/******************************************************************************/
#include "pathfinder.h"
-#include "environment.h"
-#include "map.h"
-#include "log.h"
-#include "irr_aabb3d.h"
+#include "serverenvironment.h"
+#include "server.h"
+#include "nodedef.h"
//#define PATHFINDER_DEBUG
//#define PATHFINDER_CALC_TIME
/* 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) while(0)
#define INFO_TARGET infostream << "Pathfinder: "
#define VERBOSE_TARGET verbosestream << "Pathfinder: "
-#define ERROR_TARGET errorstream << "Pathfinder: "
+#define ERROR_TARGET warningstream << "Pathfinder: "
#endif
/******************************************************************************/
public:
/** default constructor */
- PathCost();
+ PathCost() = default;
/** 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 */
+ bool valid = false; /**< movement is possible */
+ int value = 0; /**< cost of movement */
+ int direction = 0; /**< y-direction of movement */
+ bool updated = false; /**< this cost has ben calculated */
};
public:
/** default constructor */
- PathGridnode();
+ PathGridnode() = default;
/** copy constructor */
PathGridnode(const PathGridnode &b);
* @param dir direction to set cost for
* @cost cost to set
*/
- void setCost(v3s16 dir, PathCost cost);
+ void setCost(v3s16 dir, const 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 */
+ 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 */
+ 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 */
+ bool is_element = false; /**< node is element of path detected */
+ char type = 'u'; /**< type of node */
};
class Pathfinder;
class GridNodeContainer {
public:
virtual PathGridnode &access(v3s16 p)=0;
- virtual ~GridNodeContainer() {}
+ virtual ~GridNodeContainer() = default;
+
protected:
Pathfinder *m_pathf;
class ArrayGridNodeContainer : public GridNodeContainer {
public:
- virtual ~ArrayGridNodeContainer() {}
+ virtual ~ArrayGridNodeContainer() = default;
+
ArrayGridNodeContainer(Pathfinder *pathf, v3s16 dimensions);
virtual PathGridnode &access(v3s16 p);
private:
class MapGridNodeContainer : public GridNodeContainer {
public:
- virtual ~MapGridNodeContainer() {}
+ virtual ~MapGridNodeContainer() = default;
+
MapGridNodeContainer(Pathfinder *pathf);
virtual PathGridnode &access(v3s16 p);
private:
/**
* default constructor
*/
- Pathfinder();
+ Pathfinder() = default;
~Pathfinder();
* @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);
+ bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
/**
* recursive try to find a patrh to destionation
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_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_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 */
+ int m_searchdistance = 0; /**< max distance to search in each 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; /**< prefetch cost data */
+ bool m_prefetch = true; /**< prefetch cost data */
v3s16 m_start; /**< source position */
v3s16 m_destination; /**< destination position */
/** contains all map data already collected and analyzed.
Access it via the getIndexElement/getIdxElem methods. */
friend class GridNodeContainer;
- GridNodeContainer *m_nodes_container;
+ GridNodeContainer *m_nodes_container = nullptr;
- ServerEnvironment *m_env; /**< minetest environment pointer */
+ ServerEnvironment *m_env = 0; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
searchdistance, max_jump, max_drop, algo);
}
-/******************************************************************************/
-PathCost::PathCost()
-: valid(false),
- value(0),
- direction(0),
- updated(false)
-{
- //intentionaly empty
-}
-
/******************************************************************************/
PathCost::PathCost(const PathCost &b)
{
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),
}
/******************************************************************************/
-void PathGridnode::setCost(v3s16 dir, PathCost cost)
+void PathGridnode::setCost(v3s16 dir, const PathCost &cost)
