#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: "
+#define INFO_TARGET infostream << "Pathfinder: "
+#define VERBOSE_TARGET verbosestream << "Pathfinder: "
+#define ERROR_TARGET errorstream << "Pathfinder: "
#endif
/******************************************************************************/
/** representation of cost in specific direction */
-class path_cost {
+class PathCost {
public:
/** default constructor */
- path_cost();
+ PathCost();
/** copy constructor */
- path_cost(const path_cost& b);
+ PathCost(const PathCost &b);
/** assignment operator */
- path_cost& operator= (const path_cost& b);
+ PathCost &operator= (const PathCost &b);
bool valid; /**< movement is possible */
int value; /**< cost of movement */
/** representation of a mapnode to be used for pathfinding */
-class path_gridnode {
+class PathGridnode {
public:
/** default constructor */
- path_gridnode();
+ PathGridnode();
/** copy constructor */
- path_gridnode(const path_gridnode& b);
+ PathGridnode(const PathGridnode &b);
/**
* assignment operator
* @param b node to copy
*/
- path_gridnode& operator= (const path_gridnode& b);
+ PathGridnode &operator= (const PathGridnode &b);
/**
* read cost in a specific direction
* @param dir direction of cost to fetch
*/
- path_cost get_cost(v3s16 dir);
+ PathCost getCost(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);
+ void setCost(v3s16 dir, PathCost cost);
bool valid; /**< node is on surface */
bool target; /**< node is target position */
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 */
+ PathCost directions[4]; /**< cost in different directions */
/* debug values */
bool is_element; /**< node is element of path detected */
};
/** class doing pathfinding */
-class pathfinder {
+class Pathfinder {
public:
/**
* default constructor
*/
- pathfinder();
+ Pathfinder();
/**
* path evaluation function
* @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
+ * @param algo Algorithm to use for finding a path
*/
- std::vector<v3s16> get_Path(ServerEnvironment* env,
+ std::vector<v3s16> getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
- algorithm algo);
+ PathAlgorithm algo);
private:
/** data struct for storing internal information */
* @param ipos index position
* @return gridnode for index
*/
- path_gridnode& getIndexElement(v3s16 ipos);
+ PathGridnode &getIndexElement(v3s16 ipos);
/**
* invert a 3d position
* @param index position to validate
* @return true/false
*/
- bool valid_index(v3s16 index);
+ bool isValidIndex(v3s16 index);
/**
* translate position to float position
/* algorithm functions */
/**
- * calculate 2d manahttan distance to target
+ * calculate 2d manahttan distance to target on the xz plane
* @param pos position to calc distance
* @return integer distance
*/
- int get_manhattandistance(v3s16 pos);
+ int getXZManhattanDist(v3s16 pos);
/**
* get best direction based uppon heuristics
* @param g_pos mapnode to start from
* @return direction to check
*/
- v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
+ 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 build_costmap();
+ bool buildCostmap();
/**
* calculate cost of movement
* @param dir direction to move to
* @return cost information
*/
- path_cost calc_cost(v3s16 pos,v3s16 dir);
+ PathCost calcCost(v3s16 pos, v3s16 dir);
/**
* recursive update whole search areas total cost information
* @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);
+ bool updateAllCosts(v3s16 ipos, v3s16 srcdir, int total_cost, int level);
/**
* recursive try to find a patrh to destionation
* @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);
+ bool updateCostHeuristic(v3s16 ipos, v3s16 srcdir, int current_cost, int level);
/**
* recursive build a vector containing all nodes from source to destination
* @param pos pos to check next
* @param level recursion depth
*/
- void build_path(std::vector<v3s16>& path,v3s16 pos, int level);
+ void buildPath(std::vector<v3s16> &path, v3s16 pos, int level);
/* variables */
int m_max_index_x; /**< max index of search area in x direction */
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;
+ std::vector<std::vector<std::vector<PathGridnode> > > m_data;
- ServerEnvironment* m_env; /**< minetest environment pointer */
+ ServerEnvironment *m_env; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
/**
