#include "map.h"
#include "log.h"
+//#define PATHFINDER_DEBUG
+//#define PATHFINDER_CALC_TIME
+
+#ifdef PATHFINDER_DEBUG
+ #include <string>
+#endif
#ifdef PATHFINDER_DEBUG
-#include <iomanip>
+ #include <iomanip>
#endif
#ifdef PATHFINDER_CALC_TIME
#include <sys/time.h>
/* Typedefs and macros */
/******************************************************************************/
-//#define PATHFINDER_CALC_TIME
-
/** shortcut to print a 3d pos */
#define PPOS(pos) "(" << pos.X << "," << pos.Y << "," << pos.Z << ")"
#define ERROR_TARGET errorstream << "pathfinder: "
#endif
+/******************************************************************************/
+/* Class definitions */
+/******************************************************************************/
+
+
+/** representation of cost in specific direction */
+class path_cost {
+public:
+
+ /** default constructor */
+ path_cost();
+
+ /** copy constructor */
+ path_cost(const path_cost& b);
+
+ /** assignment operator */
+ path_cost& operator= (const path_cost& 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 path_gridnode {
+
+public:
+ /** default constructor */
+ path_gridnode();
+
+ /** copy constructor */
+ path_gridnode(const path_gridnode& b);
+
+ /**
+ * assignment operator
+ * @param b node to copy
+ */
+ path_gridnode& operator= (const path_gridnode& b);
+
+ /**
+ * read cost in a specific direction
+ * @param dir direction of cost to fetch
+ */
+ path_cost get_cost(v3s16 dir);
+
+ /**
+ * set cost value for movement
+ * @param dir direction to set cost for
+ * @cost cost to set
+ */
+ void set_cost(v3s16 dir,path_cost 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 */
+ int surfaces; /**< number of surfaces with same x,z value*/
+ v3s16 pos; /**< real position of node */
+ path_cost directions[4]; /**< cost in different directions */
+
+ /* debug values */
+ bool is_element; /**< node is element of path detected */
+ char type; /**< type of node */
+};
+
+/** class doing pathfinding */
+class pathfinder {
+
+public:
+ /**
+ * default constructor
+ */
+ 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> get_Path(ServerEnvironment* env,
+ v3s16 source,
+ v3s16 destination,
+ unsigned int searchdistance,
+ unsigned int max_jump,
+ unsigned int max_drop,
+ algorithm algo);
+
+private:
+ /** data struct for storing internal information */
+ struct limits {
+ struct limit {
+ int min;
+ int max;
+ };
+
+ limit X;
+ limit Y;
+ limit Z;
+ };
+
+ /* 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
+ */
+ path_gridnode& getIndexElement(v3s16 ipos);
+
+ /**
+ * 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 valid_index(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
+ * @param pos position to calc distance
+ * @return integer distance
+ */
+ int get_manhattandistance(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 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
+
+ /**
+ * build internal data representation of search area
+ * @return true/false if costmap creation was successfull
+ */
+ bool build_costmap();
+
+ /**
+ * calculate cost of movement
+ * @param pos real world position to start movement
+ * @param dir direction to move to
+ * @return cost information
+ */
+ path_cost calc_cost(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 update_all_costs(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 update_cost_heuristic(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 build_path(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 */
+
+ limits m_limits; /**< position limits in real map coordinates */
+
+ /** 3d grid containing all map data already collected and analyzed */
+ std::vector<std::vector<std::vector<path_gridnode> > > m_data;
+
+ ServerEnvironment* m_env; /**< minetest environment pointer */
+
+#ifdef PATHFINDER_DEBUG
+
+ /**
+ * print collected cost information
+ */
+ void print_cost();
+
+ /**
+ * print collected cost information in a specific direction
+ * @param dir direction to print
+ */
+ void print_cost(path_directions dir);
+
+ /**
+ * print type of node as evaluated
+ */
+ void print_type();
+
+ /**
+ * print pathlenght for all nodes in search area
+ */
+ void print_pathlen();
+
+ /**
+ * print a path
+ * @param path path to show
+ */
+ void print_path(std::vector<v3s16> path);
+
+ /**
+ * print y direction for all movements
+ */
+ void print_ydir();
+
+ /**
+ * print y direction for moving in a specific direction
+ * @param dir direction to show data
+ */
+ void print_ydir(path_directions dir);
+
+ /**
+ * helper function to translate a direction to speaking text
+ * @param dir direction to translate
+ * @return textual name of direction
+ */
+ std::string dir_to_name(path_directions dir);
+#endif
+};
+
