(svn r1751) - Feature: New PathFinder (NPF).
- Supports trains, road vehicles and ships. - Uses A* pathfinding (same codebase as the new ai). - Currently unlimited search depth, so might perform badly on large maps/networks (especially ships). - Will always find a route if there is one. - Allows custom penalties for obstacles to be set in openttd.cfg (npf_ values). - With NPF enabled, ships can have orders that are very far apart. Be careful, this will break (ships get lost) when the old pathfinder is used again. - Feature: Disabling 90 degree turns for trains and ships. - Requires NPF to be enabled. - Ships and trains can no longer make weird 90 degree turns on tile borders. - Codechange: Removed table/directions.h. - table/directions.h contained ugly static tables but was included more than once. The tables, along with a few new ones are in npf.[ch] now. Better suggestions for a location? - Fix: Binary heap in queue.c did not allocate enough space, resulting in a segfault. - Codechange: Rewritten FindFirstBit2x64, added KillFirstBit2x64. - Codechange: Introduced constant INVALID_TILE, to replace the usage of 0 as an invalid tile. Also replaces TILE_WRAPPED. - Codechange: Moved TileAddWrap() to map.[ch] - Add TileIndexDiffCByDir(), TileIndexDiffCByDir(). - Codechange: Moved IsTrainStationTile() to station.h - Add: IsRoadStationTile() and GetRoadStationDir().pull/155/head
matthijs
20 years ago
parent
0e272f2d10
commit
eb78cdb2d4
@ -0,0 +1,776 @@
|
||||
#include "stdafx.h"
|
||||
#include "ttd.h"
|
||||
#include "npf.h"
|
||||
#include "aystar.h"
|
||||
#include "macros.h"
|
||||
#include "pathfind.h"
|
||||
#include "station.h"
|
||||
#include "tile.h"
|
||||
|
||||
AyStar _train_find_station;
|
||||
AyStar _train_find_depot;
|
||||
AyStar _road_find_station;
|
||||
AyStar _road_find_depot;
|
||||
AyStar _npf_aystar;
|
||||
|
||||
/* Maps a trackdir to the bit that stores its status in the map arrays, in the
|
||||
* direction along with the trackdir */
|
||||
const byte _signal_along_trackdir[14] = {
|
||||
0x80, 0x80, 0x80, 0x20, 0x40, 0x10, 0, 0,
|
||||
0x40, 0x40, 0x40, 0x10, 0x80, 0x20
|
||||
};
|
||||
|
||||
/* Maps a trackdir to the bit that stores its status in the map arrays, in the
|
||||
* direction against the trackdir */
|
||||
const byte _signal_against_trackdir[14] = {
|
||||
0x40, 0x40, 0x40, 0x10, 0x80, 0x20, 0, 0,
|
||||
0x80, 0x80, 0x80, 0x20, 0x40, 0x10
|
||||
};
|
||||
|
||||
/* Maps a trackdir to the trackdirs that can be reached from it (ie, when
|
||||
* entering the next tile */
|
||||
const uint16 _trackdir_reaches_trackdirs[14] = {
|
||||
0x1009, 0x0016, 0x1009, 0x0016, 0x0520, 0x0016, 0, 0,
|
||||
0x0520, 0x2A00, 0x2A00, 0x0520, 0x2A00, 0x1009
|
||||
};
|
||||
|
||||
/* Maps a trackdir to all trackdirs that make 90 deg turns with it. */
|
||||
const uint16 _trackdir_crosses_trackdirs[14] = {
|
||||
0x0202, 0x0101, 0x3030, 0x3030, 0x0C0C, 0x0C0C, 0, 0,
|
||||
0x0202, 0x0101, 0x3030, 0x3030, 0x0C0C, 0x0C0C
|
||||
};
|
||||
|
||||
/* Maps a track to all tracks that make 90 deg turns with it. */
|
||||
const byte _track_crosses_tracks[6] = {
|
||||
0x2, /* Track 1 -> Track 2 */
|
||||
0x1, /* Track 2 -> Track 1 */
|
||||
0x30, /* Upper -> Left | Right */
|
||||
0x30, /* Lower -> Left | Right */
|
||||
0x0C, /* Left -> Upper | Lower */
|
||||
0x0C, /* Right -> Upper | Lower */
|
||||
};
|
||||
|
||||
/* Maps a trackdir to the (4-way) direction the tile is exited when following
|
||||
* that trackdir */
|
||||
const byte _trackdir_to_exitdir[14] = {
|
||||
0,1,0,1,2,1, 0,0,
|
||||
2,3,3,2,3,0,
|
||||
};
|
||||
|
||||
const byte _track_exitdir_to_trackdir[6][4] = {
|
||||
{0, 0xff, 8, 0xff},
|
||||
{0xff, 1, 0xff, 9},
|
||||
{2, 0xff, 0xff, 10},
|
||||
{0xff, 3, 11, 0xf},
|
||||
{0xff, 0xff, 4, 12},
|
||||
{13, 5, 0xff, 0xff}
|
||||
};
|
||||
|
||||
const byte _track_direction_to_trackdir[6][8] = {
|
||||
{0xff, 0, 0xff, 0xff, 0xff, 8, 0xff, 0xff},
