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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 "map.h"
- #include "nodedef.h"
- #include "irrlicht_changes/printing.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
- #define PATHFINDER_MAX_WAYPOINTS 700
- /******************************************************************************/
- /* 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 y_change = 0; /**< change of y position 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 */
- int estimated_cost = -1; /**< totalcost + heuristic cost to end */
- v3s16 sourcedir; /**< origin of movement for current cost */
- v3s16 pos; /**< real position of node */
- PathCost directions[4]; /**< cost in different directions */
- bool is_closed = false; /**< for A* search: if true, is in closed list */
- bool is_open = false; /**< for A* search: if true, is in open list */
- /* debug values */
- bool is_element = false; /**< node is element of path detected */
- char type = 'u'; /**< Type of pathfinding node.
- * u = unknown
- * i = invalid
- * s = surface (walkable node)
- * - = non-walkable node (e.g. air) above surface
- * g = other non-walkable node
- */
- };
- class Pathfinder;
- class PathfinderCompareHeuristic;
- /** 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:
- 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:
- Pathfinder() = delete;
- Pathfinder(Map *map, const NodeDefManager *ndef) : m_map(map), m_ndef(ndef) {}
- ~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(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 an 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 (change sign of coordinates)
- * @param pos 3D position
- * @return pos *-1
- */
- v3s16 invert(v3s16 pos);
- /**
- * check if an index is within current search area
- * @param index position to validate
- * @return true/false
- */
- bool isValidIndex(v3s16 index);
- /* algorithm functions */
- /**
- * calculate 2D Manhattan distance to target
- * @param pos position to calc distance
- * @return integer distance
- */
- int getXZManhattanDist(v3s16 pos);
- /**
- * 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);
- /**
- * try to find a path to destination using a heuristic function
- * to estimate distance to target (A* search algorithm)
- * @param isource start position (index pos)
- * @param idestination end position (index pos)
- * @return true/false path to destination has been found
- */
- bool updateCostHeuristic(v3s16 isource, v3s16 idestination);
- /**
- * build a vector containing all nodes from destination to source;
- * to be called after the node costs have been processed
- * @param path vector to add nodes to
- * @param ipos initial pos to check (index pos)
- * @return true/false path has been fully built
- */
- bool buildPath(std::vector<v3s16> &path, v3s16 ipos);
- /**
- * go downwards from a position until some barrier
- * is hit.
- * @param pos position from which to go downwards
- * @param max_down maximum distance to go downwards
- * @return new position after movement; if too far down,
- * pos is returned
- */
- v3s16 walkDownwards(v3s16 pos, unsigned int max_down);
- /* 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_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;
- Map *m_map = nullptr;
- const NodeDefManager *m_ndef = nullptr;
- friend class PathfinderCompareHeuristic;
- #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
- };
- /** Helper class for the open list priority queue in the A* pathfinder
- * to sort the pathfinder nodes by cost.