{
if (dir.X > 0) {
directions[DIR_XP] = cost;
void GridNodeContainer::initNode(v3s16 ipos, PathGridnode *p_node)
{
+ const NodeDefManager *ndef = m_pathf->m_env->getGameDef()->ndef();
PathGridnode &elem = *p_node;
v3s16 realpos = m_pathf->getRealPos(ipos);
if ((current.param0 == CONTENT_IGNORE) ||
(below.param0 == CONTENT_IGNORE)) {
- DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
+ DEBUG_OUT("Pathfinder: " << PP(realpos) <<
" current or below is invalid element" << std::endl);
if (current.param0 == CONTENT_IGNORE) {
elem.type = 'i';
- DEBUG_OUT(PPOS(ipos) << ": " << 'i' << std::endl);
+ DEBUG_OUT(PP(ipos) << ": " << 'i' << std::endl);
}
return;
}
//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)
+ if (ndef->get(current).walkable || !ndef->get(below).walkable) {
+ DEBUG_OUT("Pathfinder: " << PP(realpos)
<< " not on surface" << std::endl);
- if (current.param0 != CONTENT_AIR) {
+ if (ndef->get(current).walkable) {
elem.type = 's';
- DEBUG_OUT(PPOS(ipos) << ": " << 's' << std::endl);
+ DEBUG_OUT(PP(ipos) << ": " << 's' << std::endl);
} else {
elem.type = '-';
- DEBUG_OUT(PPOS(ipos) << ": " << '-' << std::endl);
+ DEBUG_OUT(PP(ipos) << ": " << '-' << std::endl);
}
return;
}
elem.valid = true;
elem.pos = realpos;
elem.type = 'g';
- DEBUG_OUT(PPOS(ipos) << ": " << 'a' << std::endl);
+ DEBUG_OUT(PP(ipos) << ": " << 'a' << std::endl);
if (m_pathf->m_prefetch) {
elem.directions[DIR_XP] = m_pathf->calcCost(realpos, v3s16( 1, 0, 0));
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
- "Index: " << PPOS(StartIndex) <<
- "Realpos: " << PPOS(getRealPos(StartIndex)) << std::endl;
+ "Index: " << PP(StartIndex) <<
+ "Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
return retval;
}
if (!endpos.valid) {
VERBOSE_TARGET << "invalid stoppos" <<
- "Index: " << PPOS(EndIndex) <<
- "Realpos: " << PPOS(getRealPos(EndIndex)) << std::endl;
+ "Index: " << PP(EndIndex) <<
+ "Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
//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);
+ for (const v3s16 &i : path) {
+ full_path.push_back(getIndexElement(i).pos);
}
#ifdef PATHFINDER_DEBUG
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;
/******************************************************************************/
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
{
+ const NodeDefManager *ndef = m_env->getGameDef()->ndef();
PathCost retval;
retval.updated = true;
//check limits
if (!m_limits.isPointInside(pos2)) {
- DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
+ DEBUG_OUT("Pathfinder: " << PP(pos2) <<
" no cost -> out of limits" << std::endl);
return retval;
}
//did we get information about node?
if (node_at_pos2.param0 == CONTENT_IGNORE ) {
VERBOSE_TARGET << "Pathfinder: (1) area at pos: "
- << PPOS(pos2) << " not loaded";
+ << PP(pos2) << " not loaded";
return retval;
}
- if (node_at_pos2.param0 == CONTENT_AIR) {
+ 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";
+ << PP((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
- if (node_below_pos2.param0 != CONTENT_AIR) {
+ if (ndef->get(node_below_pos2).walkable) {
retval.valid = true;
retval.value = 1;
retval.direction = 0;
- DEBUG_OUT("Pathfinder: "<< PPOS(pos)
+ DEBUG_OUT("Pathfinder: "<< PP(pos)
<< " cost same height found" << std::endl);
}
else {
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 == CONTENT_AIR) &&
+ (!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) &&
- (node_at_pos.param0 != CONTENT_AIR)) {
+ (ndef->get(node_at_pos).walkable)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
retval.valid = true;
retval.value = 2;
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
- (node_at_pos.param0 != CONTENT_AIR) &&
+ (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) &&
- (node_at_pos.param0 == CONTENT_AIR)) {
+ (!ndef->get(node_at_pos).walkable)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
retval.valid = true;
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));
+ directions.emplace_back(1,0, 0);
