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- /*
- Minetest
- Copyright (C) 2013 sapier, sapier at gmx dot net
- 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 "environment.h"
- #include "map.h"
- #include "log.h"
- #ifdef PATHFINDER_DEBUG
- #include <iomanip>
- #endif
- #ifdef PATHFINDER_CALC_TIME
- #include <sys/time.h>
- #endif
- /******************************************************************************/
- /* Typedefs and macros */
- /******************************************************************************/
- //#define PATHFINDER_CALC_TIME
- /** shortcut to print a 3d pos */
- #define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"
- #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 errorstream << "pathfinder: "
- #endif
- /******************************************************************************/
- /* implementation */
- /******************************************************************************/
- std::vector<v3s16> get_Path(ServerEnvironment* env,
- v3s16 source,
- v3s16 destination,
- unsigned int searchdistance,
- unsigned int max_jump,
- unsigned int max_drop,
- algorithm algo) {
- pathfinder searchclass;
- return searchclass.get_Path(env,
- source,destination,
- searchdistance,max_jump,max_drop,algo);
- }
- /******************************************************************************/
- path_cost::path_cost()
- : valid(false),
- value(0),
- direction(0),
- updated(false)
- {
- //intentionaly empty
- }
- /******************************************************************************/
- path_cost::path_cost(const path_cost& b) {
- valid = b.valid;
- direction = b.direction;
- value = b.value;
- updated = b.updated;
- }
- /******************************************************************************/
- path_cost& path_cost::operator= (const path_cost& b) {
- valid = b.valid;
- direction = b.direction;
- value = b.value;
- updated = b.updated;
- return *this;
- }
- /******************************************************************************/
- path_gridnode::path_gridnode()
- : valid(false),
- target(false),
- source(false),
- totalcost(-1),
- sourcedir(v3s16(0,0,0)),
- surfaces(0),
- pos(v3s16(0,0,0)),
- is_element(false),
- type('u')
- {
- //intentionaly empty
- }
- /******************************************************************************/
- path_gridnode::path_gridnode(const path_gridnode& b)
- : valid(b.valid),
- target(b.target),
- source(b.source),
- totalcost(b.totalcost),
- sourcedir(b.sourcedir),
- surfaces(b.surfaces),
- 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];
- }
- /******************************************************************************/
- path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
- valid = b.valid;
- target = b.target;
- source = b.source;
- is_element = b.is_element;
- totalcost = b.totalcost;
- sourcedir = b.sourcedir;
- surfaces = b.surfaces;
- 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;
- }
- /******************************************************************************/
- path_cost path_gridnode::get_cost(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];
- }
- path_cost retval;
- return retval;
- }
- /******************************************************************************/
- void path_gridnode::set_cost(v3s16 dir,path_cost 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;
- }
- }
- /******************************************************************************/
- std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
- v3s16 source,
- v3s16 destination,
- unsigned int searchdistance,
- unsigned int max_jump,
- unsigned int max_drop,
- algorithm 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 == A_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.X.min = min_x - searchdistance;
- m_limits.X.max = max_x + searchdistance;
- m_limits.Y.min = min_y - searchdistance;
- m_limits.Y.max = max_y + searchdistance;
- m_limits.Z.min = min_z - searchdistance;
- m_limits.Z.max = max_z + searchdistance;
- m_max_index_x = m_limits.X.max - m_limits.X.min;
- m_max_index_y = m_limits.Y.max - m_limits.Y.min;
- m_max_index_z = m_limits.Z.max - m_limits.Z.min;
- //build data map
- if (!build_costmap()) {
- ERROR_TARGET << "failed to build costmap" << std::endl;
