem = *p_node;
v3s16 realpos = m_pathf->getRealPos(ipos);
MapNode current = m_pathf->m_env->getMap().getNodeNoEx(realpos);
MapNode below = m_pathf->m_env->getMap().getNodeNoEx(realpos + v3s16(0, -1, 0));
if ((current.param0 == CONTENT_IGNORE) ||
(below.param0 == CONTENT_IGNORE)) {
DEBUG_OUT("Pathfinder: " << PP(realpos) <<
" current or below is invalid element" << std::endl);
if (current.param0 == CONTENT_IGNORE) {
elem.type = 'i';
DEBUG_OUT(PP(ipos) << ": " << 'i' << std::endl);
}
return;
}
//don't add anything if it isn't an air node
if (ndef->get(current).walkable || !ndef->get(below).walkable) {
DEBUG_OUT("Pathfinder: " << PP(realpos)
<< " not on surface" << std::endl);
if (ndef->get(current).walkable) {
elem.type = 's';
DEBUG_OUT(PP(ipos) << ": " << 's' << std::endl);
} else {
elem.type = '-';
DEBUG_OUT(PP(ipos) << ": " << '-' << std::endl);
}
return;
}
elem.valid = true;
elem.pos = realpos;
elem.type = 'g';
DEBUG_OUT(PP(ipos) << ": " << 'a' << std::endl);
if (m_pathf->m_prefetch) {
elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
elem.directions[DIR_XM] = m_pathf->calcCost(realpos, v3s16(-1, 0, 0));
elem.directions[DIR_ZP] = m_pathf->calcCost(realpos, v3s16( 0, 0, 1));
elem.directions[DIR_ZM] = m_pathf->calcCost(realpos, v3s16( 0, 0,-1));
}
}
ArrayGridNodeContainer::ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions) :
m_x_stride(dimensions.Y * dimensions.Z),
m_y_stride(dimensions.Z)
{
m_pathf = pathf;
m_nodes_array.resize(dimensions.X * dimensions.Y * dimensions.Z);
INFO_TARGET << "Pathfinder ArrayGridNodeContainer constructor." << std::endl;
for (int x = 0; x < dimensions.X; x++) {
for (int y = 0; y < dimensions.Y; y++) {
for (int z= 0; z < dimensions.Z; z++) {
v3s16 ipos(x, y, z);
initNode(ipos, &access(ipos));
}
}
}
}
PathGridnode &ArrayGridNodeContainer::access(v3s16 p)
{
return m_nodes_array[p.X * m_x_stride + p.Y * m_y_stride + p.Z];
}
MapGridNodeContainer::MapGridNodeContainer(Pathfinder *pathf)
{
m_pathf = pathf;
}
PathGridnode &MapGridNodeContainer::access(v3s16 p)
{
std::map<v3s16, PathGridnode>::iterator it = m_nodes.find(p);
if (it != m_nodes.end()) {
return it->second;
}
PathGridnode &n = m_nodes[p];
initNode(p, &n);
return n;
}
/******************************************************************************/
std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
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;
}
m_searchdistance = searchdistance;
m_env = env;
m_maxjump = max_jump;
m_maxdrop = max_drop;
m_start = source;
m_destination = destination;
m_min_target_distance = -1;
m_prefetch = true;
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_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);
m_limits.MinEdge.X = min_x - searchdistance;
m_limits.MinEdge.Y = min_y - searchdistance;
m_limits.MinEdge.Z = min_z - searchdistance;
m_limits.MaxEdge.X = max_x + searchdistance;
m_limits.MaxEdge.Y = max_y + searchdistance;
m_limits.MaxEdge.Z = max_z + searchdistance;
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
printType();
printCost();
printYdir();
#endif
//validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
PathGridnode &startpos = getIndexElement(StartIndex);
PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
"Index: " << PP(StartIndex) <<
"Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
return retval;
}
if (!endpos.valid) {
VERBOSE_TARGET << "invalid stoppos" <<
"Index: " << PP(EndIndex) <<
"Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
endpos.target = true;
startpos.source = true;
startpos.totalcost = 0;
bool update_cost_retval = false;
switch (algo) {
case PA_DIJKSTRA:
update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
case PA_PLAIN_NP:
case PA_PLAIN:
update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
if (update_cost_retval) {
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
printPathLen();
#endif
//find path
std::vector<v3s16> path;
buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
printPath(path);
#endif
//finalize path
std::vector<v3s16> full_path;
for (const v3s16 &i : path) {
full_path.push_back(getIndexElement(i).pos);
}
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
clock_gettime(CLOCK_REALTIME, &ts2);
int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
#endif
return full_path;
}
else {
#ifdef PATHFINDER_DEBUG
printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
//return
return retval;
}
Pathfinder::~Pathfinder()
{
delete m_nodes_container;
}
/******************************************************************************/
v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
return m_limits.MinEdge + ipos;
}
/******************************************************************************/
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
{
const NodeDefManager *ndef = m_env->getGameDef()->ndef();
PathCost retval;
retval.updated = true;
v3s16 pos2 = pos + dir;
//check limits
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);
//did we get information about node?
