summaryrefslogtreecommitdiff
path: root/src/pathfinder/yapf/yapf_road.cpp
blob: c06870173ae95e8ad89a10a04219782f07604308 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
/* $Id$ */

/*
 * This file is part of OpenTTD.
 * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2.
 * OpenTTD 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 General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see <http://www.gnu.org/licenses/>.
 */

/** @file yapf_road.cpp The road pathfinding. */

#include "../../stdafx.h"
#include "yapf.hpp"
#include "yapf_node_road.hpp"
#include "../../roadstop_base.h"


template <class Types>
class CYapfCostRoadT
{
public:
	typedef typename Types::Tpf Tpf; ///< pathfinder (derived from THIS class)
	typedef typename Types::TrackFollower TrackFollower; ///< track follower helper
	typedef typename Types::NodeList::Titem Node; ///< this will be our node type
	typedef typename Node::Key Key;    ///< key to hash tables

protected:
	/** to access inherited path finder */
	Tpf& Yapf()
	{
		return *static_cast<Tpf*>(this);
	}

	int SlopeCost(TileIndex tile, TileIndex next_tile, Trackdir trackdir)
	{
		/* height of the center of the current tile */
		int x1 = TileX(tile) * TILE_SIZE;
		int y1 = TileY(tile) * TILE_SIZE;
		int z1 = GetSlopeZ(x1 + TILE_SIZE / 2, y1 + TILE_SIZE / 2);

		/* height of the center of the next tile */
		int x2 = TileX(next_tile) * TILE_SIZE;
		int y2 = TileY(next_tile) * TILE_SIZE;
		int z2 = GetSlopeZ(x2 + TILE_SIZE / 2, y2 + TILE_SIZE / 2);

		if (z2 - z1 > 1) {
			/* Slope up */
			return Yapf().PfGetSettings().road_slope_penalty;
		}
		return 0;
	}

	/** return one tile cost */
	FORCEINLINE int OneTileCost(TileIndex tile, Trackdir trackdir)
	{
		int cost = 0;
		/* set base cost */
		if (IsDiagonalTrackdir(trackdir)) {
			cost += YAPF_TILE_LENGTH;
			switch (GetTileType(tile)) {
				case MP_ROAD:
					/* Increase the cost for level crossings */
					if (IsLevelCrossing(tile)) {
						cost += Yapf().PfGetSettings().road_crossing_penalty;
					}
					break;

				case MP_STATION: {
					const RoadStop *rs = RoadStop::GetByTile(tile, GetRoadStopType(tile));
					if (IsDriveThroughStopTile(tile)) {
						/* Increase the cost for drive-through road stops */
						cost += Yapf().PfGetSettings().road_stop_penalty;
						DiagDirection dir = TrackdirToExitdir(trackdir);
						if (!RoadStop::IsDriveThroughRoadStopContinuation(tile, tile - TileOffsByDiagDir(dir))) {
							/* When we're the first road stop in a 'queue' of them we increase
							 * cost based on the fill percentage of the whole queue. */
							const RoadStop::Entry *entry = rs->GetEntry(dir);
							cost += entry->GetOccupied() * Yapf().PfGetSettings().road_stop_occupied_penalty / entry->GetLength();
						}
					} else {
						/* Increase cost for filled road stops */
						cost += Yapf().PfGetSettings().road_stop_bay_occupied_penalty * (!rs->IsFreeBay(0) + !rs->IsFreeBay(1)) / 2;
					}
					break;
				}

				default:
					break;
			}
		} else {
			/* non-diagonal trackdir */
			cost = YAPF_TILE_CORNER_LENGTH + Yapf().PfGetSettings().road_curve_penalty;
		}
		return cost;
	}

public:
	/**
	 * Called by YAPF to calculate the cost from the origin to the given node.
	 *  Calculates only the cost of given node, adds it to the parent node cost
	 *  and stores the result into Node::m_cost member
	 */
	FORCEINLINE bool PfCalcCost(Node& n, const TrackFollower *tf)
	{
		int segment_cost = 0;
		/* start at n.m_key.m_tile / n.m_key.m_td and walk to the end of segment */
		TileIndex tile = n.m_key.m_tile;
		Trackdir trackdir = n.m_key.m_td;
		while (true) {
			/* base tile cost depending on distance between edges */
			segment_cost += Yapf().OneTileCost(tile, trackdir);

			const RoadVehicle *v = Yapf().GetVehicle();
			/* we have reached the vehicle's destination - segment should end here to avoid target skipping */
			if (Yapf().PfDetectDestinationTile(tile, trackdir)) break;

			/* stop if we have just entered the depot */
			if (IsRoadDepotTile(tile) && trackdir == DiagDirToDiagTrackdir(ReverseDiagDir(GetRoadDepotDirection(tile)))) {
				/* next time we will reverse and leave the depot */
				break;
			}

			/* if there are no reachable trackdirs on new tile, we have end of road */
			TrackFollower F(Yapf().GetVehicle());
			if (!F.Follow(tile, trackdir)) break;

			/* if there are more trackdirs available & reachable, we are at the end of segment */
			if (KillFirstBit(F.m_new_td_bits) != TRACKDIR_BIT_NONE) break;

			Trackdir new_td = (Trackdir)FindFirstBit2x64(F.m_new_td_bits);

