advanced_npc/actions/pathfinder.lua
Zorman2000 ef973e47cc Pathfinding: Cleaned up pathfinder.lua logs.
Changed init.lua to refer to proper files.
Updated comment about Jumper library in pathfinder.lua
2017-04-04 10:20:19 -04:00

232 lines
8.2 KiB
Lua

-- Pathfinding code by Zorman2000
---------------------------------------------------------------------------------------
-- Pathfinding functionality
---------------------------------------------------------------------------------------
-- This class contains functions that allows to map the 3D map of Minetest into
-- a 2D array (basically by ignoring the y coordinate for the moment being) in order
-- to use the A* pathfinding algorithm to find the shortest path from one node to
-- another. The A* algorithm implementation is in the 'jumper.lua' file which a
-- reduced and slightly modified version of the Jumper library, by Roland Yonaba
-- (https://github.com/Yonaba/Jumper).
-- Mapping algorithm: transforms a Minetest map surface to a 2d grid.
pathfinder = {}
pathfinder.node_types = {
start = 0,
goal = 1,
walkable = 2,
openable = 3,
non_walkable = 4
}
pathfinder.nodes = {
openable_prefix = {
"doors:",
"cottages:gate",
"cottages:half_door"
}
}
-- This function uses the mapping functions and the A* algorithm implementation
-- of the Jumper library to find a path from start_pos to end_pos. The range is
-- an extra amount of nodes to search in both the x and z coordinates.
function pathfinder.find_path(start_pos, end_pos, range, walkable_nodes)
-- Check that start and end position are not the same
if start_pos.x == end_pos.x and start_pos.z == end_pos.z then
return nil
end
-- Set walkable nodes to empty if parameter wasn't used
if walkable_nodes == nil then
walkable_nodes = {}
end
-- Map the Minetest area to a 2D array
local map = pathfinder.create_map(start_pos, end_pos, range, walkable_nodes)
-- Find start and end positions
local pos = pathfinder.find_start_and_end_pos(map)
-- Normalize the map
local normalized_map = pathfinder.normalize_map(map)
-- Create pathfinder object
local grid_object = Grid(normalized_map)
-- Define what is a walkable node
local walkable = 0
-- Pathfinder object using A* algorithm
local finder = Pathfinder(grid_object, "ASTAR", walkable)
-- Set orthogonal mode meaning it will not move in diagonal directions
finder:setMode("ORTHOGONAL")
-- Calculates the path, and its length
local path = finder:getPath(pos.start_pos.x, pos.start_pos.z, pos.end_pos.x, pos.end_pos.z)
--minetest.log("Found path: "..dump(path))
-- Pretty-printing the results
if path then
return pathfinder.get_path(map, path:nodes())
end
end
-- This function is used to determine if a node is walkable
-- or openable, in which case is good to use when finding a path
local function is_good_node(node, exceptions)
-- Is openable is to support doors, fence gates and other
-- doors from other mods. Currently, default doors, gates
-- and cottages doors are supported.