* print collected cost information
*/
- void print_cost();
+ void printCost();
/**
* print collected cost information in a specific direction
* @param dir direction to print
*/
- void print_cost(path_directions dir);
+ void printCost(PathDirections dir);
/**
* print type of node as evaluated
*/
- void print_type();
+ void printType();
/**
* print pathlenght for all nodes in search area
*/
- void print_pathlen();
+ void printPathLen();
/**
* print a path
* @param path path to show
*/
- void print_path(std::vector<v3s16> path);
+ void printPath(std::vector<v3s16> path);
/**
* print y direction for all movements
*/
- void print_ydir();
+ void printYdir();
/**
* print y direction for moving in a specific direction
* @param dir direction to show data
*/
- void print_ydir(path_directions dir);
+ 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 dir_to_name(path_directions dir);
+ std::string dirToName(PathDirections dir);
#endif
};
/* implementation */
/******************************************************************************/
-std::vector<v3s16> get_Path(ServerEnvironment* env,
+std::vector<v3s16> get_path(ServerEnvironment* env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
- algorithm algo) {
-
- pathfinder searchclass;
+ PathAlgorithm algo)
+{
+ Pathfinder searchclass;
- return searchclass.get_Path(env,
- source,destination,
- searchdistance,max_jump,max_drop,algo);
+ return searchclass.getPath(env,
+ source, destination,
+ searchdistance, max_jump, max_drop, algo);
}
/******************************************************************************/
-path_cost::path_cost()
+PathCost::PathCost()
: valid(false),
value(0),
direction(0),
}
/******************************************************************************/
-path_cost::path_cost(const path_cost& b) {
+PathCost::PathCost(const PathCost &b)
+{
valid = b.valid;
direction = b.direction;
value = b.value;
}
/******************************************************************************/
-path_cost& path_cost::operator= (const path_cost& b) {
+PathCost &PathCost::operator= (const PathCost &b)
+{
valid = b.valid;
direction = b.direction;
value = b.value;
}
/******************************************************************************/
-path_gridnode::path_gridnode()
+PathGridnode::PathGridnode()
: valid(false),
target(false),
source(false),
totalcost(-1),
- sourcedir(v3s16(0,0,0)),
+ sourcedir(v3s16(0, 0, 0)),
surfaces(0),
- pos(v3s16(0,0,0)),
+ pos(v3s16(0, 0, 0)),
is_element(false),
type('u')
{
}
/******************************************************************************/
-path_gridnode::path_gridnode(const path_gridnode& b)
+PathGridnode::PathGridnode(const PathGridnode &b)
: valid(b.valid),
target(b.target),
source(b.source),
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];
}
/******************************************************************************/
-path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
+PathGridnode &PathGridnode::operator= (const PathGridnode &b)
+{
valid = b.valid;
target = b.target;
source = b.source;
}
/******************************************************************************/
-path_cost path_gridnode::get_cost(v3s16 dir) {
+PathCost PathGridnode::getCost(v3s16 dir)
+{
if (dir.X > 0) {
return directions[DIR_XP];
}
if (dir.Z < 0) {
return directions[DIR_ZM];
}
- path_cost retval;
+ PathCost retval;
return retval;
}
/******************************************************************************/
-void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
+void PathGridnode::setCost(v3s16 dir, PathCost cost)
+{
if (dir.X > 0) {
directions[DIR_XP] = cost;
}
}
/******************************************************************************/
-std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
+std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
- algorithm algo) {
+ PathAlgorithm algo)
+{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
m_min_target_distance = -1;
m_prefetch = true;
- if (algo == A_PLAIN_NP) {
+ 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_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_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);
+ int min_z = MYMIN(source.Z, destination.Z);
+ int max_z = MYMAX(source.Z, destination.Z);
m_limits.X.min = min_x - searchdistance;
m_limits.X.max = max_x + searchdistance;
