std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo)
{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
#endif
std::vector<v3s16> retval;
//check parameters
if (env == 0) {
ERROR_TARGET << "missing environment pointer" << std::endl;
return retval;
}
m_searchdistance = searchdistance;
m_env = env;
m_maxjump = max_jump;
m_maxdrop = max_drop;
m_start = source;
m_destination = destination;
m_min_target_distance = -1;
m_prefetch = true;
if (algo == PA_PLAIN_NP) {
m_prefetch = false;
}
int min_x = MYMIN(source.X, destination.X);
int max_x = MYMAX(source.X, destination.X);
int min_y = MYMIN(source.Y, destination.Y);
int max_y = MYMAX(source.Y, destination.Y);
int min_z = MYMIN(source.Z, destination.Z);
int max_z = MYMAX(source.Z, destination.Z);
m_limits.MinEdge.X = min_x - searchdistance;
m_limits.MinEdge.Y = min_y - searchdistance;
m_limits.MinEdge.Z = min_z - searchdistance;
m_limits.MaxEdge.X = max_x + searchdistance;
m_limits.MaxEdge.Y = max_y + searchdistance;
m_limits.MaxEdge.Z = max_z + searchdistance;
v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
m_max_index_x = diff.X;
m_max_index_y = diff.Y;
m_max_index_z = diff.Z;
delete m_nodes_container;
if (diff.getLength() > 5) {
m_nodes_container = new MapGridNodeContainer(this);
} else {
m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
printType();
printCost();
printYdir();
#endif
//validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
PathGridnode &startpos = getIndexElement(StartIndex);
PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
"Index: " << PP(StartIndex) <<
"Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
return retval;
}
if (!endpos.valid) {
VERBOSE_TARGET << "invalid stoppos" <<
"Index: " << PP(EndIndex) <<
"Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
endpos.target = true;
startpos.source = true;
startpos.totalcost = 0;
bool update_cost_retval = false;
switch (algo) {
case PA_DIJKSTRA:
update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
case PA_PLAIN_NP:
case PA_PLAIN:
update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
if (update_cost_retval) {
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
printPathLen();
#endif
//find path
std::vector<v3s16> path;
buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
printPath(path);
#endif
//finalize path
std::vector<v3s16> full_path;
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) {
full_path.push_back(getIndexElement(*i).pos);
}
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
clock_gettime(CLOCK_REALTIME, &ts2);
int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
#endif
return full_path;
}
else {
#ifdef PATHFINDER_DEBUG
printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
//return
return retval;
}
void Piece::flashRun()
{
MoveTo* mt = MoveTo::create(0.5, getRealPos() + ORIGIN);
this->runAction(mt);
}
bool pathfinder::build_costmap()
{
INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
<< m_limits.Z.min << ") ("
<< m_limits.X.max << ","
<< m_limits.Z.max << ")"
<< std::endl;
m_data.resize(m_max_index_x);
for (int x = 0; x < m_max_index_x; x++) {
m_data[x].resize(m_max_index_z);
for (int z = 0; z < m_max_index_z; z++) {
m_data[x][z].resize(m_max_index_y);
int surfaces = 0;
for (int y = 0; y < m_max_index_y; y++) {
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));
if ((current.param0 == CONTENT_IGNORE) ||
(below.param0 == CONTENT_IGNORE)) {
DEBUG_OUT("Pathfinder: " << PPOS(realpos) <<
" current or below is invalid element" << std::endl);
if (current.param0 == CONTENT_IGNORE) {
m_data[x][z][y].type = 'i';
DEBUG_OUT(x << "," << y << "," << z << ": " << 'i' << std::endl);
}
continue;
}
//don't add anything if it isn't an air node
if ((current.param0 != CONTENT_AIR) ||
(below.param0 == CONTENT_AIR )) {
DEBUG_OUT("Pathfinder: " << PPOS(realpos)
<< " not on surface" << std::endl);
if (current.param0 != CONTENT_AIR) {
m_data[x][z][y].type = 's';
DEBUG_OUT(x << "," << y << "," << z << ": " << 's' << std::endl);
}
else {
m_data[x][z][y].type = '-';
DEBUG_OUT(x << "," << y << "," << z << ": " << '-' << std::endl);
}
continue;
}
surfaces++;
m_data[x][z][y].valid = true;
m_data[x][z][y].pos = realpos;
m_data[x][z][y].type = 'g';
DEBUG_OUT(x << "," << y << "," << z << ": " << 'a' << std::endl);
if (m_prefetch) {
m_data[x][z][y].directions[DIR_XP] =
calc_cost(realpos,v3s16( 1,0, 0));
m_data[x][z][y].directions[DIR_XM] =
calc_cost(realpos,v3s16(-1,0, 0));
m_data[x][z][y].directions[DIR_ZP] =
calc_cost(realpos,v3s16( 0,0, 1));
m_data[x][z][y].directions[DIR_ZM] =
calc_cost(realpos,v3s16( 0,0,-1));
}
}
if (surfaces >= 1 ) {
for (int y = 0; y < m_max_index_y; y++) {
if (m_data[x][z][y].valid) {
m_data[x][z][y].surfaces = surfaces;
}
}
}
}
}
return true;
}