|
||||
{0xff, 0xff, 0xff, 1, 0xff, 0xff, 0xff, 9},
|
||||
{0xff, 0xff, 2, 0xff, 0xff, 0xff, 10, 0xff},
|
||||
{0xff, 0xff, 3, 0xff, 0xff, 0xff, 11, 0xff},
|
||||
{12, 0xff, 0xff, 0xff, 4, 0xff, 0xff, 0xff},
|
||||
{13, 0xff, 0xff, 0xff, 5, 0xff, 0xff, 0xff}
|
||||
};
|
||||
|
||||
const byte _dir_to_diag_trackdir[4] = {
|
||||
0, 1, 8, 9,
|
||||
};
|
||||
|
||||
const byte _reverse_dir[4] = {
|
||||
2, 3, 0, 1
|
||||
};
|
||||
|
||||
const byte _reverse_trackdir[14] = {
|
||||
8, 9, 10, 11, 12, 13, 0xFF, 0xFF,
|
||||
0, 1, 2, 3, 4, 5
|
||||
};
|
||||
|
||||
/* The cost of each trackdir. A diagonal piece is the full NPF_TILE_LENGTH,
|
||||
* the shorter piece is sqrt(2)/2*NPF_TILE_LENGTH =~ 0.7071
|
||||
*/
|
||||
#define NPF_STRAIGHT_LENGTH (uint)(NPF_TILE_LENGTH * 0.7071)
|
||||
static const uint _trackdir_length[14] = {
|
||||
NPF_TILE_LENGTH, NPF_TILE_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, 0, 0,
|
||||
NPF_TILE_LENGTH, NPF_TILE_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH
|
||||
};
|
||||
|
||||
uint NTPHash(uint key1, uint key2)
|
||||
{
|
||||
return PATHFIND_HASH_TILE(key1);
|
||||
}
|
||||
|
||||
int32 NPFCalcZero(AyStar* as, AyStarNode* current, OpenListNode* parent) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Calcs the heuristic to the target station (using NPFFindStationOrTileData). After
|
||||
* will save the heuristic into NPFFoundTargetData if it is the smallest until
|
||||
* now. It will then also save AyStarNode.user_data[NPF_TRACKDIR_CHOICE] in
|
||||
* best_trackdir
|
||||
*/
|
||||
int32 NPFCalcStationOrTileHeuristic(AyStar* as, AyStarNode* current, OpenListNode* parent) {
|
||||
NPFFindStationOrTileData* fstd = (NPFFindStationOrTileData*)as->user_target;
|
||||
NPFFoundTargetData* ftd = (NPFFoundTargetData*)as->user_path;
|
||||
TileIndex from = current->tile;
|
||||
TileIndex to = fstd->dest_coords;
|
||||
uint dist = DistanceManhattan(from, to) * NPF_TILE_LENGTH;
|
||||
|
||||
if (dist < ftd->best_bird_dist) {
|
||||
ftd->best_bird_dist = dist;
|
||||
ftd->best_trackdir = current->user_data[NPF_TRACKDIR_CHOICE];
|
||||
}
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Calculating H for: (%d, %d). Result: %d", TileX(current->tile), TileY(current->tile), dist);
|
||||
#endif
|
||||
return dist;
|
||||
}
|
||||
|
||||
/* Fills AyStarNode.user_data[NPF_TRACKDIRCHOICE] with the chosen direction to
|
||||
* get here, either getting it from the current choice or from the parent's
|
||||
* choice */
|
||||
void NPFFillTrackdirChoice(AyStarNode* current, OpenListNode* parent)
|
||||
{
|
||||
if (parent->path.parent == NULL) {
|
||||
byte trackdir = current->direction;
|
||||
/* This is a first order decision, so we'd better save the
|
||||
* direction we chose */
|
||||
current->user_data[NPF_TRACKDIR_CHOICE] = trackdir;
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Saving trackdir: %#x", trackdir);
|
||||
#endif
|
||||
} else {
|
||||
/* We've already made the decision, so just save our parent's
|
||||
* decision */
|
||||
current->user_data[NPF_TRACKDIR_CHOICE] = parent->path.node.user_data[NPF_TRACKDIR_CHOICE];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* Will return the cost of the tunnel. If it is an entry, it will return the
|
||||
* cost of that tile. If the tile is an exit, it will return the tunnel length
|
||||
* including the exit tile. Requires that this is a Tunnel tile */
|
||||
uint NPFTunnelCost(AyStarNode* current) {
|
||||
byte exitdir = _trackdir_to_exitdir[current->direction];
|
||||
TileIndex tile = current->tile;
|
||||
if ( (uint)(_map5[tile] & 3) == _reverse_dir[exitdir]) {
|
||||
/* We just popped out if this tunnel, since were
|
||||
* facing the tunnel exit */
|
||||
FindLengthOfTunnelResult flotr;
|
||||
flotr = FindLengthOfTunnel(tile, _reverse_dir[exitdir]);
|
||||
return flotr.length * NPF_TILE_LENGTH;
|
||||
//TODO: Penalty for tunnels?