m_max_index_z = m_limits.Z.max - m_limits.Z.min;
//build data map
- if (!build_costmap()) {
+ if (!buildCostmap()) {
ERROR_TARGET << "failed to build costmap" << std::endl;
return retval;
}
#ifdef PATHFINDER_DEBUG
- print_type();
- print_cost();
- print_ydir();
+ printType();
+ printCost();
+ printYdir();
#endif
//validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
- path_gridnode& startpos = getIndexElement(StartIndex);
- path_gridnode& endpos = getIndexElement(EndIndex);
+ PathGridnode &startpos = getIndexElement(StartIndex);
+ PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
bool update_cost_retval = false;
switch (algo) {
- case DIJKSTRA:
- update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
+ case PA_DIJKSTRA:
+ update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
- case A_PLAIN_NP:
- case A_PLAIN:
- update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0);
+ case PA_PLAIN_NP:
+ case PA_PLAIN:
+ update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
- ERROR_TARGET << "missing algorithm"<< std::endl;
+ ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
- print_pathlen();
+ printPathLen();
#endif
//find path
std::vector<v3s16> path;
- build_path(path,EndIndex,0);
+ buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
- print_path(path);
+ printPath(path);
#endif
//finalize path
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
- print_path(full_path);
+ printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
}
else {
#ifdef PATHFINDER_DEBUG
- print_pathlen();
+ printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
}
/******************************************************************************/
-pathfinder::pathfinder() :
+Pathfinder::Pathfinder() :
m_max_index_x(0),
m_max_index_y(0),
m_max_index_z(0),
m_maxjump(0),
m_min_target_distance(0),
m_prefetch(true),
- m_start(0,0,0),
- m_destination(0,0,0),
+ m_start(0, 0, 0),
+ m_destination(0, 0, 0),
m_limits(),
m_data(),
m_env(0)
}
/******************************************************************************/
-v3s16 pathfinder::getRealPos(v3s16 ipos) {
-
+v3s16 Pathfinder::getRealPos(v3s16 ipos)
+{
v3s16 retval = ipos;
retval.X += m_limits.X.min;
}
/******************************************************************************/
-bool pathfinder::build_costmap()
+bool Pathfinder::buildCostmap()
{
INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
<< m_limits.Z.min << ") ("
int surfaces = 0;
for (int y = 0; y < m_max_index_y; y++) {
- v3s16 ipos(x,y,z);
+ v3s16 ipos(x, y, z);
v3s16 realpos = getRealPos(ipos);
MapNode current = m_env->getMap().getNodeNoEx(realpos);
- MapNode below = m_env->getMap().getNodeNoEx(realpos + v3s16(0,-1,0));
+ MapNode below = m_env->getMap().getNodeNoEx(realpos + v3s16(0, -1, 0));
if ((current.param0 == CONTENT_IGNORE) ||
if (m_prefetch) {
m_data[x][z][y].directions[DIR_XP] =
- calc_cost(realpos,v3s16( 1,0, 0));
+ calcCost(realpos,v3s16( 1, 0, 0));
m_data[x][z][y].directions[DIR_XM] =
- calc_cost(realpos,v3s16(-1,0, 0));
+ calcCost(realpos,v3s16(-1, 0, 0));
m_data[x][z][y].directions[DIR_ZP] =
- calc_cost(realpos,v3s16( 0,0, 1));
+ calcCost(realpos,v3s16( 0, 0, 1));
m_data[x][z][y].directions[DIR_ZM] =
- calc_cost(realpos,v3s16( 0,0,-1));
+ calcCost(realpos,v3s16( 0, 0,-1));
}
}
}
/******************************************************************************/
-path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
- path_cost retval;
+PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
+{
+ PathCost retval;
retval.updated = true;
if (node_at_pos2.param0 == CONTENT_AIR) {
MapNode node_below_pos2 =
- m_env->getMap().getNodeNoEx(pos2 + v3s16(0,-1,0));
+ 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";
+ << PPOS((pos2 + v3s16(0, -1, 0))) << " not loaded";
return retval;
}
<< " cost same height found" << std::endl);
}
else {
- v3s16 testpos = pos2 - v3s16(0,-1,0);
+ v3s16 testpos = pos2 - v3s16(0, -1, 0);
MapNode node_at_pos = m_env->getMap().getNodeNoEx(testpos);
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 == CONTENT_AIR) &&
(testpos.Y > m_limits.Y.min)) {
- testpos += v3s16(0,-1,0);
+ testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 != CONTENT_AIR) &&
(testpos.Y < m_limits.Y.max)) {
- testpos += v3s16(0,1,0);
+ testpos += v3s16(0, 1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