- */
- class PathfinderCompareHeuristic
- {
- private:
- Pathfinder *myPathfinder;
- public:
- PathfinderCompareHeuristic(Pathfinder *pf)
- {
- myPathfinder = pf;
- }
- bool operator() (v3s16 pos1, v3s16 pos2) {
- v3s16 ipos1 = myPathfinder->getIndexPos(pos1);
- v3s16 ipos2 = myPathfinder->getIndexPos(pos2);
- PathGridnode &g_pos1 = myPathfinder->getIndexElement(ipos1);
- PathGridnode &g_pos2 = myPathfinder->getIndexElement(ipos2);
- if (!g_pos1.valid)
- return false;
- if (!g_pos2.valid)
- return false;
- return g_pos1.estimated_cost > g_pos2.estimated_cost;
- }
- };
- /******************************************************************************/
- /* implementation */
- /******************************************************************************/
- std::vector<v3s16> get_path(Map* map, const NodeDefManager *ndef,
- v3s16 source,
- v3s16 destination,
- unsigned int searchdistance,
- unsigned int max_jump,
- unsigned int max_drop,
- PathAlgorithm algo)
- {
- return Pathfinder(map, ndef).getPath(source, destination,
- searchdistance, max_jump, max_drop, algo);
- }
- /******************************************************************************/
- PathCost::PathCost(const PathCost &b)
- {
- valid = b.valid;
- y_change = b.y_change;
- value = b.value;
- updated = b.updated;
- }
- /******************************************************************************/
- PathCost &PathCost::operator= (const PathCost &b)
- {
- valid = b.valid;
- y_change = b.y_change;
- 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_ndef;
- PathGridnode &elem = *p_node;
- v3s16 realpos = m_pathf->getRealPos(ipos);
- MapNode current = m_pathf->m_map->getNode(realpos);
- MapNode below = m_pathf->m_map->getNode(realpos + v3s16(0, -1, 0));
- if ((current.param0 == CONTENT_IGNORE) ||
- (below.param0 == CONTENT_IGNORE)) {
- DEBUG_OUT("Pathfinder: " << realpos <<
- " current or below is invalid element" << std::endl);
- if (current.param0 == CONTENT_IGNORE) {
- elem.type = 'i';
- DEBUG_OUT(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: " << realpos
- << " not on surface" << std::endl);
- if (ndef->get(current).walkable) {
- elem.type = 's';
- DEBUG_OUT(ipos << ": " << 's' << std::endl);
- } else {
- elem.type = '-';
- DEBUG_OUT(ipos << ": " << '-' << std::endl);
- }
- return;
- }
- elem.valid = true;
- elem.pos = realpos;
- elem.type = 'g';
- DEBUG_OUT(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(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;
- //initialization
- 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;
- }
- //calculate boundaries within we're allowed to search
- 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
- //fail if source or destination is walkable
- MapNode node_at_pos = m_map->getNode(destination);
- if (m_ndef->get(node_at_pos).walkable) {
- VERBOSE_TARGET << "Destination is walkable. " <<
- "Pos: " << destination << std::endl;
- return retval;
- }
- node_at_pos = m_map->getNode(source);
- if (m_ndef->get(node_at_pos).walkable) {
- VERBOSE_TARGET << "Source is walkable. " <<
- "Pos: " << source << std::endl;
- return retval;
- }
- //If source pos is hovering above air, drop
- //to the first walkable node (up to m_maxdrop).
- //All algorithms expect the source pos to be *directly* above
- //a walkable node.
- v3s16 true_source = v3s16(source);
- source = walkDownwards(source, m_maxdrop);
- //If destination pos is hovering above air, go downwards
- //to the first walkable node (up to m_maxjump).
- //This means a hovering destination pos could be reached
- //by a final upwards jump.
- v3s16 true_destination = v3s16(destination);
- destination = walkDownwards(destination, m_maxjump);
- //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: " << StartIndex <<
- "Realpos: " << getRealPos(StartIndex) << std::endl;
- return retval;
- }
- if (!endpos.valid) {
- VERBOSE_TARGET << "Invalid stoppos " <<
- "Index: " << EndIndex <<
- "Realpos: " << getRealPos(EndIndex) << std::endl;
- return retval;
- }
- endpos.target = true;
- startpos.source = true;
- startpos.totalcost = 0;
- bool update_cost_retval = false;
- //calculate node costs
- 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, EndIndex);
- 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> index_path;
- buildPath(index_path, EndIndex);
- //Now we have a path of index positions,
- //and it's in reverse.
- //The "true" start or end position might be missing
- //since those have been given special treatment.
