Pathfinder: Fix style
* Fix naming style for methods and classes: Use camelCase for methods and PascalCase for classes as code style demands it. And use sneak_case for methods that are not member of a class. * Replace "* " with " *" for Pointers * Same for references * Put function body opening braces on new line * Other misc minor non functional style improvementsmaster
est31
parent
46e5ef4e9a
commit
ac8bb457aa
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@ -55,9 +55,9 @@ with this program; if not, write to the Free Software Foundation, Inc.,
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#define ERROR_TARGET std::cout
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#else
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#define DEBUG_OUT(a) while(0)
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#define INFO_TARGET infostream << "pathfinder: "
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#define VERBOSE_TARGET verbosestream << "pathfinder: "
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#define ERROR_TARGET errorstream << "pathfinder: "
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#define INFO_TARGET infostream << "Pathfinder: "
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#define VERBOSE_TARGET verbosestream << "Pathfinder: "
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#define ERROR_TARGET errorstream << "Pathfinder: "
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#endif
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/******************************************************************************/
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@ -66,17 +66,17 @@ with this program; if not, write to the Free Software Foundation, Inc.,
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/** representation of cost in specific direction */
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class path_cost {
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class PathCost {
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public:
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/** default constructor */
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path_cost();
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PathCost();
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/** copy constructor */
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path_cost(const path_cost& b);
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PathCost(const PathCost &b);
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/** assignment operator */
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path_cost& operator= (const path_cost& b);
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PathCost &operator= (const PathCost &b);
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bool valid; /**< movement is possible */
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int value; /**< cost of movement */
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@ -87,33 +87,33 @@ public:
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/** representation of a mapnode to be used for pathfinding */
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class path_gridnode {
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class PathGridnode {
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public:
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/** default constructor */
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path_gridnode();
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PathGridnode();
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/** copy constructor */
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path_gridnode(const path_gridnode& b);
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PathGridnode(const PathGridnode &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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PathGridnode &operator= (const PathGridnode &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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PathCost getCost(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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void setCost(v3s16 dir, PathCost 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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@ -122,7 +122,7 @@ public:
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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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PathCost 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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@ -130,13 +130,13 @@ public:
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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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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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@ -146,15 +146,15 @@ public:
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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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* @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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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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PathAlgorithm algo);
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private:
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/** data struct for storing internal information */
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@ -190,7 +190,7 @@ private:
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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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PathGridnode &getIndexElement(v3s16 ipos);
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/**
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* invert a 3d position
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@ -204,7 +204,7 @@ private:
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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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bool isValidIndex(v3s16 index);
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/**
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* translate position to float position
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@ -217,11 +217,11 @@ private:
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/* algorithm functions */
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/**
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* calculate 2d manahttan distance to target
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* calculate 2d manahttan distance to target on the xz plane
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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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int getXZManhattanDist(v3s16 pos);
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/**
