Pathfinding: Cleanup jumper.lua
Add copyright notices to jumper.lua Remove 'pathfinder2.lua'
This commit is contained in:
Zorman2000
@@ -1,20 +1,51 @@
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-- Code based on Jumper library
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---------------------------------------------------------------------------------------
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-- This code is entirely based on the Jumper library by Roland Yonaba.
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-- The modifications are only to make it work under Minetest's secure
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-- environment. Therefore, the code in this file is under the MIT license
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-- as the original Jumper library. The original library code can be found
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-- here: https://github.com/Yonaba/Jumper
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--- The Pathfinder class
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-- Modifications are by Hector Franqui (Zorman2000)
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-- Modification by Zorman2000:
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-- This file has been modified to be usable with Minetest.
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-- Do to Minetest's mod security, the global "require()" call
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-- is disabled, and needs to be replaced by one using Minetest's
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-- environment.
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-- - Get Minetest's insecure environment
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-- - Change all "require" calls to "ie.require()"
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--
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-- The rest of the code is left intact and is (c) 2012-2013 Roland Yonaba
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---------------------------------------------------------------------------------------
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-- Copyright (c) 2012-2013 Roland Yonaba
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-- Permission is hereby granted, free of charge, to any person obtaining a
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-- copy of this software and associated documentation files (the
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-- "Software"), to deal in the Software without restriction, including
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-- without limitation the rights to use, copy, modify, merge, publish,
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-- distribute, sublicense, and/or sell copies of the Software, and to
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-- permit persons to whom the Software is furnished to do so, subject to
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-- the following conditions:
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-- The above copyright notice and this permission notice shall be included
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-- in all copies or substantial portions of the Software.
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-- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
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-- OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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-- MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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-- IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
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-- CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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-- TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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-- SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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--
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---------------------------------------------------------------------------------------
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---------------------------------------------------------------------------------------
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---------------------------------------------------------------------------------------
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-- Local variables declarations
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local abs = math.abs
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local sqrt = math.sqrt
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local max = math.max
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local floor = math.floor
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local t_insert, t_remove = table.insert, table.remove
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local huge = math.huge
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---------------------------------------------------------------------------------------
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-- Heuristics based on implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/core/heuristics.lua
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---------------------------------------------------------------------------------------
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local Heuristics = {
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['MANHATTAN'] = function(nodeA, nodeB)
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local dx = abs(nodeA._x - nodeB._x)
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@@ -28,6 +59,11 @@ local Heuristics = {
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end
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}
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---------------------------------------------------------------------------------------
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-- Node class implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/core/node.lua
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---------------------------------------------------------------------------------------
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local Node = setmetatable({},
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{__call = function(self,...)
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return Node:new(...)
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@@ -106,14 +142,11 @@ local Node = setmetatable({},
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return self
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end
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---------------------------------------------------------------
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-- Path class implementation by Ronald Yonaba
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-- Original code here:
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---------------------------------------------------------------
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-- Local references
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local abs, max = math.abs, math.max
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local t_insert, t_remove = table.insert, table.remove
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---------------------------------------------------------------------------------------
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-- Path class implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/core/path.lua
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---------------------------------------------------------------------------------------
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--- The `Path` class.<br/>
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-- This class is callable.
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-- Therefore, <em><code>Path(...)</code></em> acts as a shortcut to <em><code>Path:new(...)</code></em>.