- #ifdef PATHFINDER_DEBUG
- std::cout << "Index path:" << std::endl;
- printPath(index_path);
- #endif
- //from here we'll make the final changes to the path
- std::vector<v3s16> full_path;
- //calculate required size
- int full_path_size = index_path.size();
- if (source != true_source) {
- full_path_size++;
- }
- if (destination != true_destination) {
- full_path_size++;
- }
- full_path.reserve(full_path_size);
- //manually add true_source to start of path, if needed
- if (source != true_source) {
- full_path.push_back(true_source);
- }
- //convert all index positions to "normal" positions and insert
- //them into full_path in reverse
- std::vector<v3s16>::reverse_iterator rit = index_path.rbegin();
- for (; rit != index_path.rend(); ++rit) {
- full_path.push_back(getIndexElement(*rit).pos);
- }
- //manually add true_destination to end of path, if needed
- if (destination != true_destination) {
- full_path.push_back(true_destination);
- }
- //Done! We now have a complete path of normal positions.
- #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
- INFO_TARGET << "No path found" << 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)
- {
- PathCost retval;
- retval.updated = true;
- v3s16 pos2 = pos + dir;
- //check limits
- if (!m_limits.isPointInside(pos2)) {
- DEBUG_OUT("Pathfinder: " << pos2 <<
- " no cost -> out of limits" << std::endl);
- return retval;
- }
- MapNode node_at_pos2 = m_map->getNode(pos2);
- //did we get information about node?
- if (node_at_pos2.param0 == CONTENT_IGNORE ) {
- VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
- << pos2 << " not loaded";
- return retval;
- }
- if (!m_ndef->get(node_at_pos2).walkable) {
- MapNode node_below_pos2 =
- m_map->getNode(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: "
- << (pos2 + v3s16(0, -1, 0)) << " not loaded";
- return retval;
- }
- //test if the same-height neighbor is suitable
- if (m_ndef->get(node_below_pos2).walkable) {
- //SUCCESS!
- retval.valid = true;
- retval.value = 1;
- retval.y_change = 0;
- DEBUG_OUT("Pathfinder: "<< pos
- << " cost same height found" << std::endl);
- }
- else {
- //test if we can fall a couple of nodes (m_maxdrop)
- v3s16 testpos = pos2 + v3s16(0, -1, 0);
- MapNode node_at_pos = m_map->getNode(testpos);
- while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (!m_ndef->get(node_at_pos).walkable) &&
- (testpos.Y > m_limits.MinEdge.Y)) {
- testpos += v3s16(0, -1, 0);
- node_at_pos = m_map->getNode(testpos);
- }
- //did we find surface?
- if ((testpos.Y >= m_limits.MinEdge.Y) &&
- (node_at_pos.param0 != CONTENT_IGNORE) &&
- (m_ndef->get(node_at_pos).walkable)) {
- if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
- //SUCCESS!
- retval.valid = true;
- retval.value = 2;
- //difference of y-pos +1 (target node is ABOVE solid node)
- retval.y_change = ((testpos.Y - pos2.Y) +1);
- DEBUG_OUT("Pathfinder cost below height found" << std::endl);
- }
- else {
- INFO_TARGET << "Pathfinder:"
- " distance to surface below too big: "
- << (testpos.Y - pos2.Y) << " max: " << m_maxdrop
- << std::endl;
- }
- }
- else {
- DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
- }
- }
- }
- else {
- //test if we can jump upwards (m_maxjump)
- v3s16 targetpos = pos2; // position for jump target
- v3s16 jumppos = pos; // position for checking if jumping space is free
- MapNode node_target = m_map->getNode(targetpos);
- MapNode node_jump = m_map->getNode(jumppos);
- bool headbanger = false; // true if anything blocks jumppath
- while ((node_target.param0 != CONTENT_IGNORE) &&
- (m_ndef->get(node_target).walkable) &&
- (targetpos.Y < m_limits.MaxEdge.Y)) {
- //if the jump would hit any solid node, discard
- if ((node_jump.param0 == CONTENT_IGNORE) ||
- (m_ndef->get(node_jump).walkable)) {
- headbanger = true;
- break;
- }
- targetpos += v3s16(0, 1, 0);
- jumppos += v3s16(0, 1, 0);
- node_target = m_map->getNode(targetpos);
- node_jump = m_map->getNode(jumppos);
- }
- //check headbanger one last time
- if ((node_jump.param0 == CONTENT_IGNORE) ||
- (m_ndef->get(node_jump).walkable)) {
- headbanger = true;
- }
- //did we find surface without banging our head?