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* get best direction based uppon heuristics
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@ -229,13 +229,13 @@ private:
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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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v3s16 getDirHeuristic(std::vector<v3s16> &directions, PathGridnode &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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bool buildCostmap();
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/**
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* calculate cost of movement
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@ -243,7 +243,7 @@ private:
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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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PathCost calcCost(v3s16 pos, v3s16 dir);
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/**
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* recursive update whole search areas total cost information
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@ -253,7 +253,7 @@ private:
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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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bool updateAllCosts(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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@ -263,7 +263,7 @@ private:
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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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bool updateCostHeuristic(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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@ -271,7 +271,7 @@ private:
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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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void buildPath(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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@ -292,56 +292,56 @@ private:
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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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std::vector<std::vector<std::vector<PathGridnode> > > m_data;
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ServerEnvironment* m_env; /**< minetest environment pointer */
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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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void printCost();
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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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void printCost(PathDirections 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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void printType();
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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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void printPathLen();
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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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void printPath(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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void printYdir();
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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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void printYdir(PathDirections 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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std::string dirToName(PathDirections dir);
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#endif
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};
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@ -349,23 +349,23 @@ private:
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/* implementation */
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/******************************************************************************/
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std::vector<v3s16> get_Path(ServerEnvironment* env,
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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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PathAlgorithm algo)
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{
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Pathfinder searchclass;
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pathfinder searchclass;
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return searchclass.get_Path(env,
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source,destination,
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searchdistance,max_jump,max_drop,algo);
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return searchclass.getPath(env,
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source, destination,
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searchdistance, max_jump, max_drop, algo);
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}
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/******************************************************************************/
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path_cost::path_cost()
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PathCost::PathCost()
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: valid(false),
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value(0),
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direction(0),
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@ -375,7 +375,8 @@ path_cost::path_cost()
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}
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/******************************************************************************/
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path_cost::path_cost(const path_cost& b) {
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PathCost::PathCost(const PathCost &b)
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{
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valid = b.valid;
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direction = b.direction;
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value = b.value;
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@ -383,7 +384,8 @@ path_cost::path_cost(const path_cost& b) {
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}
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/******************************************************************************/
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path_cost& path_cost::operator= (const path_cost& b) {
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PathCost &PathCost::operator= (const PathCost &b)
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{