+ directions.emplace_back(-1,0, 0);
+ directions.emplace_back(0,0, 1);
+ directions.emplace_back(0,0,-1);
- for (unsigned int i=0; i < directions.size(); i++) {
- if (directions[i] != srcdir) {
- PathCost cost = g_pos.getCost(directions[i]);
+ for (v3s16 &direction : directions) {
+ if (direction != srcdir) {
+ PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
- directions[i].Y = cost.direction;
+ direction.Y = cost.direction;
- v3s16 ipos2 = ipos + directions[i];
+ v3s16 ipos2 = ipos + direction;
if (!isValidIndex(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
+ DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
+ " out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
continue;
}
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << PPOS(ipos2) << std::endl;
+ << PP(ipos2) << std::endl;
continue;
}
if ((g_pos2.totalcost < 0) ||
(g_pos2.totalcost > new_cost)) {
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
- PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
+ PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl);
- if (updateAllCosts(ipos2, invert(directions[i]),
+ if (updateAllCosts(ipos2, invert(direction),
new_cost, level)) {
retval = true;
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" already found shorter path to: "
- << PPOS(ipos2) << std::endl);
+ << PP(ipos2) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" not moving to invalid direction: "
- << PPOS(directions[i]) << std::endl);
+ << PP(directions[i]) << std::endl);
}
}
}
DEBUG_OUT("Pathfinder: remaining dirs at beginning:"
<< directions.size() << std::endl);
- for (std::vector<v3s16>::iterator iter = directions.begin();
- iter != directions.end();
- ++iter) {
+ for (v3s16 &direction : directions) {
- v3s16 pos1 = v3s16(srcpos.X + iter->X, 0, srcpos.Z+iter->Z);
+ v3s16 pos1 = v3s16(srcpos.X + direction.X, 0, srcpos.Z+ direction.Z);
int cur_manhattan = getXZManhattanDist(pos1);
- PathCost cost = g_pos.getCost(*iter);
+ PathCost cost = g_pos.getCost(direction);
if (!cost.updated) {
- cost = calcCost(g_pos.pos, *iter);
- g_pos.setCost(*iter, cost);
+ cost = calcCost(g_pos.pos, direction);
+ g_pos.setCost(direction, cost);
}
if (cost.valid) {
if ((minscore < 0)|| (score < minscore)) {
minscore = score;
- retdir = *iter;
+ retdir = direction;
}
}
}
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));
+ directions.emplace_back(1, 0, 0);
+ directions.emplace_back(-1, 0, 0);
+ directions.emplace_back(0, 0, 1);
+ directions.emplace_back(0, 0, -1);
v3s16 direction = getDirHeuristic(directions, g_pos);
v3s16 ipos2 = ipos + direction;
if (!isValidIndex(ipos2)) {
- DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
- " out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
+ DEBUG_OUT(LVL " Pathfinder: " << PP(ipos2) <<
+ " out of range, max=" << PP(m_limits.MaxEdge) << std::endl);
direction = getDirHeuristic(directions, g_pos);
continue;
}
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
- << PPOS(ipos2) << std::endl;
+ << PP(ipos2) << std::endl;
direction = getDirHeuristic(directions, g_pos);
continue;
}
(m_min_target_distance < new_cost)) {
DEBUG_OUT(LVL "Pathfinder:"
" already longer than best already found path "
- << PPOS(ipos2) << std::endl);
+ << PP(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 "<<
+ PP(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << " srcdir=" <<
- PPOS(invert(direction))<< std::endl);
+ PP(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);
+ << PP(ipos2) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" not moving to invalid direction: "
- << PPOS(direction) << std::endl);
+ << PP(direction) << std::endl);
}
}
else {
DEBUG_OUT(LVL "Pathfinder:"
" skipping srcdir: "
- << PPOS(direction) << std::endl);
+ << PP(direction) << std::endl);
}
direction = getDirHeuristic(directions, g_pos);
}
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;
+ std::cout << std::setw(3) << current << ":" << PP((*i)) << std::endl;
current++;
}
}
projects / minetest.git / blobdiff