- return retval;
- }
- #ifdef PATHFINDER_DEBUG
- print_type();
- print_cost();
- print_ydir();
- #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);
- if (!startpos.valid) {
- VERBOSE_TARGET << "invalid startpos" <<
- "Index: " << PPOS(StartIndex) <<
- "Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
- return retval;
- }
- if (!endpos.valid) {
- VERBOSE_TARGET << "invalid stoppos" <<
- "Index: " << PPOS(EndIndex) <<
- "Realpos: " << PPOS(getRealPos(EndIndex)) << std::endl;
- return retval;
- }
- endpos.target = true;
- startpos.source = true;
- startpos.totalcost = 0;
- bool update_cost_retval = false;
- switch (algo) {
- case DIJKSTRA:
- update_cost_retval = update_all_costs(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);
- break;
- default:
- ERROR_TARGET << "missing algorithm"<< std::endl;
- break;
- }
- if (update_cost_retval) {
- #ifdef PATHFINDER_DEBUG
- std::cout << "Path to target found!" << std::endl;
- print_pathlen();
- #endif
- //find path
- std::vector<v3s16> path;
- build_path(path,EndIndex,0);
- #ifdef PATHFINDER_DEBUG
- std::cout << "Full index path:" << std::endl;
- print_path(path);
- #endif
- //optimize path
- std::vector<v3s16> optimized_path;
- std::vector<v3s16>::iterator startpos = path.begin();
- optimized_path.push_back(source);
- for (std::vector<v3s16>::iterator i = path.begin();
- i != path.end(); i++) {
- if (!m_env->line_of_sight(
- tov3f(getIndexElement(*startpos).pos),
- tov3f(getIndexElement(*i).pos))) {
- optimized_path.push_back(getIndexElement(*(i-1)).pos);
- startpos = (i-1);
- }
- }
- optimized_path.push_back(destination);
- #ifdef PATHFINDER_DEBUG
- std::cout << "Optimized path:" << std::endl;
- print_path(optimized_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 optimized_path;
- }
- else {
- #ifdef PATHFINDER_DEBUG
- print_pathlen();
- #endif
- ERROR_TARGET << "failed to update cost map"<< std::endl;
- }
- //return
- return retval;
- }
- /******************************************************************************/
- pathfinder::pathfinder() :
- m_max_index_x(0),
- m_max_index_y(0),
- m_max_index_z(0),
- m_searchdistance(0),
- m_maxdrop(0),
- m_maxjump(0),
- m_min_target_distance(0),
- m_prefetch(true),
- m_start(0,0,0),
- m_destination(0,0,0),
- m_limits(),
- m_data(),
- m_env(0)
- {
- //intentionaly empty
- }
- /******************************************************************************/
- v3s16 pathfinder::getRealPos(v3s16 ipos) {
- v3s16 retval = ipos;
- retval.X += m_limits.X.min;
- retval.Y += m_limits.Y.min;
- retval.Z += m_limits.Z.min;
- return retval;
- }
- /******************************************************************************/
- bool pathfinder::build_costmap()
- {
- INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
- << m_limits.Z.min << ") ("
- << m_limits.X.max << ","
- << m_limits.Z.max << ")"
- << std::endl;
- m_data.resize(m_max_index_x);
- for (int x = 0; x < m_max_index_x; x++) {
- m_data[x].resize(m_max_index_z);
- for (int z = 0; z < m_max_index_z; z++) {
- m_data[x][z].resize(m_max_index_y);
- int surfaces = 0;
- for (int y = 0; y < m_max_index_y; y++) {
- 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));
- if ((current.param0 == CONTENT_IGNORE) ||
- (below.param0 == CONTENT_IGNORE)) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
- " current or below is invalid element" << std::endl);
- if (current.param0 == CONTENT_IGNORE) {
- m_data[x][z][y].type = 'i';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
- }
- continue;
- }
- //don't add anything if it isn't an air node
- if ((current.param0 != CONTENT_AIR) ||
- (below.param0 == CONTENT_AIR )) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos)
- << " not on surface" << std::endl);
- if (current.param0 != CONTENT_AIR) {
- m_data[x][z][y].type = 's';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
- }
- else {
- m_data[x][z][y].type = '-';
- DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
- }
- continue;
- }
- surfaces++;
- m_data[x][z][y].valid = true;
- m_data[x][z][y].pos = realpos;
- m_data[x][z][y].type = 'g';
- DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);
- if (m_prefetch) {
- m_data[x][z][y].directions[DIR_XP] =
- calc_cost(realpos,v3s16( 1,0, 0));
- m_data[x][z][y].directions[DIR_XM] =