local is_openable = false
for _,node_prefix in pairs(pathfinder.nodes.openable_prefix) do
local start_i,end_i = string.find(node.name, node_prefix)
if start_i ~= nil then
is_openable = true
break
end
end
if node ~= nil and node.name ~= nil and not minetest.registered_nodes[node.name].walkable then
return pathfinder.node_types.walkable
elseif is_openable then
return pathfinder.node_types.openable
else
for i = 1, #exceptions do
if node.name == exceptions[i] then
return pathfinder.node_types.walkable
end
end
return pathfinder.node_types.non_walkable
end
end
function pathfinder.create_map(start_pos, end_pos, extra_range, walkables)
minetest.log("Start pos: "..minetest.pos_to_string(start_pos))
minetest.log("End pos: "..minetest.pos_to_string(end_pos))
-- Calculate all signs to ensure:
-- 1. Correct area calculation
-- 2. Iterate in the correct direction
local start_x_sign = (start_pos.x - end_pos.x) / math.abs(start_pos.x - end_pos.x)
local start_z_sign = (start_pos.z - end_pos.z) / math.abs(start_pos.z - end_pos.z)
local end_x_sign = (end_pos.x - start_pos.x) / math.abs(end_pos.x - start_pos.x)
local end_z_sign = (end_pos.z - start_pos.z) / math.abs(end_pos.z - start_pos.z)
-- Correct the signs if they are nan
if math.abs(start_pos.x - end_pos.x) == 0 then
start_x_sign = -1
end_x_sign = 1
end
if math.abs(start_pos.z - end_pos.z) == 0 then
start_z_sign = -1
end_z_sign = 1
end
-- Get starting and ending positions, adding the extra nodes to the area
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)}
local pos2 = {x=end_pos.x + (extra_range * end_x_sign), y = end_pos.y, z=end_pos.z + (extra_range * end_z_sign)}
local grid = {}
-- Loop through the area and classify nodes
for z = 1, math.abs(pos1.z - pos2.z) do
local current_row = {}
for x = 1, math.abs(pos1.x - pos2.x) do
-- Calculate current position
local current_pos = {x=pos1.x + (x*end_x_sign), y=pos1.y, z=pos1.z + (z*end_z_sign)}
-- Check if this is the starting position
if current_pos.x == start_pos.x and current_pos.z == start_pos.z then
-- Is start position
table.insert(current_row, {pos=current_pos, type=pathfinder.node_types.start})
elseif current_pos.x == end_pos.x and current_pos.z == end_pos.z then
-- Is ending position or goal position
table.insert(current_row, {pos=current_pos, type=pathfinder.node_types.goal})
else
-- Check if node is walkable
local node = minetest.get_node(current_pos)
if node.name == "default:air" then
-- If air do no more checks
table.insert(current_row, {pos=current_pos, type=pathfinder.node_types.walkable})
else
-- Check if it is of a walkable or openable type
table.insert(current_row, {pos=current_pos, type=is_good_node(node, walkables)})
end
end
end
-- Insert the converted row into the grid
table.insert(grid, current_row)
end
return grid
end
-- Utility function to print the created map to the console.
-- Used for debug.
local function print_map(map)
for z,row in pairs(map) do
local row_string = "["
for x,node in pairs(row) do
if node.type == 2 then
row_string = row_string.."- "
else
row_string = row_string..node.type.." "
end
-- Use the following if the coordinates are also needed
--row_string = row_string..node.type..": {"..node.pos.x..", "..node.pos.y..", "..node.pos.z.."}, "
end
row_string = row_string.."]"
print(row_string)
end
end
-- This function find the starting and ending points in the
-- map representation, and returns the coordinates in the map
-- for the pathfinding algorithm to use
function pathfinder.find_start_and_end_pos(map)
-- This is for debug
--print_map(map)
local result = {}
for z,row in pairs(map) do
for x,node in pairs(row) do
if node.type == pathfinder.node_types.start then
--minetest.log("Start node: "..dump(node))
result["start_pos"] = {x=x, z=z}
elseif node.type == pathfinder.node_types.goal then
--minetest.log("End node: "..dump(node))
result["end_pos"] = {x=x, z=z}
end
end
end
--minetest.log("Found start and end positions: ("..result.start_pos.)..", "..minetest.pos_to_string(result.end_pos))
return result
end
-- This function transforms the grid into binary values
-- (0 walkable, 1 non-walkable) for the pathfinding algorithm.
function pathfinder.normalize_map(map)
local result = {}
for _,row in pairs(map) do
local result_row = {}
for _,node in pairs(row) do
if node.type ~= pathfinder.node_types.non_walkable then
table.insert(result_row, 0)
else
table.insert(result_row, 1)
end
end
table.insert(result, result_row)
end
return result
end
-- This function returns an array of tables with two parameters: type and pos.
-- The position parameter is the actual coordinate on the Minetest map. The
-- type is the type of the node at the coordinate defined as pathfinder.node_types.
function pathfinder.get_path(map, path_nodes)
local result = {}
for node, count in path_nodes do
table.insert(result, map[node:getY()][node:getX()])
-- For debug
--minetest.log("Node: "..dump(map[node:getY()][node:getX()]))
--print(('Step: %d - x: %d - y: %d'):format(count, node:getX(), node:getY()))
end
return result
end