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minetest/src/pathfinder.cpp
Auke Kok aa8c88cf4a find_path: consider walkable instead of CONTENT_AIR 
The path finding code works fairly well except that it considers
anythin not CONTENT_AIR to be "above the surface". This results in
paths that are unwalkable for entities since e.g. plants are not
walkable. The path would force them to jump on top of grass plants,
etc..

The obvious solution is not to use CONTENT_AIR as a criteria, but
instead distinguish between walkable and non-walkable nodes. This
results in paths that properly walk through grass nodes.

This was extensively tested by a flock of electric sheep.

Note that for underwater purposes this changes the behaviour from
"the surface is walkable" to "ignore water entirely" making the
path go across the water bottom, and pathing fail likely from the
water surface. This is intentional.
2016-05-01 15:32:03 +02:00

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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 "environment.h"
#include "gamedef.h"
#include "nodedef.h"
#include "map.h"
#include "log.h"
#include "irr_aabb3d.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 */
/******************************************************************************/
/** 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
/******************************************************************************/
/* Class definitions */
/******************************************************************************/
/** representation of cost in specific direction */
class PathCost {
public:
/** default constructor */
PathCost();
/** copy constructor */
PathCost(const PathCost &b);
/** assignment operator */
PathCost &operator= (const PathCost &b);
bool valid; /**< movement is possible */
int value; /**< cost of movement */
int direction; /**< y-direction of movement */
bool updated; /**< this cost has ben calculated */
};
/** representation of a mapnode to be used for pathfinding */
class PathGridnode {
public:
/** default constructor */
PathGridnode();
/** 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, PathCost cost);
bool valid; /**< node is on surface */
bool target; /**< node is target position */
bool source; /**< node is stating position */
int totalcost; /**< cost to move here from starting point */
v3s16 sourcedir; /**< origin of movement for current cost */
v3s16 pos; /**< real position of node */
PathCost directions[4]; /**< cost in different directions */
/* debug values */
bool is_element; /**< node is element of path detected */
char type; /**< type of node */
};
class Pathfinder;
/** Abstract class to manage the map data */
class GridNodeContainer {
public:
virtual PathGridnode &access(v3s16 p)=0;
virtual ~GridNodeContainer() {}
protected:
Pathfinder *m_pathf;
void initNode(v3s16 ipos, PathGridnode *p_node);
};
class ArrayGridNodeContainer : public GridNodeContainer {
public:
virtual ~ArrayGridNodeContainer() {}
ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
virtual PathGridnode &access(v3s16 p);
private:
v3s16 m_dimensions;
int m_x_stride;
int m_y_stride;
std::vector<PathGridnode> m_nodes_array;
};
class MapGridNodeContainer : public GridNodeContainer {
public:
virtual ~MapGridNodeContainer() {}
MapGridNodeContainer(Pathfinder *pathf);
virtual PathGridnode &access(v3s16 p);
private:
std::map<v3s16, PathGridnode> m_nodes;
};
/** class doing pathfinding */
class Pathfinder {
public:
/**
* default constructor
*/
Pathfinder();
~Pathfinder();
/**
* path evaluation function
* @param env environment to look for path
* @param source origin of path
* @param destination end position of path
* @param searchdistance maximum number of nodes to look in each direction
* @param max_jump maximum number of blocks a path may jump up
* @param max_drop maximum number of blocks a path may drop
* @param algo Algorithm to use for finding a path
*/
std::vector<v3s16> getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo);
private:
/* helper functions */
/**
* transform index pos to mappos
* @param ipos a index position
* @return map position
*/
v3s16 getRealPos(v3s16 ipos);
/**
* transform mappos to index pos
* @param pos a real pos
* @return index position