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@@ -294,12 +327,12 @@ function Path:append(p)
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for node in p:nodes() do self:addNode(node) end
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return self
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end
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-- Local reference
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local floor = math.floor
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---------------------------------------------------------------------------------------
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-- Utils class based on implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/core/utils.lua
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---------------------------------------------------------------------------------------
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local Utils = {
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traceBackPath = function(finder, node, startNode)
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local path = Path:new()
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@@ -358,11 +391,11 @@ local Utils = {
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end
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}
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---------------------------------------------------------------
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-- B-Heap implementation by Ronald Yonaba
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-- Original code here:
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---------------------------------------------------------------
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---------------------------------------------------------------------------------------
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-- Bheap class implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/core/bheap.lua
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---------------------------------------------------------------------------------------
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-- Default comparison function
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local function f_min(a,b) return a < b end
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@@ -507,15 +540,15 @@ function heap:heapify(item)
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return self
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end
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---------------------------------------------------------------
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-- Grid implementation by Ronald Yonaba
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-- Original code here:
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---------------------------------------------------------------
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---------------------------------------------------------------------------------------
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-- Grid class implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/grid.lua
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---------------------------------------------------------------------------------------
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local pairs = pairs
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local assert = assert
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local next = next
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local setmetatable = setmetatable
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local floor = math.floor
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local coroutine = coroutine
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-- Offsets for straights moves
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@@ -904,13 +937,12 @@ function PostProcessGrid:getNodeAt(x,y)
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end
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---------------------------------------------------------------
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-- A* algorithm implementation by Ronald Yonaba
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-- Original code here:
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---------------------------------------------------------------
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---------------------------------------------------------------------------------------
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-- A* algorithm based on implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/search/astar.lua
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---------------------------------------------------------------------------------------
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-- Internalization
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local ipairs = ipairs
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local huge = math.huge
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-- Updates G-cost
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local function computeCost(node, neighbour, finder, clearance)
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@@ -973,6 +1005,11 @@ local function ASTAR(finder, startNode, endNode, clearance, toClear, overrideHeu
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return nil
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end
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---------------------------------------------------------------------------------------
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-- Pathfinder class based on implementation by Ronald Yonaba
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-- Original code here: https://github.com/Yonaba/Jumper/jumper/pathfinder.lua
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---------------------------------------------------------------------------------------
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local Finders = {
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['ASTAR'] = ASTAR
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}
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@@ -1,274 +0,0 @@
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-- Pathfinder by Zorman2000
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-- Pathfinding code with included A* implementation, customized
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-- for Minetest. At the moment, paths can only be found in flat
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-- terrain (only 2D pathfinding)
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-- Public namespace
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pathfinder = {}
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-- Private namespace for pathfinder functions
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local finder = {}
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pathfinder.node_types = {
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start = 0,
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goal = 1,
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walkable = 2,
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openable = 3,
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non_walkable = 4
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}
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pathfinder.nodes = {
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openable_prefix = {
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"doors:",
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"cottages:gate",
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"cottages:half_door"
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}
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}
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function pathfinder.find_path(start_pos, end_pos, extra_range, walkable_nodes)
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-- Create map
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local map = finder.create_map(start_pos, end_pos, extra_range, walkable_nodes)
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minetest.log("Number of nodes in map: "..dump(#map))
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-- Use A* algorithm
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local path = minetest.find_path(start_pos, end_pos, 30, 1, 1, "Dijkstra")
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minetest.log("Path: "..dump(path))
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return path
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--return finder.astar({name="air", pos=start_pos}, {name="air", pos=end_pos}, map)
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end
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-- This function is used to determine if a node is walkable
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-- or openable, in which case is good to use when finding a path
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function finder.is_good_node(node, exceptions)
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-- Is openable is to support doors, fence gates and other
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-- doors from other mods. Currently, default doors, gates
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-- and cottages doors are supported.
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local is_openable = false
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for _,node_prefix in pairs(pathfinder.nodes.openable_prefix) do
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local start_i,end_i = string.find(node.name, node_prefix)
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if start_i ~= nil then
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is_openable = true
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break
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end
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end
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if node ~= nil and node.name ~= nil and not minetest.registered_nodes[node.name].walkable then
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return pathfinder.node_types.walkable
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elseif is_openable then
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return pathfinder.node_types.openable
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else
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for i = 1, #exceptions do
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if node.name == exceptions[i] then
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return pathfinder.node_types.walkable
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end
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end
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return pathfinder.node_types.non_walkable
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end
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end
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-- Maps a 2D slice of Minetest terrain into an array of nodes
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-- Extra range is a number that will be added in the x and the z coordinates
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-- to allow more room to find paths.