|
||||
} else {
|
||||
/* We are entering the tunnel, the enter tile is just a
|
||||
* straight track */
|
||||
return NPF_TILE_LENGTH;
|
||||
}
|
||||
}
|
||||
|
||||
uint NPFSlopeCost(AyStarNode* current) {
|
||||
TileIndex next = current->tile + TileOffsByDir(_trackdir_to_exitdir[current->direction]);
|
||||
if (GetTileZ(next) > GetTileZ(current->tile)) {
|
||||
/* Slope up */
|
||||
return _patches.npf_rail_slope_penalty;
|
||||
}
|
||||
return 0;
|
||||
/* Should we give a bonus for slope down? Probably not, we
|
||||
* could just substract that bonus from the penalty, because
|
||||
* there is only one level of steepness... */
|
||||
}
|
||||
|
||||
void NPFMarkTile(TileIndex tile) {
|
||||
switch(GetTileType(tile)) {
|
||||
case MP_RAILWAY:
|
||||
case MP_STREET:
|
||||
/* DEBUG: mark visited tiles by mowing the grass under them
|
||||
* ;-) */
|
||||
_map2[tile] &= ~15;
|
||||
MarkTileDirtyByTile(tile);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int32 NPFWaterPathCost(AyStar* as, AyStarNode* current, OpenListNode* parent) {
|
||||
//TileIndex tile = current->tile;
|
||||
int32 cost = 0;
|
||||
byte trackdir = current->direction;
|
||||
|
||||
cost = _trackdir_length[trackdir]; /* Should be different for diagonal tracks */
|
||||
|
||||
/* TODO Penalties? */
|
||||
|
||||
return cost;
|
||||
}
|
||||
|
||||
/* Determine the cost of this node, for road tracks */
|
||||
int32 NPFRoadPathCost(AyStar* as, AyStarNode* current, OpenListNode* parent) {
|
||||
TileIndex tile = current->tile;
|
||||
int32 cost = 0;
|
||||
/* Determine base length */
|
||||
switch (GetTileType(tile)) {
|
||||
case MP_TUNNELBRIDGE:
|
||||
if ((_map5[tile] & 0xF0)==0) {
|
||||
cost = NPFTunnelCost(current);
|
||||
break;
|
||||
}
|
||||
/* Fall through if above if is false, it is a bridge
|
||||
* then. We treat that as ordinary rail */
|
||||
case MP_STREET:
|
||||
cost = NPF_TILE_LENGTH;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
/* Determine extra costs */
|
||||
|
||||
/* Check for slope */
|
||||
cost += NPFSlopeCost(current);
|
||||
|
||||
/* Check for turns */
|
||||
//TODO
|
||||
|
||||
#ifdef NPF_MARKROUTE
|
||||
NPFMarkTile(tile);
|
||||
#endif
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Calculating G for: (%d, %d). Result: %d", TileX(current->tile), TileY(current->tile), cost);
|
||||
#endif
|
||||
return cost;
|
||||
}
|
||||
|
||||
|
||||
/* Determine the cost of this node, for railway tracks */
|
||||
int32 NPFRailPathCost(AyStar* as, AyStarNode* current, OpenListNode* parent) {
|
||||
TileIndex tile = current->tile;
|
||||
byte trackdir = current->direction;
|
||||
int32 cost = 0;
|
||||
/* Determine base length */
|
||||
switch (GetTileType(tile)) {
|
||||
case MP_TUNNELBRIDGE:
|
||||
if ((_map5[tile] & 0xF0)==0) {
|
||||
cost = NPFTunnelCost(current);
|
||||
break;
|
||||
}
|
||||
/* Fall through if above if is false, it is a bridge
|
||||
* then. We treat that as ordinary rail */
|
||||
case MP_RAILWAY:
|
||||
cost = _trackdir_length[trackdir]; /* Should be different for diagonal tracks */
|
||||
break;
|
||||
case MP_STREET: /* Railway crossing */
|
||||
cost = NPF_TILE_LENGTH;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
/* Determine extra costs */
|
||||
|
||||
/* Ordinary track with signals */
|
||||
if (IsTileType(tile, MP_RAILWAY) && (_map5[tile] & 0xC0) == 0x40) {
|
||||
if ((_map2[tile] & _signal_along_trackdir[trackdir]) == 0) {
|
||||
/* Signal facing us is red */
|
||||
if (!(current->user_data[NPF_NODE_FLAGS] & NPF_FLAG_SEEN_SIGNAL)) {
|
||||
/* Penalize the first signal we
|
||||
* encounter, if it is red */
|
||||
cost += _patches.npf_rail_firstred_penalty;
|
||||
}
|
||||
}
|
||||
current->user_data[NPF_NODE_FLAGS] |= NPF_FLAG_SEEN_SIGNAL;
|
||||
}
|
||||
|
||||
/* Check for slope */
|
||||
cost += NPFSlopeCost(current);
|
||||
|
||||
/* Check for turns */
|
||||
//TODO
|
||||
|
||||
/* Check for occupied track */
|
||||
//TODO
|
||||
|
||||
/* Check for station tiles */
|
||||
if (IsTileType(tile, MP_STATION)) {
|
||||
/* We give a station tile a penalty. Logically we would only
|
||||
* want to give station tiles that are not our destination
|
||||
* this penalty. This would discourage trains to drive through
|
||||
* busy stations. But, we can just give any station tile a
|
||||
* penalty, because every possible route will get this penalty
|
||||
* exactly once, on its end tile (if it's a station) and it
|
||||
* will therefore not make a difference. */
|
||||
cost += _patches.npf_rail_station_penalty;
|
||||
}
|
||||
|
||||
#ifdef NPF_MARKROUTE
|
||||
NPFMarkTile(tile);
|
||||
#endif
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Calculating G for: (%d, %d). Result: %d", TileX(current->tile), TileY(current->tile), cost);
|
||||
#endif
|
||||
return cost;
|
||||
}
|
||||
|
||||
/* Will find any depot */
|
||||
int32 NPFFindDepot(AyStar* as, OpenListNode *current) {
|
||||
TileIndex tile = current->path.node.tile;
|
||||
bool isDepot;
|
||||
switch(GetTileType(tile)) {
|
||||
case MP_RAILWAY:
|
||||
/* Check if this is a rail depot */
|
||||
isDepot = IsTrainDepotTile(tile);
|
||||
break;
|
||||
case MP_STREET:
|
||||
/* Check if this is a road depot */
|
||||
isDepot = IsRoadDepotTile(tile);
|
||||
break;
|
||||
case MP_WATER:
|
||||
isDepot = IsShipDepotTile(tile);
|
||||
break;
|
||||
default:
|
||||
isDepot = false;
|
||||
break;
|
||||
}
|
||||
if (isDepot)
|
||||
return AYSTAR_FOUND_END_NODE;
|
||||
else
|
||||
return AYSTAR_DONE;
|
||||
}
|
||||
|
||||
/* Will find a station identified using the NPFFindStationOrTileData */
|
||||
int32 NPFFindStationOrTile(AyStar* as, OpenListNode *current) {
|
||||
/* If GetNeighbours said we could get here, we assume the station type
|
||||
* is correct */
|
||||
NPFFindStationOrTileData* fstd = (NPFFindStationOrTileData*)as->user_target;
|
||||
TileIndex tile = current->path.node.tile;
|
||||
if ( (fstd->station_index == -1 && tile == fstd->dest_coords) || /* We've found the tile, or */
|
||||
(IsTileType(tile, MP_STATION) && _map2[tile] == fstd->station_index) /* the station */
|
||||
)
|
||||
return AYSTAR_FOUND_END_NODE;
|
||||
else
|
||||
return AYSTAR_DONE;
|
||||
}
|
||||
|
||||
/* To be called when current contains the (shortest route to) the target node.