*/
v3s16 getIndexPos(v3s16 pos);
/**
* get gridnode at a specific index position
* @param ipos index position
* @return gridnode for index
*/
PathGridnode &getIndexElement(v3s16 ipos);
/**
* Get gridnode at a specific index position
* @return gridnode for index
*/
PathGridnode &getIdxElem(s16 x, s16 y, s16 z);
/**
* invert a 3d position
* @param pos 3d position
* @return pos *-1
*/
v3s16 invert(v3s16 pos);
/**
* check if a index is within current search area
* @param index position to validate
* @return true/false
*/
bool isValidIndex(v3s16 index);
/**
* translate position to float position
* @param pos integer position
* @return float position
*/
v3f tov3f(v3s16 pos);
/* algorithm functions */
/**
* calculate 2d manahttan distance to target on the xz plane
* @param pos position to calc distance
* @return integer distance
*/
int getXZManhattanDist(v3s16 pos);
/**
* get best direction based uppon heuristics
* @param directions list of unchecked directions
* @param g_pos mapnode to start from
* @return direction to check
*/
v3s16 getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos);
/**
* build internal data representation of search area
* @return true/false if costmap creation was successfull
*/
bool buildCostmap();
/**
* calculate cost of movement
* @param pos real world position to start movement
* @param dir direction to move to
* @return cost information
*/
PathCost calcCost(v3s16 pos, v3s16 dir);
/**
* recursive update whole search areas total cost information
* @param ipos position to check next
* @param srcdir positionc checked last time
* @param total_cost cost of moving to ipos
* @param level current recursion depth
* @return true/false path to destination has been found
*/
bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int total_cost, int level);
/**
* recursive try to find a patrh to destionation
* @param ipos position to check next
* @param srcdir positionc checked last time
* @param total_cost cost of moving to ipos
* @param level current recursion depth
* @return true/false path to destination has been found
*/
bool updateCostHeuristic(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
/**
* recursive build a vector containing all nodes from source to destination
* @param path vector to add nodes to
* @param pos pos to check next
* @param level recursion depth
*/
void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
/* variables */
int m_max_index_x; /**< max index of search area in x direction */
int m_max_index_y; /**< max index of search area in y direction */
int m_max_index_z; /**< max index of search area in z direction */
int m_searchdistance; /**< max distance to search in each direction */
int m_maxdrop; /**< maximum number of blocks a path may drop */
int m_maxjump; /**< maximum number of blocks a path may jump */
int m_min_target_distance; /**< current smalest path to target */
bool m_prefetch; /**< 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;
ServerEnvironment *m_env; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
/**
* print collected cost information
*/
void printCost();
/**
* print collected cost information in a specific direction
* @param dir direction to print
*/
void printCost(PathDirections dir);
/**
* print type of node as evaluated
*/
void printType();
/**
* print pathlenght for all nodes in search area
*/
void printPathLen();
/**
* print a path
* @param path path to show
*/
void printPath(std::vector<v3s16> path);
/**
* print y direction for all movements
*/
void printYdir();
/**
* print y direction for moving in a specific direction
* @param dir direction to show data
*/
void printYdir(PathDirections dir);
/**
* helper function to translate a direction to speaking text
* @param dir direction to translate
* @return textual name of direction
*/
std::string dirToName(PathDirections dir);
#endif
};
/******************************************************************************/
/* implementation */
/******************************************************************************/
std::vector<v3s16> get_path(ServerEnvironment* env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo)
{
Pathfinder searchclass;
return searchclass.getPath(env,
source, destination,
