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Add Dijkstra A* and A* without prefetching pathfind algorithms

mutilcraft-mt53
sapier 2013-03-17 17:03:44 +00:00 committed by kwolekr
parent 97f0bb0342
commit 69367aa799
8 changed files with 1540 additions and 1 deletions
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16
doc/lua_api.txt
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@ -1185,7 +1185,21 @@ methods:
- get_perlin(seeddiff, octaves, persistence, scale)
^ Return world-specific perlin noise (int(worldseed)+seeddiff)
- clear_objects()
^ clear all objects in the environments
^ clear all objects in the environments
- line_of_sight(pos1,pos2,stepsize) ->true/false
^ checkif there is a direct line of sight between pos1 and pos2
^ pos1 First position
^ pos2 Second position
^ stepsize smaller gives more accurate results but requires more computing
time. Default is 1.
-find_path(pos1,pos2,searchdistance,max_jump,max_drop,algorithm) -> table containing path
^ returns a table of 3d points representing a path from pos1 to pos2 or nil
^ pos1: start position
^ pos2: end position
^ searchdistance: number of blocks to search in each direction
^ max_jump: maximum height difference to consider walkable
^ max_drop: maximum height difference to consider droppable
^ algorithm: A*_noprefetch(default), A*, Dijkstra
- spawn_tree (pos, {treedef})
^ spawns L-System tree at given pos with definition in treedef table
treedef={

1
src/CMakeLists.txt
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@ -264,6 +264,7 @@ set(common_SRCS
clientserver.cpp
staticobject.cpp
serverlist.cpp
pathfinder.cpp
util/serialize.cpp
util/directiontables.cpp
util/numeric.cpp

23
src/environment.cpp
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@ -364,6 +364,29 @@ ServerMap & ServerEnvironment::getServerMap()
return *m_map;
}
bool ServerEnvironment::line_of_sight(v3f pos1, v3f pos2, float stepsize)
{
float distance = pos1.getDistanceFrom(pos2);
//calculate normalized direction vector
v3f normalized_vector = v3f((pos2.X - pos1.X)/distance,
(pos2.Y - pos1.Y)/distance,
(pos2.Z - pos1.Z)/distance);
//find out if there's a node on path between pos1 and pos2
for (float i = 1; i < distance; i += stepsize) {
v3s16 pos = floatToInt(v3f(normalized_vector.X * i,
normalized_vector.Y * i,
normalized_vector.Z * i) +pos1,BS);
MapNode n = getMap().getNodeNoEx(pos);
if(n.param0 != CONTENT_AIR) {
return false;
}
}
return true;
}
void ServerEnvironment::serializePlayers(const std::string &savedir)
{

3
src/environment.h
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@ -298,6 +298,9 @@ public:
// This makes stuff happen
void step(f32 dtime);
//check if there's a line of sight between two positions
bool line_of_sight(v3f pos1, v3f pos2, float stepsize=1.0);
private:
/*