|
||||
* Will fill the contents of the NPFFoundTargetData using
|
||||
* AyStarNode[NPF_TRACKDIR_CHOICE].
|
||||
*/
|
||||
void NPFSaveTargetData(AyStar* as, OpenListNode* current) {
|
||||
NPFFoundTargetData* ftd = (NPFFoundTargetData*)as->user_path;
|
||||
ftd->best_trackdir = current->path.node.user_data[NPF_TRACKDIR_CHOICE];
|
||||
ftd->best_path_dist = current->g;
|
||||
ftd->best_bird_dist = 0;
|
||||
ftd->node = current->path.node;
|
||||
}
|
||||
|
||||
/* Will just follow the results of GetTileTrackStatus concerning where we can
|
||||
* go and where not. Uses AyStar.user_data[NPF_TYPE] as the transport type and
|
||||
* an argument to GetTileTrackStatus. Will skip tunnels, meaning that the
|
||||
* entry and exit are neighbours. Will fill AyStarNode.user_data[NPF_TRACKDIR_CHOICE] with an
|
||||
* appropriate value, and copy AyStarNode.user_data[NPF_NODE_FLAGS] from the
|
||||
* parent */
|
||||
void NPFFollowTrack(AyStar* aystar, OpenListNode* current) {
|
||||
byte src_trackdir = current->path.node.direction;
|
||||
TileIndex src_tile = current->path.node.tile;
|
||||
byte src_exitdir = _trackdir_to_exitdir[src_trackdir];
|
||||
FindLengthOfTunnelResult flotr;
|
||||
TileIndex dst_tile;
|
||||
int i = 0;
|
||||
uint trackdirs, ts;
|
||||
TransportType type = aystar->user_data[NPF_TYPE];
|
||||
/* Initialize to 0, so we can jump out (return) somewhere an have no neighbours */
|
||||
aystar->num_neighbours = 0;
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Expanding: (%d, %d, %d) [%d]", TileX(src_tile), TileY(src_tile), src_trackdir, src_tile);
|
||||
#endif
|
||||
|
||||
/* Find dest tile */
|
||||
if (IsTileType(src_tile, MP_TUNNELBRIDGE) && (_map5[src_tile] & 0xF0)==0 && (_map5[src_tile] & 3) == src_exitdir) {
|
||||
/* This is a tunnel. We know this tunnel is our type,
|
||||
* otherwise we wouldn't have got here. It is also facing us,
|
||||
* so we should skip it's body */
|
||||
flotr = FindLengthOfTunnel(src_tile, src_exitdir);
|
||||
dst_tile = flotr.tile;
|
||||
} else {
|
||||
if (
|
||||
(type == TRANSPORT_ROAD && IsRoadStationTile(src_tile))
|
||||
|| (type == TRANSPORT_ROAD && IsRoadDepotTile(src_tile))
|
||||
|| (type == TRANSPORT_RAIL && IsTrainDepotTile(src_tile))
|
||||
){
|
||||
/* This is a road station or a train or road depot. We can enter and exit
|
||||
* those from one side only. Trackdirs don't support that (yet), so we'll
|
||||
* do this here. */
|
||||
|
||||
byte exitdir;
|
||||
/* Find out the exit direction first */
|
||||
if (IsRoadStationTile(src_tile))
|
||||
exitdir = GetRoadStationDir(src_tile);
|
||||
else /* Train or road depot. Direction is stored the same for both, in map5 */
|
||||
exitdir = _map5[src_tile] & 3; /* Extract the direction from the map */
|
||||
|
||||
/* Let's see if were headed the right way */
|
||||
if (src_trackdir != _dir_to_diag_trackdir[exitdir])
|
||||
/* Not going out of the station/depot through the exit, but the back. No
|
||||
* neighbours then. */
|
||||
return;
|
||||
}
|
||||
/* This a normal tile, a bridge, a tunnel exit, etc. */
|
||||
dst_tile = AddTileIndexDiffCWrap(src_tile, TileIndexDiffCByDir(_trackdir_to_exitdir[src_trackdir]));
|
||||
if (dst_tile == INVALID_TILE) {
|
||||
/* We reached the border of the map */
|
||||
/* TODO Nicer control flow for this */
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: check correct rail type (mono, maglev, etc)
|
||||
// TODO: check tile owner
|
||||
|
||||
/* Determine available tracks */
|
||||
if (type == TRANSPORT_ROAD && (IsRoadStationTile(dst_tile) || IsRoadDepotTile(dst_tile))){
|
||||
byte exitdir;
|
||||
/* Road stations and depots return 0 on GTTS, so we have to do this by hand... */
|
||||
if (IsRoadStationTile(dst_tile))
|
||||
exitdir = GetRoadStationDir(dst_tile);
|
||||
else /* Road depot */
|
||||
exitdir = _map5[dst_tile] & 3; /* Extract the direction from the map */
|
||||
ts = (1 << _dir_to_diag_trackdir[exitdir]) |
|
||||
(1 << _dir_to_diag_trackdir[_reverse_dir[exitdir]]);
|
||||
/* Find the trackdirs that are available for a station with this orientation. They are in both directions */
|
||||
} else {
|
||||
ts = GetTileTrackStatus(dst_tile, type);
|
||||
}
|
||||
trackdirs = ts & 0x3F3F; /* Filter out signal status and the unused bits */
|
||||
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Next node: (%d, %d) [%d], possible trackdirs: %#x", TileX(dst_tile), TileY(dst_tile), dst_tile, trackdirs);
|
||||
#endif
|
||||
/* Select only trackdirs we can reach from our current trackdir */
|
||||
trackdirs &= _trackdir_reaches_trackdirs[src_trackdir];
|
||||
if (_patches.forbid_90_deg && (type == TRANSPORT_RAIL || type == TRANSPORT_WATER)) /* Filter out trackdirs that would make 90 deg turns for trains */
|
||||
trackdirs &= ~_trackdir_crosses_trackdirs[src_trackdir];
|
||||
#ifdef NPF_DEBUG
|
||||
debug("After filtering: (%d, %d), possible trackdirs: %#x", TileX(dst_tile), TileY(dst_tile), trackdirs);
|
||||
#endif
|
||||
|
||||
/* Enumerate possible track */
|
||||
while (trackdirs != 0) {
|
||||
byte dst_trackdir;
|
||||
dst_trackdir = FindFirstBit2x64(trackdirs);
|
||||
trackdirs = KillFirstBit2x64(trackdirs);
|
||||
#ifdef NPF_DEBUG
|
||||
debug("Expanded into trackdir: %d, remaining trackdirs: %#x", dst_trackdir, trackdirs);
|
||||
#endif
|
||||
|
||||
/* Check for oneway signal against us */
|
||||
if (IsTileType(dst_tile, MP_RAILWAY) && (_map5[dst_tile]&0xC0) == 0x40) {
|
||||
// the tile has a signal
|
||||
byte signal_present = _map3_lo[dst_tile];
|
||||
if (!(signal_present & _signal_along_trackdir[dst_trackdir])) {
|
||||
// if one way signal not pointing towards us, stop going in this direction.