searchdistance, max_jump, max_drop, algo);
}
/******************************************************************************/
PathCost::PathCost()
: valid(false),
value(0),
direction(0),
updated(false)
{
//intentionaly empty
}
/******************************************************************************/
PathCost::PathCost(const PathCost &b)
{
valid = b.valid;
direction = b.direction;
value = b.value;
updated = b.updated;
}
/******************************************************************************/
PathCost &PathCost::operator= (const PathCost &b)
{
valid = b.valid;
direction = b.direction;
value = b.value;
updated = b.updated;
return *this;
}
/******************************************************************************/
PathGridnode::PathGridnode()
: valid(false),
target(false),
source(false),
totalcost(-1),
sourcedir(v3s16(0, 0, 0)),
pos(v3s16(0, 0, 0)),
is_element(false),
type('u')
{
//intentionaly empty
}
/******************************************************************************/
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, 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)
{
INodeDefManager *ndef = m_pathf->m_env->getGameDef()->ndef();
PathGridnode &elem = *p_node;
v3s16 realpos = m_pathf->getRealPos(ipos);
MapNode current = m_pathf->m_env->getMap().getNodeNoEx(realpos);
MapNode below = m_pathf->m_env->getMap().getNodeNoEx(realpos + v3s16(0, -1, 0));
if ((current.param0 == CONTENT_IGNORE) ||
(below.param0 == CONTENT_IGNORE)) {
DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
" current or below is invalid element" << std::endl);
if (current.param0 == CONTENT_IGNORE) {
elem.type = 'i';
DEBUG_OUT(PPOS(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: " << PPOS(realpos)
<< " not on surface" << std::endl);
if (ndef->get(current).walkable) {
elem.type = 's';
DEBUG_OUT(PPOS(ipos) << ": " << 's' << std::endl);
} else {
elem.type = '-';
DEBUG_OUT(PPOS(ipos) << ": " << '-' << std::endl);
}
return;
}
elem.valid = true;
elem.pos = realpos;
elem.type = 'g';
DEBUG_OUT(PPOS(ipos) << ": " << 'a' << std::endl);
if (m_pathf->m_prefetch) {
elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
elem.directions[DIR_XM] = m_pathf->calcCost(realpos, v3s16(-1, 0, 0));
elem.directions[DIR_ZP] = m_pathf->calcCost(realpos, v3s16( 0, 0, 1));
elem.directions[DIR_ZM] = m_pathf->calcCost(realpos, v3s16( 0, 0,-1));
}
}
ArrayGridNodeContainer::ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions) :
m_x_stride(dimensions.Y * dimensions.Z),
m_y_stride(dimensions.Z)
{
m_pathf = pathf;
m_nodes_array.resize(dimensions.X * dimensions.Y * dimensions.Z);
INFO_TARGET << "Pathfinder ArrayGridNodeContainer constructor." << std::endl;
for (int x = 0; x < dimensions.X; x++) {
for (int y = 0; y < dimensions.Y; y++) {
for (int z= 0; z < dimensions.Z; z++) {
v3s16 ipos(x, y, z);
initNode(ipos, &access(ipos));
}
}
}
}
PathGridnode &ArrayGridNodeContainer::access(v3s16 p)
{
return m_nodes_array[p.X * m_x_stride + p.Y * m_y_stride + p.Z];
}
MapGridNodeContainer::MapGridNodeContainer(Pathfinder *pathf)
{
m_pathf = pathf;
}
PathGridnode &MapGridNodeContainer::access(v3s16 p)
{
std::map<v3s16, PathGridnode>::iterator it = m_nodes.find(p);
if (it != m_nodes.end()) {
return it->second;
}
PathGridnode &n = m_nodes[p];
initNode(p, &n);
return n;
}
/******************************************************************************/
std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo)
{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
#endif
std::vector<v3s16> retval;
//check parameters
if (env == 0) {
ERROR_TARGET << "missing environment pointer" << std::endl;
return retval;
}
m_searchdistance = searchdistance;
m_env = env;
m_maxjump = max_jump;
m_maxdrop = max_drop;
m_start = source;
m_destination = destination;
m_min_target_distance = -1;
m_prefetch = true;
if (algo == PA_PLAIN_NP) {
m_prefetch = false;
}
int min_x = MYMIN(source.X, destination.X);
int max_x = MYMAX(source.X, destination.X);
int min_y = MYMIN(source.Y, destination.Y);
int max_y = MYMAX(source.Y, destination.Y);
int min_z = MYMIN(source.Z, destination.Z);
int max_z = MYMAX(source.Z, destination.Z);
m_limits.MinEdge.X = min_x - searchdistance;
m_limits.MinEdge.Y = min_y - searchdistance;
m_limits.MinEdge.Z = min_z - searchdistance;