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valid = b.valid;
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direction = b.direction;
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value = b.value;
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@ -393,14 +395,14 @@ path_cost& path_cost::operator= (const path_cost& b) {
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}
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/******************************************************************************/
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path_gridnode::path_gridnode()
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PathGridnode::PathGridnode()
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: valid(false),
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target(false),
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source(false),
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totalcost(-1),
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sourcedir(v3s16(0,0,0)),
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sourcedir(v3s16(0, 0, 0)),
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surfaces(0),
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pos(v3s16(0,0,0)),
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pos(v3s16(0, 0, 0)),
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is_element(false),
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type('u')
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{
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@ -408,7 +410,7 @@ path_gridnode::path_gridnode()
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}
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/******************************************************************************/
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path_gridnode::path_gridnode(const path_gridnode& b)
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PathGridnode::PathGridnode(const PathGridnode &b)
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: valid(b.valid),
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target(b.target),
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source(b.source),
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@ -418,7 +420,7 @@ path_gridnode::path_gridnode(const path_gridnode& b)
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pos(b.pos),
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is_element(b.is_element),
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type(b.type)
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{
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{
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directions[DIR_XP] = b.directions[DIR_XP];
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directions[DIR_XM] = b.directions[DIR_XM];
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@ -427,7 +429,8 @@ path_gridnode::path_gridnode(const path_gridnode& b)
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}
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/******************************************************************************/
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path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
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PathGridnode &PathGridnode::operator= (const PathGridnode &b)
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{
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valid = b.valid;
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target = b.target;
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source = b.source;
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@ -447,7 +450,8 @@ path_gridnode& path_gridnode::operator= (const path_gridnode& b) {
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}
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/******************************************************************************/
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path_cost path_gridnode::get_cost(v3s16 dir) {
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PathCost PathGridnode::getCost(v3s16 dir)
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{
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if (dir.X > 0) {
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return directions[DIR_XP];
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}
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@ -460,12 +464,13 @@ path_cost path_gridnode::get_cost(v3s16 dir) {
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if (dir.Z < 0) {
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return directions[DIR_ZM];
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}
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path_cost retval;
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PathCost retval;
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return retval;
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}
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/******************************************************************************/
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void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
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void PathGridnode::setCost(v3s16 dir, PathCost cost)
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{
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if (dir.X > 0) {
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directions[DIR_XP] = cost;
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}
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@ -481,13 +486,14 @@ void path_gridnode::set_cost(v3s16 dir,path_cost cost) {
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}
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/******************************************************************************/
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std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
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std::vector<v3s16> Pathfinder::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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PathAlgorithm algo)
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{
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#ifdef PATHFINDER_CALC_TIME
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timespec ts;
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clock_gettime(CLOCK_REALTIME, &ts);
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@ -509,18 +515,18 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
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m_min_target_distance = -1;
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m_prefetch = true;
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if (algo == A_PLAIN_NP) {
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if (algo == PA_PLAIN_NP) {