- if ((!headbanger) && (targetpos.Y <= m_limits.MaxEdge.Y) &&
- (!m_ndef->get(node_target).walkable)) {
- if (targetpos.Y - pos2.Y <= m_maxjump) {
- //SUCCESS!
- retval.valid = true;
- retval.value = 2;
- retval.y_change = (targetpos.Y - pos2.Y);
- DEBUG_OUT("Pathfinder cost above found" << std::endl);
- }
- else {
- DEBUG_OUT("Pathfinder: distance to surface above too big: "
- << (targetpos.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;
- // the 4 cardinal directions
- const static v3s16 directions[4] = {
- v3s16(1,0, 0),
- v3s16(-1,0, 0),
- v3s16(0,0, 1),
- v3s16(0,0,-1)
- };
- for (v3s16 direction : directions) {
- if (direction != srcdir) {
- PathCost cost = g_pos.getCost(direction);
- if (cost.valid) {
- direction.Y = cost.y_change;
- v3s16 ipos2 = ipos + direction;
- if (!isValidIndex(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << ipos2 <<
- " out of range, max=" << m_limits.MaxEdge << std::endl);
- continue;
- }
- PathGridnode &g_pos2 = getIndexElement(ipos2);
- if (!g_pos2.valid) {
- VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << 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: "<<
- 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: "
- << ipos2 << std::endl);
- }
- }
- else {
- DEBUG_OUT(LVL "Pathfinder:"
- " not moving to invalid direction: "
- << 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);
- }
- /******************************************************************************/
- bool Pathfinder::updateCostHeuristic(v3s16 isource, v3s16 idestination)
- {
- // A* search algorithm.
- // The open list contains the pathfinder nodes that still need to be
- // checked. The priority queue sorts the pathfinder nodes by
- // estimated cost, with lowest cost on the top.
- std::priority_queue<v3s16, std::vector<v3s16>, PathfinderCompareHeuristic>
- openList(PathfinderCompareHeuristic(this));
- v3s16 source = getRealPos(isource);
- v3s16 destination = getRealPos(idestination);
- // initial position
- openList.push(source);
- // the 4 cardinal directions
- const static v3s16 directions[4] = {
- v3s16(1,0, 0),
- v3s16(-1,0, 0),
- v3s16(0,0, 1),
- v3s16(0,0,-1)
- };
- v3s16 current_pos;
- PathGridnode& s_pos = getIndexElement(isource);
- s_pos.source = true;
- s_pos.totalcost = 0;
- // estimated cost from start to finish
- int cur_manhattan = getXZManhattanDist(destination);
- s_pos.estimated_cost = cur_manhattan;
- while (!openList.empty()) {
- // Pick node with lowest total cost estimate.
- // The "cheapest" node is always on top.