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-- Walkables is an array of node names which are considered walkable,
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-- even if they are not.
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function finder.create_map(start_pos, end_pos, extra_range, walkables)
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minetest.log("Start pos: "..minetest.pos_to_string(start_pos))
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minetest.log("End pos: "..minetest.pos_to_string(end_pos))
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-- Calculate all signs to ensure:
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-- 1. Correct area calculation
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-- 2. Iterate in the correct direction
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local start_x_sign = (start_pos.x - end_pos.x) / math.abs(start_pos.x - end_pos.x)
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local start_z_sign = (start_pos.z - end_pos.z) / math.abs(start_pos.z - end_pos.z)
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local end_x_sign = (end_pos.x - start_pos.x) / math.abs(end_pos.x - start_pos.x)
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local end_z_sign = (end_pos.z - start_pos.z) / math.abs(end_pos.z - start_pos.z)
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-- Correct the signs if they are nan
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if math.abs(start_pos.x - end_pos.x) == 0 then
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start_x_sign = -1
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end_x_sign = 1
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end
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if math.abs(start_pos.z - end_pos.z) == 0 then
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start_z_sign = -1
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end_z_sign = 1
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end
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-- Get starting and ending positions, adding the extra nodes to the area
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local pos1 = {x=start_pos.x + (extra_range * start_x_sign), y = start_pos.y - 1, z=start_pos.z + (extra_range * start_z_sign)}
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local pos2 = {x=end_pos.x + (extra_range * end_x_sign), y = end_pos.y, z=end_pos.z + (extra_range * end_z_sign)}
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minetest.log("Recalculated pos1: "..minetest.pos_to_string(pos1))
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minetest.log("Recalculated pos2: "..minetest.pos_to_string(pos2))
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local grid = {}
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-- Loop through the area and classify nodes
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for z = 1, math.abs(pos1.z - pos2.z) do
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--local current_row = {}
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for x = 1, math.abs(pos1.x - pos2.x) do
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-- Calculate current position
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local current_pos = {x=pos1.x + (x*end_x_sign), y=pos1.y, z=pos1.z + (z*end_z_sign)}
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-- Get node info
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local node = minetest.get_node(current_pos)
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-- Check if this is the starting position
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if current_pos.x == start_pos.x and current_pos.z == start_pos.z then
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-- Is start position
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table.insert(grid, {name=node.name, pos=current_pos, type=pathfinder.node_types.start})
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elseif current_pos.x == end_pos.x and current_pos.z == end_pos.z then
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-- Is ending position or goal position
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table.insert(grid, {name=node.name, pos=current_pos, type=pathfinder.node_types.goal})
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else
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-- Check if node is walkable
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if node.name == "air" then
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-- If air do no more checks
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table.insert(grid, {name=node.name, pos=current_pos, type=pathfinder.node_types.walkable})
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else
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-- Check if it is of a walkable or openable type
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table.insert(grid, {name=node.name, pos=current_pos, type=finder.is_good_node(node, walkables)})
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end
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end
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end
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-- Insert the converted row into the grid
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--table.insert(grid, current_row)
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end
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return grid
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end
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--------------------------------------------------------------------------
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-- A* algorithm implementation
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--------------------------------------------------------------------------
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-- Utility functions
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function finder.distance(node1, node2)
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return math.sqrt(math.pow(node2.pos.x - node1.pos.x, 2) + math.pow(node2.pos.z - node1.pos.z, 2))
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end
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function finder.is_valid_neighbor(node1, node2)
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-- Consider only orthogonal nodes
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if (node1.pos.x == node2.pos.x and node1.pos.z ~= node2.pos.z)
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or (node1.pos.z == node2.pos.z and node1.pos.x ~= node2.pos.z) then
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if (finder.distance(node1, node2) < 2) then
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return finder.is_good_node(node2, {})
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end
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end
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return false
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end
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function finder.cost_estimate(node1, node2)
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return finder.distance(node1, node2)
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end
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function finder.get_lowest_fscore(nodes, f_scores)
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local lowest = 1/0
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local best_node = nil
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for _, node in pairs(nodes) do
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local score = f_scores[node]
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if score < lowest then
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lowest = score
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best_node = node
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end