}
/******************************************************************************/
-v3s16 pathfinder::getIndexPos(v3s16 pos) {
-
+v3s16 Pathfinder::getIndexPos(v3s16 pos)
+{
v3s16 retval = pos;
retval.X -= m_limits.X.min;
retval.Y -= m_limits.Y.min;
}
/******************************************************************************/
-path_gridnode& pathfinder::getIndexElement(v3s16 ipos) {
+PathGridnode &Pathfinder::getIndexElement(v3s16 ipos)
+{
return m_data[ipos.X][ipos.Z][ipos.Y];
}
/******************************************************************************/
-bool pathfinder::valid_index(v3s16 index) {
+bool Pathfinder::isValidIndex(v3s16 index)
+{
if ( (index.X < m_max_index_x) &&
(index.Y < m_max_index_y) &&
(index.Z < m_max_index_z) &&
}
/******************************************************************************/
-v3s16 pathfinder::invert(v3s16 pos) {
+v3s16 Pathfinder::invert(v3s16 pos)
+{
v3s16 retval = pos;
retval.X *=-1;
}
/******************************************************************************/
-bool pathfinder::update_all_costs( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
-
- path_gridnode& g_pos = getIndexElement(ipos);
+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;
for (unsigned int i=0; i < directions.size(); i++) {
if (directions[i] != srcdir) {
- path_cost cost = g_pos.get_cost(directions[i]);
+ PathCost cost = g_pos.getCost(directions[i]);
if (cost.valid) {
directions[i].Y = cost.direction;
v3s16 ipos2 = ipos + directions[i];
- if (!valid_index(ipos2)) {
+ if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range (" << m_limits.X.max << "," <<
m_limits.Y.max << "," << m_limits.Z.max
continue;
}
- path_gridnode& g_pos2 = getIndexElement(ipos2);
+ PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
DEBUG_OUT(LVL "Pathfinder: updating path at: "<<
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << std::endl);
- if (update_all_costs(ipos2,invert(directions[i]),
- new_cost,level)) {
+ if (updateAllCosts(ipos2, invert(directions[i]),
+ new_cost, level)) {
retval = true;
}
}
}
/******************************************************************************/
-int pathfinder::get_manhattandistance(v3s16 pos) {
-
- int min_x = MYMIN(pos.X,m_destination.X);
- int max_x = MYMAX(pos.X,m_destination.X);
- int min_z = MYMIN(pos.Z,m_destination.Z);
- int max_z = MYMAX(pos.Z,m_destination.Z);
+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::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos) {
+v3s16 Pathfinder::getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &g_pos)
+{
int minscore = -1;
- v3s16 retdir = v3s16(0,0,0);
+ v3s16 retdir = v3s16(0, 0, 0);
v3s16 srcpos = g_pos.pos;
DEBUG_OUT("Pathfinder: remaining dirs at beginning:"
<< directions.size() << std::endl);
iter != directions.end();
++iter) {
- v3s16 pos1 = v3s16(srcpos.X + iter->X,0,srcpos.Z+iter->Z);
+ v3s16 pos1 = v3s16(srcpos.X + iter->X, 0, srcpos.Z+iter->Z);
- int cur_manhattan = get_manhattandistance(pos1);
- path_cost cost = g_pos.get_cost(*iter);
+ int cur_manhattan = getXZManhattanDist(pos1);
+ PathCost cost = g_pos.getCost(*iter);
if (!cost.updated) {
- cost = calc_cost(g_pos.pos,*iter);
- g_pos.set_cost(*iter,cost);
+ cost = calcCost(g_pos.pos, *iter);
+ g_pos.setCost(*iter, cost);
}
if (cost.valid) {
}
}
- if (retdir != v3s16(0,0,0)) {
+ if (retdir != v3s16(0, 0, 0)) {
for (std::vector<v3s16>::iterator iter = directions.begin();
iter != directions.end();
++iter) {
}
/******************************************************************************/
-bool pathfinder::update_cost_heuristic( v3s16 ipos,
- v3s16 srcdir,
- int current_cost,
- int level) {
+bool Pathfinder::updateCostHeuristic( v3s16 ipos,
+ v3s16 srcdir,
+ int current_cost,
+ int level)
+{
- path_gridnode& g_pos = getIndexElement(ipos);
+ PathGridnode &g_pos = getIndexElement(ipos);
g_pos.totalcost = current_cost;
g_pos.sourcedir = srcdir;
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.push_back(v3s16( 1, 0, 0));
+ directions.push_back(v3s16(-1, 0, 0));
+ directions.push_back(v3s16( 0, 0, 1));
+ directions.push_back(v3s16( 0, 0, -1));
- v3s16 direction = get_dir_heuristic(directions,g_pos);
+ v3s16 direction = getDirHeuristic(directions, g_pos);
- while (direction != v3s16(0,0,0) && (!retval)) {
+ while (direction != v3s16(0, 0, 0) && (!retval)) {