- calc_cost(realpos,v3s16(-1,0, 0));
- m_data[x][z][y].directions[DIR_ZP] =
- calc_cost(realpos,v3s16( 0,0, 1));
- m_data[x][z][y].directions[DIR_ZM] =
- calc_cost(realpos,v3s16( 0,0,-1));
- }
- }
- if (surfaces >= 1 ) {
- for (int y = 0; y < m_max_index_y; y++) {
- if (m_data[x][z][y].valid) {
- m_data[x][z][y].surfaces = surfaces;
- }
- }
- }
- }
- }
- return true;
- }
- /******************************************************************************/
- path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
- path_cost retval;
- retval.updated = true;
- v3s16 pos2 = pos + dir;
- //check limits
- if ( (pos2.X < m_limits.X.min) ||
- (pos2.X >= m_limits.X.max) ||
- (pos2.Z < m_limits.Z.min) ||
- (pos2.Z >= m_limits.Z.max)) {
- DEBUG_OUT("Pathfinder: " << PPOS(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: "
- << PPOS(pos2) << " not loaded";
- return retval;
- }
- if (node_at_pos2.param0 == CONTENT_AIR) {
- 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: "
- << PPOS((pos2 + v3s16(0,-1,0))) << " not loaded";
- return retval;
- }
- if (node_below_pos2.param0 != CONTENT_AIR) {
- retval.valid = true;
- retval.value = 1;
- retval.direction = 0;
- DEBUG_OUT("Pathfinder: "<< PPOS(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) &&
- (node_at_pos.param0 == CONTENT_AIR) &&
- (testpos.Y > m_limits.Y.min)) {
- testpos += v3s16(0,-1,0);
- node_at_pos = m_env->getMap().getNodeNoEx(testpos);
- }
- //did we find surface?
- if ((testpos.Y >= m_limits.Y.min) &&
- (node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 != CONTENT_AIR)) {
- 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) &&
- (node_at_pos.param0 != CONTENT_AIR) &&
- (testpos.Y < m_limits.Y.max)) {
- testpos += v3s16(0,1,0);
- node_at_pos = m_env->getMap().getNodeNoEx(testpos);
- }
- //did we find surface?
- if ((testpos.Y <= m_limits.Y.max) &&
- (node_at_pos.param0 == CONTENT_AIR)) {
- 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) {
- v3s16 retval = pos;
- retval.X -= m_limits.X.min;
- retval.Y -= m_limits.Y.min;
- retval.Z -= m_limits.Z.min;
- return retval;
- }
- /******************************************************************************/
- path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
- return m_data[ipos.X][ipos.Z][ipos.Y];
- }
- /******************************************************************************/
- bool pathfinder::valid_index(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::update_all_costs( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
- path_gridnode& 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.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));
- for (unsigned int i=0; i < directions.size(); i++) {
- if (directions[i] != srcdir) {
- path_cost cost = g_pos.get_cost(directions[i]);
- if (cost.valid) {
- directions[i].Y = cost.direction;
- v3s16 ipos2 = ipos + directions[i];
- if (!valid_index(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range (" << m_limits.X.max << "," <<
- m_limits.Y.max << "," << m_limits.Z.max
- <<")" << std::endl);
- continue;
- }
- path_gridnode& g_pos2 = getIndexElement(ipos2);
- if (!g_pos2.valid) {
- VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << PPOS(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: "<<
- PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
- new_cost << std::endl);
- if (update_all_costs(ipos2,invert(directions[i]),
- new_cost,level)) {
- retval = true;
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " already found shorter path to: "
- << PPOS(ipos2) << std::endl);
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " not moving to invalid direction: "
- << PPOS(directions[i]) << std::endl);
- }
- }
- }
- return retval;
- }
- /******************************************************************************/
- 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);
- return (max_x - min_x) + (max_z - min_z);
- }
- /******************************************************************************/
- v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& 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 (std::vector<v3s16>::iterator iter = directions.begin();
- iter != directions.end();
- iter ++) {
- 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);
- if (!cost.updated) {