/******************************************************************************/
/* implementation */
/******************************************************************************/
/* Includes */
/******************************************************************************/
#include <vector>
-
#include "irr_v3d.h"
-
/******************************************************************************/
/* Forward declarations */
/******************************************************************************/
/* Typedefs and macros */
/******************************************************************************/
-//#define PATHFINDER_DEBUG
-
typedef enum {
DIR_XP,
DIR_XM,
unsigned int max_drop,
algorithm algo);
-/** representation of cost in specific direction */
-class path_cost {
-public:
-
- /** default constructor */
- path_cost();
-
- /** copy constructor */
- path_cost(const path_cost& b);
-
- /** assignment operator */
- path_cost& operator= (const path_cost& 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 path_gridnode {
-
-public:
- /** default constructor */
- path_gridnode();
-
- /** copy constructor */
- path_gridnode(const path_gridnode& b);
-
- /**
- * assignment operator
- * @param b node to copy
- */
- path_gridnode& operator= (const path_gridnode& b);
-
- /**
- * read cost in a specific direction
- * @param dir direction of cost to fetch
- */
- path_cost get_cost(v3s16 dir);
-
- /**
- * set cost value for movement
- * @param dir direction to set cost for
- * @cost cost to set
- */
- void set_cost(v3s16 dir,path_cost 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 */
- int surfaces; /**< number of surfaces with same x,z value*/
- v3s16 pos; /**< real position of node */
- path_cost directions[4]; /**< cost in different directions */
-
- /* debug values */
- bool is_element; /**< node is element of path detected */
- char type; /**< type of node */
-};
-
-/** class doing pathfinding */
-class pathfinder {
-
-public:
- /**
- * default constructor
- */
- 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> get_Path(ServerEnvironment* env,
- v3s16 source,
- v3s16 destination,
- unsigned int searchdistance,
- unsigned int max_jump,
- unsigned int max_drop,
- algorithm algo);
-
-private:
- /** data struct for storing internal information */
- struct limits {
- struct limit {
- int min;
- int max;
- };
-
- limit X;
- limit Y;
- limit Z;
- };
-
- /* 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
- */
- path_gridnode& getIndexElement(v3s16 ipos);
-
- /**
- * 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 valid_index(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
- * @param pos position to calc distance
- * @return integer distance
- */
- int get_manhattandistance(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 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
-
- /**
- * build internal data representation of search area
- * @return true/false if costmap creation was successfull
- */
- bool build_costmap();
-
- /**
- * calculate cost of movement
- * @param pos real world position to start movement
- * @param dir direction to move to
- * @return cost information
- */
- path_cost calc_cost(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 update_all_costs(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 update_cost_heuristic(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 build_path(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 */
-
- limits m_limits; /**< position limits in real map coordinates */
-
- /** 3d grid containing all map data already collected and analyzed */
- std::vector<std::vector<std::vector<path_gridnode> > > m_data;
-
- ServerEnvironment* m_env; /**< minetest environment pointer */
-
-#ifdef PATHFINDER_DEBUG
-
- /**
- * print collected cost information
- */
- void print_cost();
-
- /**
- * print collected cost information in a specific direction
- * @param dir direction to print
- */
- void print_cost(path_directions dir);
-
- /**
- * print type of node as evaluated
- */
- void print_type();
-
- /**
- * print pathlenght for all nodes in search area
- */
- void print_pathlen();
-
- /**
- * print a path
- * @param path path to show
- */
- void print_path(std::vector<v3s16> path);
-
- /**
- * print y direction for all movements
- */
- void print_ydir();
-
- /**
- * print y direction for moving in a specific direction
- * @param dir direction to show data
- */
- void print_ydir(path_directions dir);
-
- /**
- * helper function to translate a direction to speaking text
- * @param dir direction to translate
- * @return textual name of direction
- */
- std::string dir_to_name(path_directions dir);
-#endif
-};
-
#endif /* PATHFINDER_H_ */
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