if (direction != srcdir) {
- path_cost cost = g_pos.get_cost(direction);
+ PathCost cost = g_pos.getCost(direction);
if (cost.valid) {
direction.Y = cost.direction;
v3s16 ipos2 = ipos + direction;
- if (!valid_index(ipos2)) {
+ if (!isValidIndex(ipos2)) {
DEBUG_OUT(LVL " Pathfinder: " << PPOS(ipos2) <<
" out of range (" << m_limits.X.max << "," <<
m_limits.Y.max << "," << m_limits.Z.max
<<")" << std::endl);
- direction = get_dir_heuristic(directions,g_pos);
+ direction = getDirHeuristic(directions, g_pos);
continue;
}
- path_gridnode& g_pos2 = getIndexElement(ipos2);
+ PathGridnode &g_pos2 = getIndexElement(ipos2);
if (!g_pos2.valid) {
VERBOSE_TARGET << LVL "Pathfinder: no data for new position: "
<< PPOS(ipos2) << std::endl;
- direction = get_dir_heuristic(directions,g_pos);
+ direction = getDirHeuristic(directions, g_pos);
continue;
}
PPOS(ipos2) << " from: " << g_pos2.totalcost << " to "<<
new_cost << " srcdir=" <<
PPOS(invert(direction))<< std::endl);
- if (update_cost_heuristic(ipos2,invert(direction),
- new_cost,level)) {
+ if (updateCostHeuristic(ipos2, invert(direction),
+ new_cost, level)) {
retval = true;
}
}
" skipping srcdir: "
<< PPOS(direction) << std::endl);
}
- direction = get_dir_heuristic(directions,g_pos);
+ direction = getDirHeuristic(directions, g_pos);
}
return retval;
}
/******************************************************************************/
-void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
+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;
+ << LVL "Pathfinder: path is too long aborting" << std::endl;
return;
}
- path_gridnode& g_pos = getIndexElement(pos);
+ PathGridnode &g_pos = getIndexElement(pos);
if (!g_pos.valid) {
ERROR_TARGET
- << LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
+ << LVL "Pathfinder: invalid next pos detected aborting" << std::endl;
return;
}
return;
}
- build_path(path,pos + g_pos.sourcedir,level);
+ 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);
+v3f Pathfinder::tov3f(v3s16 pos)
+{
+ return v3f(BS * pos.X, BS * pos.Y, BS * pos.Z);
}
#ifdef PATHFINDER_DEBUG
/******************************************************************************/
-void pathfinder::print_cost() {
- print_cost(DIR_XP);
- print_cost(DIR_XM);
- print_cost(DIR_ZP);
- print_cost(DIR_ZM);
+void Pathfinder::printCost()
+{
+ printCost(DIR_XP);
+ printCost(DIR_XM);
+ printCost(DIR_ZP);
+ printCost(DIR_ZM);
}
/******************************************************************************/
-void pathfinder::print_ydir() {
- print_ydir(DIR_XP);
- print_ydir(DIR_XM);
- print_ydir(DIR_ZP);
- print_ydir(DIR_ZM);
+void Pathfinder::printYdir()
+{
+ printYdir(DIR_XP);
+ printYdir(DIR_XM);
+ printYdir(DIR_ZP);
+ printYdir(DIR_ZM);
}
/******************************************************************************/
-void pathfinder::print_cost(path_directions dir) {
-
- std::cout << "Cost in direction: " << dir_to_name(dir) << std::endl;
+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++) {
}
/******************************************************************************/
-void pathfinder::print_ydir(path_directions dir) {
-
- std::cout << "Height difference in direction: " << dir_to_name(dir) << 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++) {
}
/******************************************************************************/
-void pathfinder::print_type() {
+void Pathfinder::printType()
+{
std::cout << "Type of node:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
}
/******************************************************************************/
-void pathfinder::print_pathlen() {
+void Pathfinder::printPathLen()
+{
std::cout << "Pathlen:" << std::endl;
std::cout << std::setfill('-') << std::setw(80) << "-" << std::endl;
std::cout << std::setfill(' ');
}
/******************************************************************************/
-std::string pathfinder::dir_to_name(path_directions dir) {
+std::string Pathfinder::dirToName(PathDirections dir)
+{
switch (dir) {
case DIR_XP:
return "XP";
}
/******************************************************************************/
-void pathfinder::print_path(std::vector<v3s16> path) {
-
+void Pathfinder::printPath(std::vector<v3s16> path)
+{
unsigned int current = 0;
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) {
projects / minetest.git / commitdiff