|
||||
if (signal_present & _signal_against_trackdir[dst_trackdir])
|
||||
break;
|
||||
}
|
||||
}
|
||||
{
|
||||
/* We've found ourselves a neighbour :-) */
|
||||
AyStarNode* neighbour = &aystar->neighbours[i];
|
||||
neighbour->tile = dst_tile;
|
||||
neighbour->direction = dst_trackdir;
|
||||
/* Save user data */
|
||||
neighbour->user_data[NPF_NODE_FLAGS] = current->path.node.user_data[NPF_NODE_FLAGS];
|
||||
NPFFillTrackdirChoice(neighbour, current);
|
||||
}
|
||||
i++;
|
||||
}
|
||||
aystar->num_neighbours = i;
|
||||
}
|
||||
|
||||
/*
|
||||
* Plan a route to the specified target (which is checked by target_proc),
|
||||
* from start1 and if not NULL, from start2 as well. The type of transport we
|
||||
* are checking is in type.
|
||||
* When we are looking for one specific target (optionally multiple tiles), we
|
||||
* should use a good heuristic to perform aystar search. When we search for
|
||||
* multiple targets that are spread around, we should perform a breadth first
|
||||
* search by specifiying CalcZero as our heuristic.
|
||||
*/
|
||||
NPFFoundTargetData NPFRouteInternal(AyStarNode* start1, AyStarNode* start2, NPFFindStationOrTileData* target, AyStar_EndNodeCheck target_proc, AyStar_CalculateH heuristic_proc, TransportType type) {
|
||||
int r;
|
||||
NPFFoundTargetData result;
|
||||
|
||||
/* Initialize procs */
|
||||
_npf_aystar.CalculateH = heuristic_proc;
|
||||
_npf_aystar.EndNodeCheck = target_proc;
|
||||
_npf_aystar.FoundEndNode = NPFSaveTargetData;
|
||||
_npf_aystar.GetNeighbours = NPFFollowTrack;
|
||||
if (type == TRANSPORT_RAIL)
|
||||
_npf_aystar.CalculateG = NPFRailPathCost;
|
||||
else if (type == TRANSPORT_ROAD)
|
||||
_npf_aystar.CalculateG = NPFRoadPathCost;
|
||||
else if (type == TRANSPORT_WATER)
|
||||
_npf_aystar.CalculateG = NPFWaterPathCost;
|
||||
else
|
||||
assert(0);
|
||||
|
||||
/* Initialize Start Node(s) */
|
||||
start1->user_data[NPF_TRACKDIR_CHOICE] = 0xff;
|
||||
start1->user_data[NPF_NODE_FLAGS] = 0;
|
||||
_npf_aystar.addstart(&_npf_aystar, start1);
|
||||
if (start2) {
|
||||
start2->user_data[NPF_TRACKDIR_CHOICE] = 0xff;
|
||||
start2->user_data[NPF_NODE_FLAGS] = NPF_FLAG_REVERSE;
|
||||
_npf_aystar.addstart(&_npf_aystar, start2);
|
||||
}
|
||||
|
||||
/* Initialize result */
|
||||
result.best_bird_dist = (uint)-1;
|
||||
result.best_path_dist = (uint)-1;
|
||||
result.best_trackdir = 0xff;
|
||||
_npf_aystar.user_path = &result;
|
||||
|
||||
/* Initialize target */
|
||||
_npf_aystar.user_target = target;
|
||||
|
||||
/* Initialize user_data */
|
||||
_npf_aystar.user_data[NPF_TYPE] = type;
|
||||
|
||||
/* GO! */
|
||||
r = AyStarMain_Main(&_npf_aystar);
|
||||
assert(r != AYSTAR_STILL_BUSY);
|
||||
|
||||
if (result.best_bird_dist != 0) {
|
||||
if (target) {
|
||||
DEBUG(misc, 1) ("NPF: Could not find route to 0x%x from 0x%x.", target->dest_coords, start1->tile);
|
||||
} else {
|
||||
/* Assumption: target == NULL, so we are looking for a depot */
|
||||
DEBUG(misc, 1) ("NPF: Could not find route to a depot from 0x%x.", start1->tile);
|
||||
}
|
||||
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
NPFFoundTargetData NPFRouteToStationOrTileTwoWay(TileIndex tile1, byte trackdir1, TileIndex tile2, byte trackdir2, NPFFindStationOrTileData* target, TransportType type) {
|
||||
AyStarNode start1;
|
||||
AyStarNode start2;
|
||||
|
||||
start1.tile = tile1;
|
||||
start2.tile = tile2;
|
||||
start1.direction = trackdir1;
|
||||
start2.direction = trackdir2;
|
||||
|
||||
return NPFRouteInternal(&start1, &start2, target, NPFFindStationOrTile, NPFCalcStationOrTileHeuristic, type);
|
||||
}
|
||||
|
||||
NPFFoundTargetData NPFRouteToStationOrTile(TileIndex tile, byte trackdir, NPFFindStationOrTileData* target, TransportType type) {
|
||||
AyStarNode start;
|
||||
|
||||
assert(tile != 0);
