Rework/cleanup of Selat's rewritten pathfinder
Ciaran Gultnieks
parent
36d0152f6c
commit
7d8079885d
1166
src/pathfinder.cpp
1166
src/pathfinder.cpp
File diff suppressed because it is too large
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299
src/pathfinder.h
299
src/pathfinder.h
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@ -24,6 +24,9 @@ with this program; if not, write to the Free Software Foundation, Inc.,
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/* Includes */
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/******************************************************************************/
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#include <vector>
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#include <string>
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#include <map>
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#include <cstdlib>
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#include "irr_v3d.h"
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@ -38,107 +41,50 @@ class ServerEnvironment;
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/* Typedefs and macros */
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/******************************************************************************/
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//#define PATHFINDER_DEBUG
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typedef enum {
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DIR_XP,
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DIR_XM,
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DIR_ZP,
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DIR_ZM
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} path_directions;
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/** List of supported algorithms */
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typedef enum {
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DIJKSTRA, /**< Dijkstra shortest path algorithm */
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A_PLAIN, /**< A* algorithm using heuristics to find a path */
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A_PLAIN_NP /**< A* algorithm without prefetching of map data */
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} algorithm;
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enum Algorithm
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{
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A_STAR
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};
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enum Adjacency
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{
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ADJACENCY_4,
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ADJACENCY_8
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};
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/******************************************************************************/
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/* declarations */
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/******************************************************************************/
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/** c wrapper function to use from scriptapi */
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std::vector<v3s16> get_Path(ServerEnvironment* env,
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v3s16 source,
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v3s16 destination,
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unsigned int searchdistance,
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unsigned int max_jump,
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unsigned int max_drop,
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algorithm algo);
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std::vector<v3s16> getPath(ServerEnvironment* env,
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v3s16 source,
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v3s16 destination,
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unsigned int searchdistance,
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unsigned int max_jump,
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unsigned int max_drop,
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Algorithm algo,
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Adjacency adjacency);
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/** representation of cost in specific direction */
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class path_cost {
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public:
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struct OpenElement
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{
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OpenElement();
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OpenElement(unsigned int _f_value, unsigned int _distance, v3s16 _pos, v3s16 _prev_pos);
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OpenElement& operator=(const OpenElement& e);
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bool operator<(const OpenElement& e) const;
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/** default constructor */
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path_cost();
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/** copy constructor */
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path_cost(const path_cost& b);
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/** assignment operator */
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path_cost& operator= (const path_cost& b);
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bool valid; /**< movement is possible */
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int value; /**< cost of movement */
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int direction; /**< y-direction of movement */
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bool updated; /**< this cost has ben calculated */
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};
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/** representation of a mapnode to be used for pathfinding */
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class path_gridnode {
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public:
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/** default constructor */
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path_gridnode();
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/** copy constructor */
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path_gridnode(const path_gridnode& b);
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/**
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* assignment operator
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* @param b node to copy
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*/
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path_gridnode& operator= (const path_gridnode& b);
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/**
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* read cost in a specific direction
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* @param dir direction of cost to fetch
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*/
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path_cost get_cost(v3s16 dir);
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/**
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* set cost value for movement
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* @param dir direction to set cost for
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* @cost cost to set
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*/
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void set_cost(v3s16 dir,path_cost cost);
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bool valid; /**< node is on surface */
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bool target; /**< node is target position */
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bool source; /**< node is stating position */
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int totalcost; /**< cost to move here from starting point */
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v3s16 sourcedir; /**< origin of movement for current cost */
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int surfaces; /**< number of surfaces with same x,z value*/
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v3s16 pos; /**< real position of node */
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path_cost directions[4]; /**< cost in different directions */
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/* debug values */
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bool is_element; /**< node is element of path detected */
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char type; /**< type of node */
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unsigned int f_value;
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unsigned int start_cost;
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v3s16 pos;
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v3s16 prev_pos;
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};
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/** class doing pathfinding */
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class pathfinder {
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class PathFinder
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{
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public:
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/**
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* default constructor
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*/
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pathfinder();
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PathFinder();
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/**
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* path evaluation function
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@ -150,16 +96,16 @@ public:
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* @param max_drop maximum number of blocks a path may drop
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* @param algo algorithm to use for finding a path
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*/
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std::vector<v3s16> get_Path(ServerEnvironment* env,
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v3s16 source,
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v3s16 destination,
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unsigned int searchdistance,
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unsigned int max_jump,
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unsigned int max_drop,
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algorithm algo);
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std::vector<v3s16> getPath(ServerEnvironment* env,
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v3s16 source,
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v3s16 destination,
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unsigned int searchdistance,
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unsigned int max_jump,
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unsigned int max_drop,
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Algorithm algo,
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Adjacency adjacency);
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private:
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/** data struct for storing internal information */
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struct limits {
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struct limit {
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int min;
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@ -171,50 +117,7 @@ private:
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limit Z;
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};
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/* helper functions */
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/**
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* transform index pos to mappos
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* @param ipos a index position
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* @return map position
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*/
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v3s16 getRealPos(v3s16 ipos);
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/**
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* transform mappos to index pos
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* @param pos a real pos
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* @return index position
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*/
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v3s16 getIndexPos(v3s16 pos);
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/**
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* get gridnode at a specific index position
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* @param ipos index position
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* @return gridnode for index
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*/
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path_gridnode& getIndexElement(v3s16 ipos);
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/**
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* invert a 3d position
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* @param pos 3d position
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* @return pos *-1