1081
src/pathfinder.cpp Normal file
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345
src/pathfinder.h Normal file
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@ -0,0 +1,345 @@
/*
Minetest
Copyright (C) 2013 sapier, sapier at gmx dot net
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#ifndef PATHFINDER_H_
#define PATHFINDER_H_
/******************************************************************************/
/* Includes */
/******************************************************************************/
#include <vector>
#include "server.h"
#include "irr_v3d.h"
/******************************************************************************/
/* Typedefs and macros */
/******************************************************************************/
//#define PATHFINDER_DEBUG
typedef enum {
DIR_XP,
DIR_XM,
DIR_ZP,
DIR_ZM
} path_directions;
/** 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;
/******************************************************************************/
/* declarations */
/******************************************************************************/
/** c wrapper function to use from scriptapi */
std::vector<v3s16> get_Path(ServerEnvironment* env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
algorithm algo);
/** representation of cost in specific direction */
class path_cost {
public:
/** default constructor */
path_cost();
/** copy constructor */
path_cost(const path_cost& b);
/** assignment operator */
path_cost& operator= (const path_cost& b);
bool valid; /**< movement is possible */
int value; /**< cost of movement */
int direction; /**< y-direction of movement */
bool updated; /**< this cost has ben calculated */
};
/** representation of a mapnode to be used for pathfinding */
class path_gridnode {
public:
/** default constructor */
path_gridnode();
/** copy constructor */
path_gridnode(const path_gridnode& b);
/**
* assignment operator
* @param b node to copy
*/
path_gridnode& operator= (const path_gridnode& b);
/**
* read cost in a specific direction
* @param dir direction of cost to fetch
*/
path_cost get_cost(v3s16 dir);
/**
* set cost value for movement
* @param dir direction to set cost for
* @cost cost to set
*/
void set_cost(v3s16 dir,path_cost cost);
bool valid; /**< node is on surface */
bool target; /**< node is target position */
bool source; /**< node is stating position */
int totalcost; /**< cost to move here from starting point */
v3s16 sourcedir; /**< origin of movement for current cost */
int surfaces; /**< number of surfaces with same x,z value*/
v3s16 pos; /**< real position of node */
path_cost directions[4]; /**< cost in different directions */
/* debug values */
bool is_element; /**< node is element of path detected */
char type; /**< type of node */
};
/** class doing pathfinding */
class pathfinder {
public:
/**
* default constructor
*/
pathfinder();
/**
* path evaluation function
* @param env environment to look for path
* @param source origin of path
* @param destination end position of path
* @param searchdistance maximum number of nodes to look in each direction
* @param max_jump maximum number of blocks a path may jump up
* @param max_drop maximum number of blocks a path may drop
* @param algo algorithm to use for finding a path
*/
std::vector<v3s16> get_Path(ServerEnvironment* env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
algorithm algo);
private:
/** data struct for storing internal information */
struct limits {
struct limit {
int min;
int max;
};
limit X;
limit Y;
limit Z;
};
/* helper functions */
/**
* transform index pos to mappos
* @param ipos a index position
* @return map position
*/
v3s16 getRealPos(v3s16 ipos);
/**
* transform mappos to index pos
* @param pos a real pos
* @return index position
*/
v3s16 getIndexPos(v3s16 pos);
/**
* get gridnode at a specific index position
* @param ipos index position
* @return gridnode for index
*/
path_gridnode& getIndexElement(v3s16 ipos);
/**
* invert a 3d position
* @param pos 3d position
* @return pos *-1
*/
v3s16 invert(v3s16 pos);
/**
* check if a index is within current search area
* @param index position to validate
* @return true/false
*/
bool valid_index(v3s16 index);
/**
* translate position to float position
* @param pos integer position
* @return float position
*/
v3f tov3f(v3s16 pos);
/* algorithm functions */
/**
* calculate 2d manahttan distance to target
* @param pos position to calc distance
* @return integer distance
*/
int get_manhattandistance(v3s16 pos);
/**
* get best direction based uppon heuristics
* @param directions list of unchecked directions
* @param g_pos mapnode to start from
* @return direction to check
*/
v3s16 get_dir_heuristic(std::vector<v3s16>& directions,path_gridnode& g_pos);
/**
* build internal data representation of search area
* @return true/false if costmap creation was successfull
*/
bool build_costmap();
/**
* calculate cost of movement
* @param pos real world position to start movement
* @param dir direction to move to
* @return cost information
*/
path_cost calc_cost(v3s16 pos,v3s16 dir);
/**
* recursive update whole search areas total cost information
* @param ipos position to check next
* @param srcdir positionc checked last time
* @param total_cost cost of moving to ipos
* @param level current recursion depth
* @return true/false path to destination has been found
*/
bool update_all_costs(v3s16 ipos,v3s16 srcdir,int total_cost,int level);
/**
* recursive try to find a patrh to destionation
* @param ipos position to check next
* @param srcdir positionc checked last time
* @param total_cost cost of moving to ipos
* @param level current recursion depth
* @return true/false path to destination has been found
*/
bool update_cost_heuristic(v3s16 ipos,v3s16 srcdir,int current_cost,int level);
/**
* recursive build a vector containing all nodes from source to destination
* @param path vector to add nodes to
* @param pos pos to check next
* @param level recursion depth
*/
void build_path(std::vector<v3s16>& path,v3s16 pos, int level);
/* variables */
int m_max_index_x; /**< max index of search area in x direction */
int m_max_index_y; /**< max index of search area in y direction */
int m_max_index_z; /**< max index of search area in z direction */
int m_searchdistance; /**< max distance to search in each direction */
int m_maxdrop; /**< maximum number of blocks a path may drop */
int m_maxjump; /**< maximum number of blocks a path may jump */
int m_min_target_distance; /**< current smalest path to target */
bool m_prefetch; /**< prefetch cost data */
v3s16 m_start; /**< source position */
v3s16 m_destination; /**< destination position */
limits m_limits; /**< position limits in real map coordinates */
/** 3d grid containing all map data already collected and analyzed */
std::vector<std::vector<std::vector<path_gridnode> > > m_data;
ServerEnvironment* m_env; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
/**
* print collected cost information
*/
void print_cost();
/**
* print collected cost information in a specific direction
* @param dir direction to print
*/
void print_cost(path_directions dir);
/**
* print type of node as evaluated
*/
void print_type();
/**
* print pathlenght for all nodes in search area
*/
void print_pathlen();
/**
* print a path
* @param path path to show
*/
void print_path(std::vector<v3s16> path);
/**
* print y direction for all movements
*/
void print_ydir();
/**
* print y direction for moving in a specific direction
* @param dir direction to show data
*/
void print_ydir(path_directions dir);
/**
* helper function to translate a direction to speaking text
* @param dir direction to translate
* @return textual name of direction
*/
std::string dir_to_name(path_directions dir);
#endif
};
#endif /* PATHFINDER_H_ */