|
||||
|
||||
start.tile = tile;
|
||||
start.direction = trackdir;
|
||||
/* We set this in case the target is also the start tile, we will just
|
||||
* return a not found then */
|
||||
start.user_data[NPF_TRACKDIR_CHOICE] = 0xff;
|
||||
|
||||
return NPFRouteInternal(&start, NULL, target, NPFFindStationOrTile, NPFCalcStationOrTileHeuristic, type);
|
||||
}
|
||||
|
||||
NPFFoundTargetData NPFRouteToDepotBreadthFirst(TileIndex tile, byte trackdir, TransportType type) {
|
||||
AyStarNode start;
|
||||
|
||||
start.tile = tile;
|
||||
start.direction = trackdir;
|
||||
/* We set this in case the target is also the start tile, we will just
|
||||
* return a not found then */
|
||||
start.user_data[NPF_TRACKDIR_CHOICE] = 0xff;
|
||||
|
||||
/* perform a breadth first search. Target is NULL,
|
||||
* since we are just looking for any depot...*/
|
||||
return NPFRouteInternal(&start, NULL, NULL, NPFFindDepot, NPFCalcZero, type);
|
||||
}
|
||||
|
||||
NPFFoundTargetData NPFRouteToDepotTrialError(TileIndex tile, byte trackdir, TransportType type) {
|
||||
/* Okay, what we're gonna do. First, we look at all depots, calculate
|
||||
* the manhatten distance to get to each depot. We then sort them by
|
||||
* distance. We start by trying to plan a route to the closest, then
|
||||
* the next closest, etc. We stop when the best route we have found so
|
||||
* far, is shorter than the manhattan distance. This will obviously
|
||||
* always find the closest depot. It will probably be most efficient
|
||||
* for ships, since the heuristic will not be to far off then. I hope.
|
||||
*/
|
||||
Queue depots;
|
||||
uint i;
|
||||
TileType tiletype = 0;
|
||||
int r;
|
||||
NPFFoundTargetData best_result;
|
||||
NPFFoundTargetData result;
|
||||
NPFFindStationOrTileData target;
|
||||
AyStarNode start;
|
||||
Depot* current;
|
||||
|
||||
|
||||
/* This is a little ugly, but it works :-S */
|
||||
if (type == TRANSPORT_ROAD)
|
||||
tiletype = MP_STREET;
|
||||
else if (type == TRANSPORT_RAIL)
|
||||
tiletype = MP_RAILWAY;
|
||||
else if (type == TRANSPORT_WATER)
|
||||
tiletype = MP_WATER;
|
||||
else
|
||||
assert(0);
|
||||
|
||||
init_InsSort(&depots);
|
||||
/* Okay, let's find all depots that we can use first */
|
||||
for (i=0;i<lengthof(_depots);i++) {
|
||||
int depot_tile = _depots[i].xy;
|
||||
if (IsTileType(depot_tile, tiletype))
|
||||
depots.push(&depots, &_depots[i], DistanceManhattan(tile, depot_tile));
|
||||
|
||||
}
|
||||
|
||||
/* Now, let's initialise the aystar */
|
||||
|
||||
/* Initialize procs */
|
||||
_npf_aystar.CalculateH = NPFCalcStationOrTileHeuristic;
|
||||
_npf_aystar.EndNodeCheck = NPFFindStationOrTile;
|
||||
_npf_aystar.FoundEndNode = NPFSaveTargetData;
|
||||
_npf_aystar.GetNeighbours = NPFFollowTrack;
|
||||
if (type == TRANSPORT_RAIL)
|
||||
_npf_aystar.CalculateG = NPFRailPathCost;
|
||||
else if (type == TRANSPORT_ROAD)
|
||||
_npf_aystar.CalculateG = NPFRoadPathCost;
|
||||
else if (type == TRANSPORT_WATER)
|
||||
_npf_aystar.CalculateG = NPFWaterPathCost;
|
||||
else
|
||||
assert(0);
|
||||
|
||||
/* Initialize target */
|
||||
target.station_index = -1; /* We will initialize dest_coords inside the loop below */
|
||||
_npf_aystar.user_target = ⌖
|
||||
|
||||
/* Initialize user_data */
|
||||
_npf_aystar.user_data[NPF_TYPE] = type;
|
||||
|
||||
/* Initialize Start Node */
|
||||
start.tile = tile;
|
||||
start.direction = trackdir; /* We will initialize user_data inside the loop below */
|
||||
|
||||
/* Initialize Result */
|
||||
_npf_aystar.user_path = &result;
|
||||
best_result.best_path_dist = (uint)-1;
|
||||
|
||||
/* Just iterate the depots in order of increasing distance */
|
||||
while ((current = depots.pop(&depots))) {
|
||||
/* Check to see if we already have a path shorter than this
|
||||