if (node_at_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
<< PP(pos2) << " not loaded";
return retval;
}
if (!ndef->get(node_at_pos2).walkable) {
MapNode node_below_pos2 =
m_env->getMap().getNodeNoEx(pos2 + v3s16(0, -1, 0));
//did we get information about node?
if (node_below_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
<< PP((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
if (ndef->get(node_below_pos2).walkable) {
retval.valid = true;
retval.value = 1;
retval.direction = 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);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(!ndef->get(node_at_pos).walkable) &&
(testpos.Y > m_limits.MinEdge.Y)) {
testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
if ((testpos.Y >= m_limits.MinEdge.Y) &&
(node_at_pos.param0 != CONTENT_IGNORE) &&
(ndef->get(node_at_pos).walkable)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
retval.valid = true;
retval.value = 2;
//difference of y-pos +1 (target node is ABOVE solid node)
retval.direction = ((testpos.Y - pos2.Y) +1);
DEBUG_OUT("Pathfinder cost below height found" << std::endl);
}
else {
INFO_TARGET << "Pathfinder:"
" distance to surface below to big: "
<< (testpos.Y - pos2.Y) << " max: " << m_maxdrop
<< std::endl;
}
}
else {
DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
}
}
}
else {
v3s16 testpos = pos2;
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(ndef->get(node_at_pos).walkable) &&
(testpos.Y < m_limits.MaxEdge.Y)) {
testpos += v3s16(0, 1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
if ((testpos.Y <= m_limits.MaxEdge.Y) &&
(!ndef->get(node_at_pos).walkable)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
retval.valid = true;
retval.value = 2;
retval.direction = (testpos.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
<< std::endl);
}
}
else {
DEBUG_OUT("Pathfinder: no surface above found" << std::endl);
}
}
return retval;
}
/******************************************************************************/
v3s16 Pathfinder::getIndexPos(v3s16 pos)
{
return pos - m_limits.MinEdge;
}
/******************************************************************************/
PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
{
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));
}
/******************************************************************************/
bool Pathfinder::isValidIndex(v3s16 index)
{
if ( (index.X < m_max_index_x) &&
(index.Y < m_max_index_y) &&
(index.Z < m_max_index_z) &&
(index.X >= 0) &&
(index.Y >= 0) &&
(index.Z >= 0))
return true;
return false;
}
/******************************************************************************/
v3s16 Pathfinder::invert(v3s16 pos)
{
v3s16 retval = pos;
retval.X *=-1;
retval.Y *=-1;
retval.Z *=-1;
return retval;
}
/******************************************************************************/
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;
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.emplace_back(1,0, 0);
directions.emplace_back(-1,0, 0);
directions.emplace_back(0,0, 1);
directions.emplace_back(0,0,-1);
for (v3s16 &direction : directions) {
if (direction != srcdir) {
PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction;
if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
" out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
continue;
}
PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
<< PP(ipos2) << std::endl;
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)) {
return false;
}
if ((g_pos2.totalcost < 0) ||
(g_pos2.totalcost > new_cost)) {
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl);
if (updateAllCosts(ipos2, invert(direction),
new_cost, level)) {
retval = true;
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" already found shorter path to: "
<< PP(ipos2) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" not moving to invalid direction: "
<< PP(directions[i]) << std::endl);
}
}
}
return retval;
}
/******************************************************************************/
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::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &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 (v3s16 &direction : directions) {
v3s16 pos1 = v3s16(srcpos.X + direction.X, 0, srcpos.Z+ direction.Z);
int cur_manhattan = getXZManhattanDist(pos1);
PathCost cost = g_pos.getCost(direction);
if (!cost.updated) {
cost = calcCost(g_pos.pos, direction);
g_pos.setCost(direction, cost);
}
if (cost.valid) {
int score = cost.value + cur_manhattan;
if ((minscore < 0)|| (score < minscore)) {
minscore = score;
retdir = direction;
}
}
}
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;
}
}
}
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::updateCostHeuristic( v3s16 ipos,