66
src/scriptapi_env.cpp
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@ -26,6 +26,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include "content_sao.h"
#include "script.h"
#include "treegen.h"
#include "pathfinder.h"
#include "util/pointedthing.h"
#include "scriptapi_types.h"
#include "scriptapi_noise.h"
@ -647,6 +648,69 @@ int EnvRef::l_clear_objects(lua_State *L)
return 0;
}
int EnvRef::l_line_of_sight(lua_State *L) {
float stepsize = 1.0;
//infostream<<"EnvRef::l_get_node()"<<std::endl;
EnvRef *o = checkobject(L, 1);
ServerEnvironment *env = o->m_env;
if(env == NULL) return 0;
// read position 1 from lua
v3f pos1 = checkFloatPos(L, 2);
// read position 2 from lua
v3f pos2 = checkFloatPos(L, 2);
//read step size from lua
if(lua_isnumber(L, 3))
stepsize = lua_tonumber(L, 3);
return (env->line_of_sight(pos1,pos2,stepsize));
}
int EnvRef::l_find_path(lua_State *L)
{
EnvRef *o = checkobject(L, 1);
ServerEnvironment *env = o->m_env;
if(env == NULL) return 0;
v3s16 pos1 = read_v3s16(L, 2);
v3s16 pos2 = read_v3s16(L, 3);
unsigned int searchdistance = luaL_checkint(L, 4);
unsigned int max_jump = luaL_checkint(L, 5);
unsigned int max_drop = luaL_checkint(L, 6);
algorithm algo = A_PLAIN_NP;
if(! lua_isnil(L, 7)) {
std::string algorithm = luaL_checkstring(L,7);
if (algorithm == "A*")
algo = A_PLAIN;
if (algorithm == "Dijkstra")
algo = DIJKSTRA;
}
std::vector<v3s16> path =
get_Path(env,pos1,pos2,searchdistance,max_jump,max_drop,algo);
if (path.size() > 0)
{
lua_newtable(L);
int top = lua_gettop(L);
unsigned int index = 1;
for (std::vector<v3s16>::iterator i = path.begin(); i != path.end();i++)
{
lua_pushnumber(L,index);
push_v3s16(L, *i);
lua_settable(L, top);
index++;
}
return 1;
}
return 0;
}
int EnvRef::l_spawn_tree(lua_State *L)
{
EnvRef *o = checkobject(L, 1);
@ -780,6 +844,8 @@ const luaL_reg EnvRef::methods[] = {
luamethod(EnvRef, get_perlin_map),
luamethod(EnvRef, clear_objects),
luamethod(EnvRef, spawn_tree),
luamethod(EnvRef, line_of_sight),
luamethod(EnvRef, find_path),
{0,0}
};

6
src/scriptapi_env.h
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@ -137,6 +137,12 @@ private:
static int l_spawn_tree(lua_State *L);
static int l_line_of_sight(lua_State *L);
//find a path between two positions
static int l_find_path(lua_State *L);
public:
EnvRef(ServerEnvironment *env);