* depot's manhattan distance. Hack: We call DistanceManhattan
|
||||
* again, we should probably modify the queue to give us that
|
||||
* value... */
|
||||
if ( DistanceManhattan(tile, current->xy * NPF_TILE_LENGTH) > best_result.best_path_dist)
|
||||
break;
|
||||
|
||||
/* Initialize Start Node */
|
||||
/* We set this in case the target is also the start tile, we will just
|
||||
* return a not found then */
|
||||
start.user_data[NPF_TRACKDIR_CHOICE] = 0xff;
|
||||
start.user_data[NPF_NODE_FLAGS] = 0;
|
||||
_npf_aystar.addstart(&_npf_aystar, &start);
|
||||
|
||||
/* Initialize result */
|
||||
result.best_bird_dist = (uint)-1;
|
||||
result.best_path_dist = (uint)-1;
|
||||
result.best_trackdir = 0xff;
|
||||
|
||||
/* Initialize target */
|
||||
target.dest_coords = current->xy;
|
||||
|
||||
/* GO! */
|
||||
r = AyStarMain_Main(&_npf_aystar);
|
||||
assert(r != AYSTAR_STILL_BUSY);
|
||||
|
||||
/* This depot is closer */
|
||||
if (result.best_path_dist < best_result.best_path_dist)
|
||||
best_result = result;
|
||||
}
|
||||
if (result.best_bird_dist != 0) {
|
||||
DEBUG(misc, 1) ("NPF: Could not find route to any depot from 0x%x.", tile);
|
||||
}
|
||||
return best_result;
|
||||
}
|
||||
|
||||
void InitializeNPF(void)
|
||||
{
|
||||
init_AyStar(&_npf_aystar, NTPHash, 1024);
|
||||
_npf_aystar.loops_per_tick = 0;
|
||||
_npf_aystar.max_path_cost = 0;
|
||||
_npf_aystar.max_search_nodes = 0;
|
||||
/*
|
||||
init_AyStar(&_train_find_station, NTPHash, 1024);
|
||||
init_AyStar(&_train_find_depot, NTPHash, 1024);
|
||||
init_AyStar(&_road_find_station, NTPHash, 1024);
|
||||
init_AyStar(&_road_find_depot, NTPHash, 1024);
|
||||
|
||||
_train_find_station.loops_per_tick = 0;
|
||||
_train_find_depot.loops_per_tick = 0;
|
||||
_road_find_station.loops_per_tick = 0;
|
||||
_road_find_depot.loops_per_tick = 0;
|
||||
|
||||
_train_find_station.max_path_cost = 0;
|
||||
_train_find_depot.max_path_cost = 0;
|
||||
_road_find_station.max_path_cost = 0;
|
||||
_road_find_depot.max_path_cost = 0;
|
||||
|
||||
_train_find_station.max_search_nodes = 0;
|
||||
_train_find_depot.max_search_nodes = 0;
|
||||
_road_find_station.max_search_nodes = 0;
|
||||
_road_find_depot.max_search_nodes = 0;
|
||||
|
||||
_train_find_station.CalculateG = NPFRailPathCost;
|
||||
_train_find_depot.CalculateG = NPFRailPathCost;
|
||||
_road_find_station.CalculateG = NPFRoadPathCost;
|
||||
_road_find_depot.CalculateG = NPFRoadPathCost;
|
||||
|
||||
_train_find_station.CalculateH = NPFCalcStationHeuristic;
|
||||
_train_find_depot.CalculateH = NPFCalcStationHeuristic;
|
||||
_road_find_station.CalculateH = NPFCalcStationHeuristic;
|
||||
_road_find_depot.CalculateH = NPFCalcStationHeuristic;
|
||||
|
||||
_train_find_station.EndNodeCheck = NPFFindStationOrTile;
|
||||
_train_find_depot.EndNodeCheck = NPFFindStationOrTile;
|
||||
_road_find_station.EndNodeCheck = NPFFindStationOrTile;
|
||||
_road_find_depot.EndNodeCheck = NPFFindStationOrTile;
|
||||
|
||||
_train_find_station.FoundEndNode = NPFSaveTargetData;
|
||||
_train_find_depot.FoundEndNode = NPFSaveTargetData;
|
||||
_road_find_station.FoundEndNode = NPFSaveTargetData;
|
||||
_road_find_depot.FoundEndNode = NPFSaveTargetData;
|
||||
|
||||
_train_find_station.GetNeighbours = NPFFollowTrack;
|
||||
_train_find_depot.GetNeighbours = NPFFollowTrack;
|
||||
_road_find_station.GetNeighbours = NPFFollowTrack;
|
||||
_road_find_depot.GetNeighbours = NPFFollowTrack;
|
||||
*/
|
||||
}
|
||||
|
||||
void NPFFillWithOrderData(NPFFindStationOrTileData* fstd, Vehicle* v) {
|
||||
/* Ships don't really reach their stations, but the tile in front. So don't
|
||||
* save the station id for ships. For roadvehs we don't store it either,
|
||||
* because multistop depends on vehicles actually reaching the exact
|
||||
* dest_tile, not just any stop of that station.