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m_prefetch = false;
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}
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int min_x = MYMIN(source.X,destination.X);
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int max_x = MYMAX(source.X,destination.X);
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int min_x = MYMIN(source.X, destination.X);
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int max_x = MYMAX(source.X, destination.X);
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int min_y = MYMIN(source.Y,destination.Y);
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int max_y = MYMAX(source.Y,destination.Y);
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int min_y = MYMIN(source.Y, destination.Y);
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int max_y = MYMAX(source.Y, destination.Y);
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int min_z = MYMIN(source.Z,destination.Z);
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int max_z = MYMAX(source.Z,destination.Z);
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int min_z = MYMIN(source.Z, destination.Z);
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int max_z = MYMAX(source.Z, destination.Z);
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m_limits.X.min = min_x - searchdistance;
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m_limits.X.max = max_x + searchdistance;
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@ -534,22 +540,22 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
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m_max_index_z = m_limits.Z.max - m_limits.Z.min;
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//build data map
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if (!build_costmap()) {
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if (!buildCostmap()) {
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ERROR_TARGET << "failed to build costmap" << std::endl;
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return retval;
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}
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#ifdef PATHFINDER_DEBUG
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print_type();
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print_cost();
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print_ydir();
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printType();
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printCost();
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printYdir();
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#endif
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//validate and mark start and end pos
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v3s16 StartIndex = getIndexPos(source);
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v3s16 EndIndex = getIndexPos(destination);
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path_gridnode& startpos = getIndexElement(StartIndex);
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path_gridnode& endpos = getIndexElement(EndIndex);
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PathGridnode &startpos = getIndexElement(StartIndex);
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PathGridnode &endpos = getIndexElement(EndIndex);
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if (!startpos.valid) {
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VERBOSE_TARGET << "invalid startpos" <<
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@ -571,15 +577,15 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
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bool update_cost_retval = false;
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switch (algo) {
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case DIJKSTRA:
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update_cost_retval = update_all_costs(StartIndex,v3s16(0,0,0),0,0);
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case PA_DIJKSTRA:
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update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
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break;
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case A_PLAIN_NP:
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case A_PLAIN:
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update_cost_retval = update_cost_heuristic(StartIndex,v3s16(0,0,0),0,0);
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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;
|
||||
}
|
||||
|
||||
|
|
@ -587,16 +593,16 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
|
|||
|
||||
#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
|
||||
|
|
@ -608,7 +614,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
|
|||
|
||||
#ifdef PATHFINDER_DEBUG
|
||||
std::cout << "full path:" << std::endl;
|
||||
print_path(full_path);
|
||||
printPath(full_path);
|
||||
#endif
|
||||
#ifdef PATHFINDER_CALC_TIME
|
||||
timespec ts2;
|
||||
|
|
@ -626,7 +632,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
|
|||
}
|
||||
else {
|
||||
#ifdef PATHFINDER_DEBUG
|
||||
print_pathlen();
|
||||
printPathLen();
|
||||
#endif
|
||||
ERROR_TARGET << "failed to update cost map"<< std::endl;
|
||||
}
|
||||
|
|
@ -637,7 +643,7 @@ std::vector<v3s16> pathfinder::get_Path(ServerEnvironment* env,
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
pathfinder::pathfinder() :
|
||||
Pathfinder::Pathfinder() :
|
||||
m_max_index_x(0),
|
||||
m_max_index_y(0),
|
||||
m_max_index_z(0),
|
||||
|
|
@ -646,8 +652,8 @@ pathfinder::pathfinder() :
|
|||
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)
|
||||
|
|
@ -656,8 +662,8 @@ pathfinder::pathfinder() :
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
v3s16 pathfinder::getRealPos(v3s16 ipos) {
|
||||
|
||||
v3s16 Pathfinder::getRealPos(v3s16 ipos)
|
||||
{
|
||||
v3s16 retval = ipos;
|
||||
|
||||
retval.X += m_limits.X.min;
|
||||
|
|
@ -668,7 +674,7 @@ v3s16 pathfinder::getRealPos(v3s16 ipos) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
bool pathfinder::build_costmap()
|
||||
bool Pathfinder::buildCostmap()
|
||||
{
|
||||
INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
|
||||
<< m_limits.Z.min << ") ("
|
||||
|
|
@ -683,12 +689,12 @@ bool pathfinder::build_costmap()
|
|||
|
||||
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) ||
|
||||
|
|
@ -727,13 +733,13 @@ bool pathfinder::build_costmap()
|
|||
|
||||
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));
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -751,8 +757,9 @@ bool pathfinder::build_costmap()
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
|
||||
path_cost retval;
|
||||
PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
|
||||
{
|
||||
PathCost retval;
|
||||
|
||||
retval.updated = true;
|
||||
|
||||
|
|
@ -779,12 +786,12 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