m_limits.MaxEdge.X = max_x + searchdistance;
m_limits.MaxEdge.Y = max_y + searchdistance;
m_limits.MaxEdge.Z = max_z + searchdistance;
v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
m_max_index_x = diff.X;
m_max_index_y = diff.Y;
m_max_index_z = diff.Z;
delete m_nodes_container;
if (diff.getLength() > 5) {
m_nodes_container = new MapGridNodeContainer(this);
} else {
m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
printType();
printCost();
printYdir();
#endif
//validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
PathGridnode &startpos = getIndexElement(StartIndex);
PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
"Index: " << 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 PA_DIJKSTRA:
update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
case PA_PLAIN_NP:
case PA_PLAIN:
update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
if (update_cost_retval) {
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
printPathLen();
#endif
//find path
std::vector<v3s16> path;
buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
printPath(path);
#endif
//finalize path
std::vector<v3s16> full_path;
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) {
full_path.push_back(getIndexElement(*i).pos);
}
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
clock_gettime(CLOCK_REALTIME, &ts2);
int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
#endif
return full_path;
}
else {
#ifdef PATHFINDER_DEBUG
printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
//return
return retval;
}
/******************************************************************************/
Pathfinder::Pathfinder() :
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_nodes_container(NULL),
m_env(0)
{
//intentionaly empty
}
Pathfinder::~Pathfinder()
{
delete m_nodes_container;
}
/******************************************************************************/
v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
return m_limits.MinEdge + ipos;
}
/******************************************************************************/
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
{
INodeDefManager *ndef = m_env->getGameDef()->ndef();
PathCost retval;
retval.updated = true;
v3s16 pos2 = pos + dir;
//check limits
if (!m_limits.isPointInside(pos2)) {
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 (!ndef->get(node_at_pos2).walkable) {
MapNode node_below_pos2 =
m_env->getMap().getNodeNoEx(pos2 + v3s16(0, -1, 0));
//did we get information about node?
if (node_below_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (2) area at pos: "
<< PPOS((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
if (ndef->get(node_below_pos2).walkable) {
retval.valid = true;
retval.value = 1;
retval.direction = 0;
DEBUG_OUT("Pathfinder: "<< 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) &&
(!ndef->get(node_at_pos).walkable) &&
(testpos.Y > m_limits.MinEdge.Y)) {
testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
if ((testpos.Y >= m_limits.MinEdge.Y) &&
(node_at_pos.param0 != CONTENT_IGNORE) &&
(ndef->get(node_at_pos).walkable)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
retval.valid = true;
retval.value = 2;
//difference of y-pos +1 (target node is ABOVE solid node)
retval.direction = ((testpos.Y - pos2.Y) +1);
DEBUG_OUT("Pathfinder cost below height found" << std::endl);
}
else {
INFO_TARGET << "Pathfinder:"
" distance to surface below to big: "
<< (testpos.Y - pos2.Y) << " max: " << m_maxdrop
<< std::endl;
}
}
else {
DEBUG_OUT("Pathfinder: no surface below found" << std::endl);
}
}
}
else {
v3s16 testpos = pos2;
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(ndef->get(node_at_pos).walkable) &&
(testpos.Y < m_limits.MaxEdge.Y)) {
testpos += v3s16(0, 1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
if ((testpos.Y <= m_limits.MaxEdge.Y) &&
(!ndef->get(node_at_pos).walkable)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
retval.valid = true;
retval.value = 2;
retval.direction = (testpos.Y - pos2.Y);
DEBUG_OUT("Pathfinder cost above found" << std::endl);
}
else {
DEBUG_OUT("Pathfinder: distance to surface above to big: "
<< (testpos.Y - pos2.Y) << " max: " << m_maxjump
<< std::endl);
}
}
else {