|
||||
* So only for train orders to stations we fill fstd->station_index, for all
|
||||
* others only dest_coords */
|
||||
if ((v->current_order.type) == OT_GOTO_STATION && v->type == VEH_Train) {
|
||||
fstd->station_index = v->current_order.station;
|
||||
/* Let's take the center of the station as our target tile for trains */
|
||||
Station* st = GetStation(v->current_order.station);
|
||||
TileIndexDiffC center = {st->trainst_w/2, st->trainst_h/2};
|
||||
fstd->dest_coords = TILE_ADD(st->train_tile, ToTileIndexDiff(center));
|
||||
} else {
|
||||
fstd->dest_coords = v->dest_tile;
|
||||
fstd->station_index = -1;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,128 @@
|
||||
#ifndef NPF_H
|
||||
#define NPF_H
|
||||
|
||||
#include "ttd.h"
|
||||
#include "aystar.h"
|
||||
#include "vehicle.h"
|
||||
|
||||
//#define NPF_DEBUG
|
||||
//#define NPF_MARKROUTE //Mark the routes considered by the pathfinder by
|
||||
//mowing grass
|
||||
|
||||
typedef struct NPFFindStationOrTileData { /* Meant to be stored in AyStar.targetdata */
|
||||
TileIndex dest_coords; /* An indication of where the station is, for heuristic purposes, or the target tile */
|
||||
int station_index; /* station index we're heading for, or -1 when we're heading for a tile */
|
||||
} NPFFindStationOrTileData;
|
||||
|
||||
enum { /* Indices into AyStar.userdata[] */
|
||||
NPF_TYPE = 0, /* Contains an TransportTypes value */
|
||||
};
|
||||
|
||||
enum { /* Indices into AyStarNode.userdata[] */
|
||||
NPF_TRACKDIR_CHOICE = 0, /* The trackdir chosen to get here */
|
||||
NPF_NODE_FLAGS,
|
||||
};
|
||||
enum { /* Flags for AyStarNode.userdata[NPF_NODE_FLAGS]*/
|
||||
NPF_FLAG_SEEN_SIGNAL = 1, /* Used to mark that a signal was seen on the way, for rail only */
|
||||
NPF_FLAG_REVERSE = 2, /* Used to mark that this node was reached from the second start node, if applicable */
|
||||
};
|
||||
|
||||
typedef struct NPFFoundTargetData { /* Meant to be stored in AyStar.userpath */
|
||||
uint best_bird_dist; /* The best heuristic found. Is 0 if the target was found */
|
||||
uint best_path_dist; /* The shortest path. Is (uint)-1 if no path is found */
|
||||
byte best_trackdir; /* The trackdir that leads to the shortes path/closest birds dist */
|
||||
AyStarNode node; /* The node within the target the search led us to */
|
||||
} NPFFoundTargetData;
|
||||
|
||||
/* These functions below are _not_ re-entrant, in favor of speed! */
|
||||
|
||||
/* Will search from the given tile and direction, for a route to the given
|
||||
* station for the given transport type. See the declaration of
|
||||
* NPFFoundTargetData above for the meaning of the result. */
|
||||
NPFFoundTargetData NPFRouteToStationOrTile(TileIndex tile, byte trackdir, NPFFindStationOrTileData* target, TransportType type);
|
||||
/* Will search as above, but with two start nodes, the second being the
|
||||
* reverse. Look at the NPF_NODE_REVERSE flag in the result node to see which
|
||||
* direction was taken */
|
||||
NPFFoundTargetData NPFRouteToStationOrTileTwoWay(TileIndex tile1, byte trackdir1, TileIndex tile2, byte trackdir2, NPFFindStationOrTileData* target, TransportType type);
|
||||
|
||||
/* Will search a route to the closest depot. */
|
||||
|
||||
/* Search using breadth first. Good for little track choice and inaccurate
|
||||
* heuristic, such as railway/road */
|
||||
NPFFoundTargetData NPFRouteToDepotBreadthFirst(TileIndex tile, byte trackdir, TransportType type);
|
||||
/* Search by trying each depot in order of Manhattan Distance. Good for lots
|
||||
* of choices and accurate heuristics, such as water */
|
||||
NPFFoundTargetData NPFRouteToDepotTrialError(TileIndex tile, byte trackdir, TransportType type);
|
||||
|
||||
void NPFFillWithOrderData(NPFFindStationOrTileData* fstd, Vehicle* v);
|
||||
|
||||
/*
|
||||
* Some tables considering tracks, directions and signals.
|
||||
* XXX: Better place to but these?
|
||||
*/
|
||||
|
||||
/**
|
||||
* Maps a trackdir to the bit that stores its status in the map arrays, in the
|
||||
* direction along with the trackdir.
|
||||
*/
|
||||
const byte _signal_along_trackdir[14];
|
||||
|
||||
/**
|
||||
* Maps a trackdir to the bit that stores its status in the map arrays, in the
|
||||
* direction against the trackdir.
|
||||
*/
|
||||
const byte _signal_against_trackdir[14];
|
||||
|
||||
/**
|
||||
* Maps a trackdir to the trackdirs that can be reached from it (ie, when
|
||||
* entering the next tile.
|
||||
*/
|
||||
const uint16 _trackdir_reaches_trackdirs[14];
|
||||
|
||||
/**
|
||||
* Maps a trackdir to all trackdirs that make 90 deg turns with it.
|
||||
*/
|
||||
const uint16 _trackdir_crosses_trackdirs[14];
|
||||
|
||||
/**
|
||||
* Maps a track to all tracks that make 90 deg turns with it.
|
||||
*/
|
||||
const byte _track_crosses_tracks[6];
|
||||
|
||||
/**
|
||||
* Maps a trackdir to the (4-way) direction the tile is exited when following
|
||||
* that trackdir.
|
||||
*/
|
||||
const byte _trackdir_to_exitdir[14];
|
||||
|
||||
/**
|
||||
* Maps a track and an (4-way) dir to the trackdir that represents the track
|
||||
* with the exit in the given direction.
|
||||
*/
|
||||
const byte _track_exitdir_to_trackdir[6][4];
|
||||
|
||||
/**
|
||||
* Maps a track and a full (8-way) direction to the trackdir that represents
|
||||
* the track running in the given direction.
|
||||
*/
|
||||
const byte _track_direction_to_trackdir[6][8];
|
||||
|
||||
/**
|
||||
* Maps a (4-way) direction to the diagonal track that runs in that
|
||||
* direction.
|
||||
*/
|
||||
const byte _dir_to_diag_trackdir[4];
|
||||
|
||||
/**
|
||||
* Maps a (4-way) direction to the reverse.
|
||||
*/
|
||||
const byte _reverse_dir[4];
|
||||
|
||||
/**
|
||||
* Maps a trackdir to the reverse trackdir.
|
||||
*/
|
||||
const byte _reverse_trackdir[14];
|
||||
|
||||
#define REVERSE_TRACKDIR(trackdir) (trackdir ^ 0x8)
|
||||
|
||||
#endif // NPF_H
|
||||
@ -1,8 +0,0 @@
|
||||
static const byte _dir_to_straight_trackdir[4] = {
|
||||
0, 1, 8, 9,
|
||||
};
|
||||
|
||||
static const byte _reverse_dir[4] = {
|
||||
// 3, 0, 1, 2
|
||||
2, 3, 0, 1
|
||||
};
|
||||
Loading…
Reference in New Issue