- cost = calc_cost(g_pos.pos,*iter);
- g_pos.set_cost(*iter,cost);
- }
- if (cost.valid) {
- int score = cost.value + cur_manhattan;
- if ((minscore < 0)|| (score < minscore)) {
- minscore = score;
- retdir = *iter;
- }
- }
- }
- 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::update_cost_heuristic( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
- path_gridnode& 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.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);
- while (direction != v3s16(0,0,0) && (!retval)) {
- if (direction != srcdir) {
- path_cost cost = g_pos.get_cost(direction);
- if (cost.valid) {
- direction.Y = cost.direction;
- v3s16 ipos2 = ipos + direction;
- if (!valid_index(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);
- continue;
- }
- path_gridnode& 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);
- 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 "
- << PPOS(ipos2) << std::endl);
- return false;
- }
- if ((g_pos2.totalcost < 0) ||
- (g_pos2.totalcost > new_cost)) {
- DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
- 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)) {
- retval = true;
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " already found shorter path to: "
- << PPOS(ipos2) << std::endl);
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " not moving to invalid direction: "
- << PPOS(direction) << std::endl);
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " skipping srcdir: "
- << PPOS(direction) << std::endl);
- }
- direction = get_dir_heuristic(directions,g_pos);
- }
- return retval;
- }
- /******************************************************************************/
- void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
- level ++;
- if (level > 700) {
- ERROR_TARGET
- << LVL "Pathfinder: path is too long aborting" << std::endl;
- return;
- }
- path_gridnode& 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;
- }
- build_path(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::print_cost() {
- print_cost(DIR_XP);
- print_cost(DIR_XM);
- print_cost(DIR_ZP);
- print_cost(DIR_ZM);
- }
- /******************************************************************************/
- void pathfinder::print_ydir() {
- print_ydir(DIR_XP);
- print_ydir(DIR_XM);
- print_ydir(DIR_ZP);
- print_ydir(DIR_ZM);
- }
- /******************************************************************************/
- void pathfinder::print_cost(path_directions dir) {
- std::cout << "Cost in direction: " << dir_to_name(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 (m_data[x][z][y].directions[dir].valid)
- std::cout << std::setw(4)
- << m_data[x][z][y].directions[dir].value;
- else
- std::cout << std::setw(4) << "-";
- }
- std::cout << std::endl;
- }
- std::cout << std::endl;
- }
- }
- /******************************************************************************/
- void pathfinder::print_ydir(path_directions dir) {
- std::cout << "Height difference in direction: " << dir_to_name(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 (m_data[x][z][y].directions[dir].valid)
- std::cout << std::setw(4)
- << m_data[x][z][y].directions[dir].direction;
- else
- std::cout << std::setw(4) << "-";
- }
- std::cout << std::endl;
- }
- std::cout << std::endl;
- }
- }
- /******************************************************************************/
- void pathfinder::print_type() {
- 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 = m_data[x][z][y].type;
- std::cout << std::setw(3) << toshow;
- }
- std::cout << std::endl;
- }
- std::cout << std::endl;
- }
- std::cout << std::endl;
- }
- /******************************************************************************/
- void pathfinder::print_pathlen() {
- 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) << m_data[x][z][y].totalcost;
- }
- std::cout << std::endl;
- }
- std::cout << std::endl;
- }
- std::cout << std::endl;
- }
- /******************************************************************************/
- std::string pathfinder::dir_to_name(path_directions 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::print_path(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 << ":" << PPOS((*i)) << std::endl;
- current++;
- }
- }
- #endif
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