v3s16 srcdir,
int current_cost,
int level)
{
PathGridnode &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.emplace_back(1, 0, 0);
directions.emplace_back(-1, 0, 0);
directions.emplace_back(0, 0, 1);
directions.emplace_back(0, 0, -1);
v3s16 direction = getDirHeuristic(directions, g_pos);
while (direction != v3s16(0, 0, 0) && (!retval)) {
if (direction != srcdir) {
PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction;
if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
" out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
direction = getDirHeuristic(directions, g_pos);
continue;
}
PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
<< PP(ipos2) << std::endl;
direction = getDirHeuristic(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 "
<< PP(ipos2) << std::endl);
return false;
}
if ((g_pos2.totalcost < 0) ||
(g_pos2.totalcost > new_cost)) {
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << " srcdir=" <<
PP(invert(direction))<< std::endl);
if (updateCostHeuristic(ipos2, invert(direction),
new_cost, level)) {
retval = true;
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" already found shorter path to: "
<< PP(ipos2) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" not moving to invalid direction: "
<< PP(direction) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" skipping srcdir: "
<< PP(direction) << std::endl);
}
direction = getDirHeuristic(directions, g_pos);
}
return retval;
}
/******************************************************************************/
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;
return;
}
PathGridnode &g_pos = getIndexElement(pos);
if (!g_pos.valid) {
ERROR_TARGET
<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
return;
}
g_pos.is_element = true;
//check if source reached
if (g_pos.source) {
path.push_back(pos);
return;
}
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);
}
#ifdef PATHFINDER_DEBUG
/******************************************************************************/
void Pathfinder::printCost()
{
printCost(DIR_XP);
printCost(DIR_XM);
printCost(DIR_ZP);
printCost(DIR_ZM);
}
/******************************************************************************/
void Pathfinder::printYdir()
{
printYdir(DIR_XP);
printYdir(DIR_XM);
printYdir(DIR_ZP);
printYdir(DIR_ZM);
}
/******************************************************************************/
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++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(4) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(4) << x;
}
std::cout << std::endl;
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 (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
<< getIdxElem(x, y, z).directions[dir].value;
else
std::cout << std::setw(4) << "-";
}
std::cout << std::endl;
}
std::cout << 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++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(4) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(4) << x;
}
std::cout << std::endl;
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 (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
<< getIdxElem(x, y, z).directions[dir].direction;
else
std::cout << std::setw(4) << "-";
}
std::cout << std::endl;
}
std::cout << std::endl;
}
}
/******************************************************************************/
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 y = 0; y < m_max_index_y; y++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(3) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(3) << x;
}
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++) {
char toshow = getIdxElem(x, y, z).type;
std::cout << std::setw(3) << toshow;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
/******************************************************************************/
void Pathfinder::printPathLen()
{
std::cout << "Pathlen:" << 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++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(3) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(3) << x;
}
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) << getIdxElem(x, y, z).totalcost;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
/******************************************************************************/
std::string Pathfinder::dirToName(PathDirections dir)
{
switch (dir) {
case DIR_XP:
return "XP";
break;
case DIR_XM:
return "XM";
break;
case DIR_ZP:
return "ZP";
break;
case DIR_ZM:
return "ZM";
break;
default:
return "UKN";
}
}
/******************************************************************************/
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 << ":" << PP((*i)) << std::endl;
current++;
}
}
#endif
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