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end
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return best_node
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end
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function finder.get_neighbor(node, nodes)
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local neighbors = {}
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for _, current_node in pairs(nodes) do
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if current_node ~= node then
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if finder.is_valid_neighbor(node, current_node) then
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table.insert(neighbors, current_node)
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end
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end
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end
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return neighbors
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end
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function finder.contains_node(node, all_nodes)
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for _,current_node in pairs(all_nodes) do
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if current_node == node then
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return true
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end
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end
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return false
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end
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function finder.remove_node(node, all_nodes)
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--minetest.log("On remove_node: "..dump(all_nodes))
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for key, current_node in pairs(all_nodes) do
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if current_node == node then
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--minetest.log("Table before: "..dump(all_nodes))
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table.remove(all_nodes, key)
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--minetest.log("Table after: "..dump(all_nodes))
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return
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end
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end
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end
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function finder.create_path(path, grid, node)
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if grid[node] ~= nil then
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table.insert(path, 1, grid[node])
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return create_path(path, grid, grid[node])
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else
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return path
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end
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end
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function finder.astar(start_pos, end_pos, nodes)
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local closed_set = {}
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local open_set = {
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start_pos
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}
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local came_from = {}
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local g_score = {}
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local f_score = {}
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g_score[start_pos] = 0
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f_score[start_pos] = g_score[start_pos] + finder.cost_estimate(start_pos, end_pos)
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minetest.log("Open set: "..dump(#open_set))
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while #open_set > 0 do
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minetest.log("Nodes size: "..dump(#nodes))
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local current = finder.get_lowest_fscore(open_set, f_score)
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minetest.log("Node with best fscore: "..dump(current))
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if current == end_pos then
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minetest.log("Creating path: "..dump(came_from))
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local path = create_path({}, came_from, end_pos)
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table.insert(path, end_pos)
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return path
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end
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minetest.log("Removing node from openset..."..dump(#open_set))
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finder.remove_node(current, open_set)
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minetest.log("Removed. Open set size: "..dump(#open_set))
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minetest.log("Adding to closed set..."..dump(#closed_set))
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table.insert(closed_set, current)
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minetest.log("Added. New closed set size: "..dump(#closed_set))
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local neighbors = finder.get_neighbor(current, nodes)
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minetest.log("Found "..dump(#neighbors).." neighbors for current node")--dump(neighbors))
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for _, neighbor in pairs(neighbors) do
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minetest.log("Currently looking at neighbor: "..minetest.pos_to_string(neighbor.pos))
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if finder.contains_node(neighbor, closed_set) == false then
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minetest.log("Node is not in closed set")
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local tentative_g_score = g_score[current] + finder.distance(current, neighbor)
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minetest.log("Tentative g score is: "..dump(tentative_g_score))
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minetest.log("Logic: "..dump(finder.contains_node(neighbor, open_set) == false or tentative_g_score < g_score[neighbor]))
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if finder.contains_node(neighbor, open_set) == false or tentative_g_score < g_score[neighbor] then
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came_from[neighbor] = current
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minetest.log("Added node to came_from set: "..dump(table.getn(came_from)))
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g_score[neighbor] = tentative_g_score
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f_score[neighbor] = g_score[neighbor] + finder.cost_estimate(neighbor, end_pos)
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if finder.contains_node(neighbor, open_set) == false then
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minetest.log("Adding neighbor node to open_set: "..dump(#open_set))
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table.insert(open_set, neighbor)
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minetest.log("Added. New open set size: "..dump(#open_set))
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end
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end
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end
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end
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end
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-- Path not found
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return nil
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end
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