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Pathfinder: use core::aabbox3d instead of own type 

There is no need to reinvent the wheel here, we have
great classes from irrlicht.
master
est31 2016-04-01 02:43:28 +02:00
parent ac8bb457aa
commit f0de237de7
1 changed files with 36 additions and 66 deletions
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102
src/pathfinder.cpp
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@ -25,6 +25,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include "environment.h"
#include "map.h"
#include "log.h"
#include "irr_aabb3d.h"
//#define PATHFINDER_DEBUG
//#define PATHFINDER_CALC_TIME
@ -157,18 +158,6 @@ public:
PathAlgorithm algo);
private:
/** data struct for storing internal information */
struct limits {
struct limit {
int min;
int max;
};
limit X;
limit Y;
limit Z;
};
/* helper functions */
/**
@ -274,27 +263,27 @@ private:
void buildPath(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_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 */
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 */
bool m_prefetch; /**< prefetch cost data */
v3s16 m_start; /**< source position */
v3s16 m_destination; /**< destination position */
v3s16 m_start; /**< source position */
v3s16 m_destination; /**< destination position */
limits m_limits; /**< position limits in real map coordinates */
core::aabbox3d<s16> m_limits; /**< position limits in real map coordinates */
/** 3d grid containing all map data already collected and analyzed */
std::vector<std::vector<std::vector<PathGridnode> > > m_data;
ServerEnvironment *m_env; /**< minetest environment pointer */
ServerEnvironment *m_env; /**< minetest environment pointer */
#ifdef PATHFINDER_DEBUG
@ -528,16 +517,19 @@ std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
int min_z = MYMIN(source.Z, destination.Z);
int max_z = MYMAX(source.Z, destination.Z);
m_limits.X.min = min_x - searchdistance;
m_limits.X.max = max_x + searchdistance;
m_limits.Y.min = min_y - searchdistance;
m_limits.Y.max = max_y + searchdistance;
m_limits.Z.min = min_z - searchdistance;
m_limits.Z.max = max_z + searchdistance;
m_limits.MinEdge.X = min_x - searchdistance;
m_limits.MinEdge.Y = min_y - searchdistance;
m_limits.MinEdge.Z = min_z - searchdistance;
m_max_index_x = m_limits.X.max - m_limits.X.min;
m_max_index_y = m_limits.Y.max - m_limits.Y.min;
m_max_index_z = m_limits.Z.max - m_limits.Z.min;
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;
//build data map
if (!buildCostmap()) {
@ -654,7 +646,6 @@ Pathfinder::Pathfinder() :
m_prefetch(true),
m_start(0, 0, 0),
m_destination(0, 0, 0),
m_limits(),
m_data(),
m_env(0)
{
@ -664,23 +655,14 @@ Pathfinder::Pathfinder() :
/******************************************************************************/
v3s16 Pathfinder::getRealPos(v3s16 ipos)
{
v3s16 retval = ipos;
retval.X += m_limits.X.min;
retval.Y += m_limits.Y.min;
retval.Z += m_limits.Z.min;
return retval;
return m_limits.MinEdge + ipos;
}
/******************************************************************************/
bool Pathfinder::buildCostmap()
{
INFO_TARGET << "Pathfinder build costmap: (" << m_limits.X.min << ","
<< m_limits.Z.min << ") ("
<< m_limits.X.max << ","
<< m_limits.Z.max << ")"
<< std::endl;
INFO_TARGET << "Pathfinder build costmap: min="
<< PPOS(m_limits.MinEdge) << ", max=" << PPOS(m_limits.MaxEdge) << 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);
@ -766,10 +748,7 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
v3s16 pos2 = pos + dir;
//check limits
if ( (pos2.X < m_limits.X.min) ||
(pos2.X >= m_limits.X.max) ||
(pos2.Z < m_limits.Z.min) ||
(pos2.Z >= m_limits.Z.max)) {
if (!m_limits.isPointInside(pos2)) {
DEBUG_OUT("Pathfinder: " << PPOS(pos2) <<
" no cost -> out of limits" << std::endl);
return retval;
@ -808,13 +787,13 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 == CONTENT_AIR) &&
(testpos.Y > m_limits.Y.min)) {
(testpos.Y > m_limits.MinEdge.Y)) {
testpos += v3s16(0, -1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
if ((testpos.Y >= m_limits.Y.min) &&
if ((testpos.Y >= m_limits.MinEdge.Y) &&
(node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 != CONTENT_AIR)) {
if ((pos2.Y - testpos.Y - 1) <= m_maxdrop) {
@ -842,13 +821,13 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
while ((node_at_pos.param0 != CONTENT_IGNORE) &&
(node_at_pos.param0 != CONTENT_AIR) &&
(testpos.Y < m_limits.Y.max)) {
(testpos.Y < m_limits.MaxEdge.Y)) {
testpos += v3s16(0, 1, 0);
node_at_pos = m_env->getMap().getNodeNoEx(testpos);
}
//did we find surface?
if ((testpos.Y <= m_limits.Y.max) &&
if ((testpos.Y <= m_limits.MaxEdge.Y) &&
(node_at_pos.param0 == CONTENT_AIR)) {
if (testpos.Y - pos2.Y <= m_maxjump) {
@ -873,12 +852,7 @@ PathCost Pathfinder::calcCost(v3s16 pos, v3s16 dir)
/******************************************************************************/
v3s16 Pathfinder::getIndexPos(v3s16 pos)
{
v3s16 retval = pos;
retval.X -= m_limits.X.min;
retval.Y -= m_limits.Y.min;
retval.Z -= m_limits.Z.min;
return retval;
return pos - m_limits.MinEdge;
}
/******************************************************************************/
@ -952,9 +926,7 @@ bool Pathfinder::updateAllCosts(v3s16 ipos,
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);
" out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
continue;
}
@ -1110,9 +1082,7 @@ bool Pathfinder::updateCostHeuristic( v3s16 ipos,
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);
" out of range, max=" << PPOS(m_limits.MaxEdge) << std::endl);
direction = getDirHeuristic(directions, g_pos);
continue;
}