DEBUG_OUT("Pathfinder: no surface above found" << std::endl);
}
}
return retval;
}
/******************************************************************************/
v3s16 Pathfinder::getIndexPos(v3s16 pos)
{
return pos - m_limits.MinEdge;
}
/******************************************************************************/
PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
{
return m_nodes_container->access(ipos);
}
/******************************************************************************/
inline PathGridnode &Pathfinder::getIdxElem(s16 x, s16 y, s16 z)
{
return m_nodes_container->access(v3s16(x,y,z));
}
/******************************************************************************/
bool Pathfinder::isValidIndex(v3s16 index)
{
if ( (index.X < m_max_index_x) &&
(index.Y < m_max_index_y) &&
(index.Z < m_max_index_z) &&
(index.X >= 0) &&
(index.Y >= 0) &&
(index.Z >= 0))
return true;
return false;
}
/******************************************************************************/
v3s16 Pathfinder::invert(v3s16 pos)
{
v3s16 retval = pos;
retval.X *=-1;
retval.Y *=-1;
retval.Z *=-1;
return retval;
}
/******************************************************************************/
bool Pathfinder::updateAllCosts(v3s16 ipos,
v3s16 srcdir,
int current_cost,
int level)
{
PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
level ++;
//check if target has been found
if (g_pos.target) {
m_min_target_distance = current_cost;
DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
return true;
}
bool retval = false;
std::vector<v3s16> directions;
directions.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) {
PathCost cost = g_pos.getCost(directions[i]);
if (cost.valid) {
directions[i].Y = cost.direction;
v3s16 ipos2 = ipos + directions[i];
if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
continue;
}
PathGridnode &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 (updateAllCosts(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::getXZManhattanDist(v3s16 pos)
{
int min_x = MYMIN(pos.X, m_destination.X);
int max_x = MYMAX(pos.X, m_destination.X);
int min_z = MYMIN(pos.Z, m_destination.Z);
int max_z = MYMAX(pos.Z, m_destination.Z);
return (max_x - min_x) + (max_z - min_z);
}
/******************************************************************************/
v3s16 Pathfinder::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos)
{
int minscore = -1;
v3s16 retdir = v3s16(0, 0, 0);
v3s16 srcpos = g_pos.pos;
DEBUG_OUT("Pathfinder: remaining dirs at beginning:"
<< directions.size() << std::endl);
for (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 = getXZManhattanDist(pos1);
PathCost cost = g_pos.getCost(*iter);
if (!cost.updated) {
cost = calcCost(g_pos.pos, *iter);
g_pos.setCost(*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::updateCostHeuristic( v3s16 ipos,
v3s16 srcdir,
int current_cost,
int level)
{
PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
level ++;
//check if target has been found
if (g_pos.target) {
m_min_target_distance = current_cost;
DEBUG_OUT(LVL " Pathfinder: target found!" << std::endl);
return true;
}
bool retval = false;
std::vector<v3s16> directions;
directions.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 = getDirHeuristic(directions, g_pos);
while (direction != v3s16(0, 0, 0) && (!retval)) {
if (direction != srcdir) {
PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction;
if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
direction = getDirHeuristic(directions, g_pos);
continue;
}
PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
<< PPOS(ipos2) << std::endl;
direction = getDirHeuristic(directions, g_pos);
continue;
}
assert(cost.value > 0);
int new_cost = current_cost + cost.value;
// check if there already is a smaller path
if ((m_min_target_distance > 0) &&
(m_min_target_distance < new_cost)) {
DEBUG_OUT(LVL "Pathfinder:"
" already longer than best already found path "
<< 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 (updateCostHeuristic(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 = getDirHeuristic(directions, g_pos);
}
return retval;
}
/******************************************************************************/
void Pathfinder::buildPath(std::vector<v3s16> &path, v3s16 pos, int level)
