From a2dec6c32a8a7907fc3faaae761c97132c11a088 Mon Sep 17 00:00:00 2001 From: matthijs Date: Mon, 31 Jan 2005 11:23:10 +0000 Subject: (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(). --- npf.c | 776 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 776 insertions(+) create mode 100644 npf.c (limited to 'npf.c') diff --git a/npf.c b/npf.c new file mode 100644 index 000000000..430c03ebb --- /dev/null +++ b/npf.c @@ -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;ixy * 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; + } +} -- cgit v1.2.3-54-g00ecf