|
|||
|
||||
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;
|
||||
}
|
||||
|
||||
|
|
@ -796,13 +803,13 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
|
|||
<< " 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);
|
||||
}
|
||||
|
||||
|
|
@ -836,7 +843,7 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
|
|||
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);
|
||||
}
|
||||
|
||||
|
|
@ -864,8 +871,8 @@ path_cost pathfinder::calc_cost(v3s16 pos,v3s16 dir) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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;
|
||||
|
|
@ -875,12 +882,14 @@ v3s16 pathfinder::getIndexPos(v3s16 pos) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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) &&
|
||||
|
|
@ -893,7 +902,8 @@ bool pathfinder::valid_index(v3s16 index) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
v3s16 pathfinder::invert(v3s16 pos) {
|
||||
v3s16 Pathfinder::invert(v3s16 pos)
|
||||
{
|
||||
v3s16 retval = pos;
|
||||
|
||||
retval.X *=-1;
|
||||
|
|
@ -904,12 +914,12 @@ v3s16 pathfinder::invert(v3s16 pos) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
bool pathfinder::update_all_costs( v3s16 ipos,
|
||||
bool Pathfinder::updateAllCosts(v3s16 ipos,
|
||||
v3s16 srcdir,
|
||||
int current_cost,
|
||||
int level) {
|
||||
|
||||
path_gridnode& g_pos = getIndexElement(ipos);
|
||||
int level)
|
||||
{
|
||||
PathGridnode &g_pos = getIndexElement(ipos);
|
||||
g_pos.totalcost = current_cost;
|
||||
g_pos.sourcedir = srcdir;
|
||||
|
||||
|
|
@ -933,14 +943,14 @@ bool pathfinder::update_all_costs( v3s16 ipos,
|
|||
|
||||
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
|
||||
|
|
@ -948,7 +958,7 @@ bool pathfinder::update_all_costs( v3s16 ipos,
|
|||
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: "
|
||||
|
|
@ -971,8 +981,8 @@ bool pathfinder::update_all_costs( v3s16 ipos,
|
|||
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;
|
||||
}
|
||||
}
|
||||
|
|
@ -993,20 +1003,21 @@ bool pathfinder::update_all_costs( v3s16 ipos,
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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);
|
||||
|
|
@ -1015,14 +1026,14 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
|
|||
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) {
|
||||
|
|
@ -1035,7 +1046,7 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
|
|||
}
|
||||
}
|
||||
|
||||
if (retdir != v3s16(0,0,0)) {
|
||||
if (retdir != v3s16(0, 0, 0)) {
|
||||
for (std::vector<v3s16>::iterator iter = directions.begin();
|
||||
iter != directions.end();
|
||||
++iter) {
|
||||
|
|
@ -1057,12 +1068,13 @@ v3s16 pathfinder::get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
bool pathfinder::update_cost_heuristic( v3s16 ipos,
|
||||
bool Pathfinder::updateCostHeuristic( v3s16 ipos,
|
||||
v3s16 srcdir,
|
||||
int current_cost,
|
||||
int level) {
|
||||
int level)
|
||||
{
|
||||
|
||||
path_gridnode& g_pos = getIndexElement(ipos);
|
||||
PathGridnode &g_pos = getIndexElement(ipos);
|
||||
g_pos.totalcost = current_cost;
|
||||
g_pos.sourcedir = srcdir;
|
||||
|
||||
|
|
@ -1079,38 +1091,38 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
|
|||
|
||||
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;
|
||||
}
|
||||
|
||||
|
|
@ -1133,8 +1145,8 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
|
|||
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;
|
||||
}
|
||||
}
|
||||
|
|
@ -1155,13 +1167,14 @@ bool pathfinder::update_cost_heuristic( v3s16 ipos,
|
|||
" 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
|
||||
|
|
@ -1169,7 +1182,7 @@ void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
|
|||
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;
|
||||
|
|
@ -1184,37 +1197,40 @@ void pathfinder::build_path(std::vector<v3s16>& path,v3s16 pos, int level) {
|
|||
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++) {
|
||||
|
|
@ -1243,9 +1259,9 @@ void pathfinder::print_cost(path_directions dir) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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++) {
|
||||
|
|
@ -1274,7 +1290,8 @@ void pathfinder::print_ydir(path_directions dir) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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(' ');
|
||||
|
|
@ -1302,7 +1319,8 @@ void pathfinder::print_type() {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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(' ');
|
||||
|
|
@ -1329,7 +1347,8 @@ void pathfinder::print_pathlen() {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
std::string pathfinder::dir_to_name(path_directions dir) {
|
||||
std::string Pathfinder::dirToName(PathDirections dir)
|
||||
{
|
||||
switch (dir) {
|
||||
case DIR_XP:
|
||||
return "XP";
|
||||
|
|
@ -1349,8 +1368,8 @@ std::string pathfinder::dir_to_name(path_directions dir) {
|
|||
}
|
||||
|
||||
/******************************************************************************/
|
||||
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) {
|
||||
|
|
|
|||
|
|
@ -41,26 +41,26 @@ typedef enum {
|
|||
DIR_XM,
|
||||
DIR_ZP,
|
||||
DIR_ZM
|
||||
} path_directions;
|
||||
} PathDirections;
|
||||
|
||||
/** List of supported algorithms */
|
||||
typedef enum {
|
||||
DIJKSTRA, /**< Dijkstra shortest path algorithm */
|
||||
A_PLAIN, /**< A* algorithm using heuristics to find a path */
|
||||
A_PLAIN_NP /**< A* algorithm without prefetching of map data */
|
||||
} algorithm;
|
||||
PA_DIJKSTRA, /**< Dijkstra shortest path algorithm */
|
||||
PA_PLAIN, /**< A* algorithm using heuristics to find a path */
|
||||
PA_PLAIN_NP /**< A* algorithm without prefetching of map data */
|
||||
} PathAlgorithm;
|
||||
|
||||
/******************************************************************************/
|
||||
/* declarations */
|
||||
/******************************************************************************/
|
||||
|
||||
/** c wrapper function to use from scriptapi */
|
||||
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);
|
||||
PathAlgorithm algo);
|
||||
|
||||
#endif /* PATHFINDER_H_ */
|
||||
|
|
|
|||
|
|
@ -915,19 +915,19 @@ int ModApiEnvMod::l_find_path(lua_State *L)
|
|||
unsigned int searchdistance = luaL_checkint(L, 3);
|
||||
unsigned int max_jump = luaL_checkint(L, 4);
|
||||
unsigned int max_drop = luaL_checkint(L, 5);
|
||||
algorithm algo = A_PLAIN_NP;
|
||||
PathAlgorithm algo = PA_PLAIN_NP;
|
||||
if (!lua_isnil(L, 6)) {
|
||||
std::string algorithm = luaL_checkstring(L,6);
|
||||
|
||||
if (algorithm == "A*")
|
||||
algo = A_PLAIN;
|
||||
algo = PA_PLAIN;
|
||||
|
||||
if (algorithm == "Dijkstra")
|
||||
algo = DIJKSTRA;
|
||||
algo = PA_DIJKSTRA;
|
||||
}
|
||||
|
||||
std::vector<v3s16> path =
|
||||
get_Path(env,pos1,pos2,searchdistance,max_jump,max_drop,algo);
|
||||
std::vector<v3s16> path = get_path(env, pos1, pos2,
|
||||
searchdistance, max_jump, max_drop, algo);
|
||||
|
||||
if (path.size() > 0)
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue