Add Dijkstra A* and A* without prefetching pathfind algorithms
sapier
kwolekr
parent
97f0bb0342
commit
69367aa799
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@ -1185,7 +1185,21 @@ methods:
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- get_perlin(seeddiff, octaves, persistence, scale)
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^ Return world-specific perlin noise (int(worldseed)+seeddiff)
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- clear_objects()
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^ clear all objects in the environments
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^ clear all objects in the environments
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- line_of_sight(pos1,pos2,stepsize) ->true/false
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^ checkif there is a direct line of sight between pos1 and pos2
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^ pos1 First position
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^ pos2 Second position
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^ stepsize smaller gives more accurate results but requires more computing
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time. Default is 1.
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-find_path(pos1,pos2,searchdistance,max_jump,max_drop,algorithm) -> table containing path
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^ returns a table of 3d points representing a path from pos1 to pos2 or nil
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^ pos1: start position
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^ pos2: end position
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^ searchdistance: number of blocks to search in each direction
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^ max_jump: maximum height difference to consider walkable
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^ max_drop: maximum height difference to consider droppable
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^ algorithm: A*_noprefetch(default), A*, Dijkstra
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- spawn_tree (pos, {treedef})
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^ spawns L-System tree at given pos with definition in treedef table
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treedef={
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@ -264,6 +264,7 @@ set(common_SRCS
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clientserver.cpp
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staticobject.cpp
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serverlist.cpp
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pathfinder.cpp
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util/serialize.cpp
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util/directiontables.cpp
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util/numeric.cpp
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@ -364,6 +364,29 @@ ServerMap & ServerEnvironment::getServerMap()
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return *m_map;
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}
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bool ServerEnvironment::line_of_sight(v3f pos1, v3f pos2, float stepsize)
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{
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float distance = pos1.getDistanceFrom(pos2);
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//calculate normalized direction vector
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v3f normalized_vector = v3f((pos2.X - pos1.X)/distance,
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(pos2.Y - pos1.Y)/distance,
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(pos2.Z - pos1.Z)/distance);
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//find out if there's a node on path between pos1 and pos2
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for (float i = 1; i < distance; i += stepsize) {
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v3s16 pos = floatToInt(v3f(normalized_vector.X * i,
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normalized_vector.Y * i,
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normalized_vector.Z * i) +pos1,BS);
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MapNode n = getMap().getNodeNoEx(pos);
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if(n.param0 != CONTENT_AIR) {
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return false;
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}
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}
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return true;
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}
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void ServerEnvironment::serializePlayers(const std::string &savedir)
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{
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@ -298,6 +298,9 @@ public:
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// This makes stuff happen
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void step(f32 dtime);
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//check if there's a line of sight between two positions
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bool line_of_sight(v3f pos1, v3f pos2, float stepsize=1.0);
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private:
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/*
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File diff suppressed because it is too large
Load Diff
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@ -0,0 +1,345 @@
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/*
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Minetest
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Copyright (C) 2013 sapier, sapier at gmx dot net
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation; either version 2.1 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License along
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with this program; if not, write to the Free Software Foundation, Inc.,
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#ifndef PATHFINDER_H_
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#define PATHFINDER_H_
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/******************************************************************************/
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/* Includes */
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/******************************************************************************/
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#include <vector>
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#include "server.h"
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#include "irr_v3d.h"
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/******************************************************************************/
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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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/******************************************************************************/
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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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/** representation of cost in specific direction */
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class path_cost {
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public:
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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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};
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/** class doing pathfinding */
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class pathfinder {
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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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/**
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* path evaluation function
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* @param env environment to look for path
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* @param source origin of path
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* @param destination end position of path
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* @param searchdistance maximum number of nodes to look in each direction
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* @param max_jump maximum number of blocks a path may jump up
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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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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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int max;
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};
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limit X;
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limit Y;
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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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/* algorithm functions */
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/**
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* calculate 2d manahttan distance to target
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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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/**
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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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*/
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v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
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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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* @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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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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/**
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* print collected cost information
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*/
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void print_cost();
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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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/**
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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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};
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#endif /* PATHFINDER_H_ */
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@ -26,6 +26,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
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#include "content_sao.h"
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#include "script.h"
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#include "treegen.h"
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#include "pathfinder.h"
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#include "util/pointedthing.h"
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#include "scriptapi_types.h"
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#include "scriptapi_noise.h"
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@ -647,6 +648,69 @@ int EnvRef::l_clear_objects(lua_State *L)
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return 0;
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}
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int EnvRef::l_line_of_sight(lua_State *L) {
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float stepsize = 1.0;
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//infostream<<"EnvRef::l_get_node()"<<std::endl;
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EnvRef *o = checkobject(L, 1);
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ServerEnvironment *env = o->m_env;
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if(env == NULL) return 0;
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// read position 1 from lua
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v3f pos1 = checkFloatPos(L, 2);
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// read position 2 from lua
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v3f pos2 = checkFloatPos(L, 2);
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//read step size from lua
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if(lua_isnumber(L, 3))
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stepsize = lua_tonumber(L, 3);
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return (env->line_of_sight(pos1,pos2,stepsize));
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}
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int EnvRef::l_find_path(lua_State *L)
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{
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EnvRef *o = checkobject(L, 1);
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ServerEnvironment *env = o->m_env;
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if(env == NULL) return 0;
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v3s16 pos1 = read_v3s16(L, 2);
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v3s16 pos2 = read_v3s16(L, 3);
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unsigned int searchdistance = luaL_checkint(L, 4);
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unsigned int max_jump = luaL_checkint(L, 5);
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unsigned int max_drop = luaL_checkint(L, 6);
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algorithm algo = A_PLAIN_NP;
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if(! lua_isnil(L, 7)) {
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std::string algorithm = luaL_checkstring(L,7);
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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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if (path.size() > 0)
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{
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lua_newtable(L);
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int top = lua_gettop(L);
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unsigned int index = 1;
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for (std::vector<v3s16>::iterator i = path.begin(); i != path.end();i++)
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{
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lua_pushnumber(L,index);
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push_v3s16(L, *i);
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lua_settable(L, top);
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index++;
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}
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return 1;
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}
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return 0;
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}
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int EnvRef::l_spawn_tree(lua_State *L)
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{
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EnvRef *o = checkobject(L, 1);
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@ -780,6 +844,8 @@ const luaL_reg EnvRef::methods[] = {
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luamethod(EnvRef, get_perlin_map),
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luamethod(EnvRef, clear_objects),
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luamethod(EnvRef, spawn_tree),
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luamethod(EnvRef, line_of_sight),
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luamethod(EnvRef, find_path),
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{0,0}
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};
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@ -137,6 +137,12 @@ private:
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static int l_spawn_tree(lua_State *L);
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static int l_line_of_sight(lua_State *L);
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//find a path between two positions
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static int l_find_path(lua_State *L);
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public:
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EnvRef(ServerEnvironment *env);
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