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*/
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v3s16 invert(v3s16 pos);
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/**
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* check if a index is within current search area
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* @param index position to validate
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* @return true/false
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*/
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bool valid_index(v3s16 index);
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/**
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* translate position to float position
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* @param pos integer position
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* @return float position
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*/
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v3f tov3f(v3s16 pos);
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unsigned int getDirectionCost(unsigned int id);
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/* algorithm functions */
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@ -223,128 +126,48 @@ private:
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* @param pos position to calc distance
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* @return integer distance
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*/
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int get_manhattandistance(v3s16 pos);
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inline static unsigned int getManhattanDistance(v3s16 pos1, v3s16 pos2);
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/**
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* get best direction based uppon heuristics
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* @param directions list of unchecked directions
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* @param g_pos mapnode to start from
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* @return direction to check
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* This method finds closest path to the target
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*/
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v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
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bool findPathHeuristic(v3s16 pos, std::vector <v3s16>& adjacencies,
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unsigned int (*heuristicFunction)(v3s16, v3s16));
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/**
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* build internal data representation of search area
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* @return true/false if costmap creation was successfull
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*/
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bool build_costmap();
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/**
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* calculate cost of movement
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* @param pos real world position to start movement
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* @param dir direction to move to
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* @return cost information
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*/
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path_cost calc_cost(v3s16 pos,v3s16 dir);
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/**
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* recursive update whole search areas total cost information
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* @param ipos position to check next
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* @param srcdir positionc checked last time
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* @param total_cost cost of moving to ipos
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* @param level current recursion depth
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* @return true/false path to destination has been found
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*/
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bool update_all_costs(v3s16 ipos,v3s16 srcdir,int total_cost,int level);
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/**
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* recursive try to find a patrh to destionation
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* @param ipos position to check next
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* @param srcdir positionc checked last time
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* @param total_cost cost of moving to ipos
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* @param level current recursion depth
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* @return true/false path to destination has been found
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*/
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bool update_cost_heuristic(v3s16 ipos,v3s16 srcdir,int current_cost,int level);
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/**
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* recursive build a vector containing all nodes from source to destination
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* Create a vector containing all nodes from source to destination
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* @param path vector to add nodes to
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* @param pos pos to check next
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* @param level recursion depth
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*/
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void build_path(std::vector<v3s16>& path,v3s16 pos, int level);
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/* variables */
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int m_max_index_x; /**< max index of search area in x direction */
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int m_max_index_y; /**< max index of search area in y direction */
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int m_max_index_z; /**< max index of search area in z direction */
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void buildPath(std::vector<v3s16>& path, v3s16 start_pos, v3s16 end_pos);
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int m_searchdistance; /**< max distance to search in each direction */
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int m_maxdrop; /**< maximum number of blocks a path may drop */
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int m_maxjump; /**< maximum number of blocks a path may jump */
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int m_min_target_distance; /**< current smalest path to target */
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bool m_prefetch; /**< prefetch cost data */
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v3s16 m_start; /**< source position */
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v3s16 m_destination; /**< destination position */
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limits m_limits; /**< position limits in real map coordinates */
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/** 3d grid containing all map data already collected and analyzed */
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std::vector<std::vector<std::vector<path_gridnode> > > m_data;
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ServerEnvironment* m_env; /**< minetest environment pointer */
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#ifdef PATHFINDER_DEBUG
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Adjacency m_adjacency;
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/**
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* print collected cost information
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*/
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void print_cost();
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std::vector <v3s16> m_adjacency_4;
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std::vector <v3s16> m_adjacency_8;
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/**
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* print collected cost information in a specific direction
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* @param dir direction to print
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*/
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void print_cost(path_directions dir);
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std::vector <unsigned int> m_adjacency_4_cost;
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std::vector <unsigned int> m_adjacency_8_cost;
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/**
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* print type of node as evaluated
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*/
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void print_type();
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/**
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* print pathlenght for all nodes in search area
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*/
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void print_pathlen();
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/**
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* print a path
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* @param path path to show
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*/
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void print_path(std::vector<v3s16> path);
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/**
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* print y direction for all movements
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*/
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void print_ydir();
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/**
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* print y direction for moving in a specific direction
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* @param dir direction to show data
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*/
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void print_ydir(path_directions dir);
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/**
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* helper function to translate a direction to speaking text
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* @param dir direction to translate
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* @return textual name of direction
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*/
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std::string dir_to_name(path_directions dir);
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#endif
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std::map <v3s16, std::pair <v3s16, unsigned int> > used;
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};
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inline unsigned int PathFinder::getManhattanDistance(v3s16 pos1, v3s16 pos2)
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{
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return fabs(pos1.X - pos2.X) + fabs(pos1.Z - pos2.Z);
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}
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#endif /* PATHFINDER_H_ */
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@ -41,6 +41,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
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///////////////////////////////////////////////////////////////////////////////
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v3s16 start_pos;
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void LuaABM::trigger(ServerEnvironment *env, v3s16 p, MapNode n,
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u32 active_object_count, u32 active_object_count_wider)
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@ -724,19 +725,14 @@ int ModApiEnvMod::l_find_path(lua_State *L)
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unsigned int searchdistance = luaL_checkint(L, 3);
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unsigned int max_jump = luaL_checkint(L, 4);
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unsigned int max_drop = luaL_checkint(L, 5);
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algorithm algo = A_PLAIN_NP;
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Algorithm algo = A_STAR;
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if (!lua_isnil(L, 6)) {
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std::string algorithm = luaL_checkstring(L,6);
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if (algorithm == "A*")
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algo = A_PLAIN;
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if (algorithm == "Dijkstra")
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algo = DIJKSTRA;
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}
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std::vector<v3s16> path =
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get_Path(env,pos1,pos2,searchdistance,max_jump,max_drop,algo);
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getPath(env, pos1, pos2, searchdistance,
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max_jump, max_drop, algo, ADJACENCY_4);
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if (path.size() > 0)
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{
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