{
level ++;
if (level > 700) {
ERROR_TARGET
<< LVL "Pathfinder: path is too long aborting" << std::endl;
return;
}
PathGridnode &g_pos = getIndexElement(pos);
if (!g_pos.valid) {
ERROR_TARGET
<< LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
return;
}
g_pos.is_element = true;
//check if source reached
if (g_pos.source) {
path.push_back(pos);
return;
}
buildPath(path, pos + g_pos.sourcedir, level);
path.push_back(pos);
}
/******************************************************************************/
v3f Pathfinder::tov3f(v3s16 pos)
{
return v3f(BS * pos.X, BS * pos.Y, BS * pos.Z);
}
#ifdef PATHFINDER_DEBUG
/******************************************************************************/
void Pathfinder::printCost()
{
printCost(DIR_XP);
printCost(DIR_XM);
printCost(DIR_ZP);
printCost(DIR_ZM);
}
/******************************************************************************/
void Pathfinder::printYdir()
{
printYdir(DIR_XP);
printYdir(DIR_XM);
printYdir(DIR_ZP);
printYdir(DIR_ZM);
}
/******************************************************************************/
void Pathfinder::printCost(PathDirections dir)
{
std::cout << "Cost in direction: " << dirToName(dir) << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(4) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(4) << x;
}
std::cout << std::endl;
for (int z = 0; z < m_max_index_z; z++) {
std::cout << std::setw(4) << z <<": ";
for (int x = 0; x < m_max_index_x; x++) {
if (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
<< getIdxElem(x, y, z).directions[dir].value;
else
std::cout << std::setw(4) << "-";
}
std::cout << std::endl;
}
std::cout << std::endl;
}
}
/******************************************************************************/
void Pathfinder::printYdir(PathDirections dir)
{
std::cout << "Height difference in direction: " << dirToName(dir) << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(4) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(4) << x;
}
std::cout << std::endl;
for (int z = 0; z < m_max_index_z; z++) {
std::cout << std::setw(4) << z <<": ";
for (int x = 0; x < m_max_index_x; x++) {
if (getIdxElem(x, y, z).directions[dir].valid)
std::cout << std::setw(4)
<< getIdxElem(x, y, z).directions[dir].direction;
else
std::cout << std::setw(4) << "-";
}
std::cout << std::endl;
}
std::cout << std::endl;
}
}
/******************************************************************************/
void Pathfinder::printType()
{
std::cout << "Type of node:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(3) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(3) << x;
}
std::cout << std::endl;
for (int z = 0; z < m_max_index_z; z++) {
std::cout << std::setw(3) << z <<": ";
for (int x = 0; x < m_max_index_x; x++) {
char toshow = getIdxElem(x, y, z).type;
std::cout << std::setw(3) << toshow;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
/******************************************************************************/
void Pathfinder::printPathLen()
{
std::cout << "Pathlen:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
for (int y = 0; y < m_max_index_y; y++) {
std::cout << "Level: " << y << std::endl;
std::cout << std::setw(3) << " " << " ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(3) << x;
}
std::cout << std::endl;
for (int z = 0; z < m_max_index_z; z++) {
std::cout << std::setw(3) << z <<": ";
for (int x = 0; x < m_max_index_x; x++) {
std::cout << std::setw(3) << getIdxElem(x, y, z).totalcost;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
std::cout << std::endl;
}
/******************************************************************************/
std::string Pathfinder::dirToName(PathDirections dir)
{
switch (dir) {
case DIR_XP:
return "XP";
break;
case DIR_XM:
return "XM";
break;
case DIR_ZP:
return "ZP";
break;
case DIR_ZM:
return "ZM";
break;
default:
return "UKN";
}
}
/******************************************************************************/
void Pathfinder::printPath(std::vector<v3s16> path)
{
unsigned int current = 0;
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) {
std::cout << std::setw(3) << current << ":" << PPOS((*i)) << std::endl;
current++;
}
}
#endif
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