- current_pos = openList.top();
- openList.pop();
- v3s16 ipos = getIndexPos(current_pos);
- // check if node is inside searchdistance and valid
- if (!isValidIndex(ipos)) {
- DEBUG_OUT(LVL " Pathfinder: " << current_pos <<
- " out of search distance, max=" << m_limits.MaxEdge << std::endl);
- continue;
- }
- PathGridnode& g_pos = getIndexElement(ipos);
- g_pos.is_closed = true;
- g_pos.is_open = false;
- if (!g_pos.valid) {
- continue;
- }
- if (current_pos == destination) {
- // destination found, terminate
- g_pos.target = true;
- return true;
- }
- // for this node, check the 4 cardinal directions
- for (v3s16 direction_flat : directions) {
- int current_totalcost = g_pos.totalcost;
- // get cost from current node to currently checked direction
- PathCost cost = g_pos.getCost(direction_flat);
- if (!cost.updated) {
- cost = calcCost(current_pos, direction_flat);
- g_pos.setCost(direction_flat, cost);
- }
- // update Y component of direction if neighbor requires jump or fall
- v3s16 direction_3d = v3s16(direction_flat);
- direction_3d.Y = cost.y_change;
- // get position of true neighbor
- v3s16 neighbor = current_pos + direction_3d;
- v3s16 ineighbor = getIndexPos(neighbor);
- PathGridnode &n_pos = getIndexElement(ineighbor);
- if (cost.valid && !n_pos.is_closed && !n_pos.is_open) {
- // heuristic function; estimate cost from neighbor to destination
- cur_manhattan = getXZManhattanDist(neighbor);
- // add neighbor to open list
- n_pos.sourcedir = invert(direction_3d);
- n_pos.totalcost = current_totalcost + cost.value;
- n_pos.estimated_cost = current_totalcost + cost.value + cur_manhattan;
- n_pos.is_open = true;
- openList.push(neighbor);
- }
- }
- }
- // no path found; all possible nodes within searchdistance have been exhausted
- return false;
- }
- /******************************************************************************/
- bool Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 ipos)
- {
- // The cost calculation should have set a source direction for all relevant nodes.
- // To build the path, we go backwards from the destination until we reach the start.
- for(u32 waypoints = 1; waypoints++; ) {
- if (waypoints > PATHFINDER_MAX_WAYPOINTS) {
- ERROR_TARGET << "Pathfinder: buildPath: path is too long (too many waypoints), aborting" << std::endl;
- return false;
- }
- // Insert node into path
- PathGridnode &g_pos = getIndexElement(ipos);
- if (!g_pos.valid) {
- ERROR_TARGET << "Pathfinder: buildPath: invalid next pos detected, aborting" << std::endl;
- return false;
- }
- g_pos.is_element = true;
- path.push_back(ipos);
- if (g_pos.source)
- // start node found, terminate
- return true;
- // go to the node from which the pathfinder came
- ipos += g_pos.sourcedir;
- }
- ERROR_TARGET << "Pathfinder: buildPath: no source node found" << std::endl;
- return false;
- }
- /******************************************************************************/
- v3s16 Pathfinder::walkDownwards(v3s16 pos, unsigned int max_down) {
- if (max_down == 0)
- return pos;
- v3s16 testpos = v3s16(pos);
- MapNode node_at_pos = m_map->getNode(testpos);
- unsigned int down = 0;
- while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (!m_ndef->get(node_at_pos).walkable) &&
- (testpos.Y > m_limits.MinEdge.Y) &&
- (down <= max_down)) {
- testpos += v3s16(0, -1, 0);
- down++;
- node_at_pos = m_map->getNode(testpos);
- }
- //did we find surface?
- if ((testpos.Y >= m_limits.MinEdge.Y) &&
- (node_at_pos.param0 != CONTENT_IGNORE) &&
- (m_ndef->get(node_at_pos).walkable)) {
- if (down == 0) {
- pos = testpos;
- } else if ((down - 1) <= max_down) {
- //difference of y-pos +1 (target node is ABOVE solid node)
- testpos += v3s16(0, 1, 0);
- pos = testpos;
- }
- else {
- VERBOSE_TARGET << "Pos too far above ground: " <<
- "Index: " << getIndexPos(pos) <<
- "Realpos: " << getRealPos(getIndexPos(pos)) << std::endl;
- }
- } else {
- DEBUG_OUT("Pathfinder: no surface found below pos" << std::endl);
- }
- return pos;
- }
- #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].y_change;
- 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(const 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 << ":" << *i << std::endl;
- current++;
- }
- }
- #endif
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