			/* stop if RV is on simple loop with no junctions */
			if (F.m_new_tile == n.m_key.m_tile && new_td == n.m_key.m_td) return false;

			/* if we skipped some tunnel tiles, add their cost */
			segment_cost += F.m_tiles_skipped * YAPF_TILE_LENGTH;

			/* add hilly terrain penalty */
			segment_cost += Yapf().SlopeCost(tile, F.m_new_tile, trackdir);

			/* add min/max speed penalties */
			int min_speed = 0;
			int max_speed = F.GetSpeedLimit(&min_speed);
			if (max_speed < v->max_speed) segment_cost += 1 * (v->max_speed - max_speed);
			if (min_speed > v->max_speed) segment_cost += 10 * (min_speed - v->max_speed);

			/* move to the next tile */
			tile = F.m_new_tile;
			trackdir = new_td;
		};

		/* save end of segment back to the node */
		n.m_segment_last_tile = tile;
		n.m_segment_last_td = trackdir;

		/* save also tile cost */
		int parent_cost = (n.m_parent != NULL) ? n.m_parent->m_cost : 0;
		n.m_cost = parent_cost + segment_cost;
		return true;
	}
};


template <class Types>
class CYapfDestinationAnyDepotRoadT
{
public:
	typedef typename Types::Tpf Tpf;                     ///< the pathfinder class (derived from THIS class)
	typedef typename Types::TrackFollower TrackFollower;
	typedef typename Types::NodeList::Titem Node;        ///< this will be our node type
	typedef typename Node::Key Key;                      ///< key to hash tables

	/** to access inherited path finder */
	Tpf& Yapf()
	{
		return *static_cast<Tpf*>(this);
	}

	/** Called by YAPF to detect if node ends in the desired destination */
	FORCEINLINE bool PfDetectDestination(Node& n)
	{
		bool bDest = IsRoadDepotTile(n.m_segment_last_tile);
		return bDest;
	}

	FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir)
	{
		return IsRoadDepotTile(tile);
	}

	/**
	 * Called by YAPF to calculate cost estimate. Calculates distance to the destination
	 *  adds it to the actual cost from origin and stores the sum to the Node::m_estimate
	 */
	FORCEINLINE bool PfCalcEstimate(Node& n)
	{
		n.m_estimate = n.m_cost;
		return true;
	}
};


template <class Types>
class CYapfDestinationTileRoadT
{
public:
	typedef typename Types::Tpf Tpf;                     ///< the pathfinder class (derived from THIS class)
	typedef typename Types::TrackFollower TrackFollower;
	typedef typename Types::NodeList::Titem Node;        ///< this will be our node type
	typedef typename Node::Key Key;                      ///< key to hash tables

protected:
	TileIndex    m_destTile;
	TrackdirBits m_destTrackdirs;
	StationID    m_dest_station;
	bool         m_bus;
	bool         m_non_artic;

public:
	void SetDestination(const RoadVehicle *v)
	{
		if (v->current_order.IsType(OT_GOTO_STATION)) {
			m_dest_station  = v->current_order.GetDestination();
			m_bus           = v->IsBus();
			m_destTile      = CalcClosestStationTile(m_dest_station, v->tile, m_bus ? STATION_BUS : STATION_TRUCK);
			m_non_artic     = !v->HasArticulatedPart();
			m_destTrackdirs = INVALID_TRACKDIR_BIT;
		} else {
			m_dest_station  = INVALID_STATION;
			m_destTile      = v->dest_tile;
			m_destTrackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(v->dest_tile, TRANSPORT_ROAD, v->compatible_roadtypes));
		}
	}

protected:
	/** to access inherited path finder */
	Tpf& Yapf()
	{
		return *static_cast<Tpf*>(this);
	}

public:
	/** Called by YAPF to detect if node ends in the desired destination */
	FORCEINLINE bool PfDetectDestination(Node& n)
	{
		return PfDetectDestinationTile(n.m_segment_last_tile, n.m_segment_last_td);
	}

	FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir)
	{
		if (m_dest_station != INVALID_STATION) {
			return IsTileType(tile, MP_STATION) &&
				GetStationIndex(tile) == m_dest_station &&
				(m_bus ? IsBusStop(tile) : IsTruckStop(tile)) &&
				(m_non_artic || IsDriveThroughStopTile(tile));
		}

		return tile == m_destTile && ((m_destTrackdirs & TrackdirToTrackdirBits(trackdir)) != TRACKDIR_BIT_NONE);
	}

	/**
	 * Called by YAPF to calculate cost estimate. Calculates distance to the destination
	 *  adds it to the actual cost from origin and stores the sum to the Node::m_estimate
	 */
	inline bool PfCalcEstimate(Node& n)
	{
		static const int dg_dir_to_x_offs[] = {-1, 0, 1, 0};
		static const int dg_dir_to_y_offs[] = {0, 1, 0, -1};
		if (PfDetectDestination(n)) {
			n.m_estimate = n.m_cost;
			return true;
		}

		TileIndex tile = n.m_segment_last_tile;
		DiagDirection exitdir = TrackdirToExitdir(n.m_segment_last_td);
		int x1 = 2 * TileX(tile) + dg_dir_to_x_offs[(int)exitdir];
		int y1 = 2 * TileY(tile) + dg_dir_to_y_offs[(int)exitdir];
		int x2 = 2 * TileX(m_destTile);
		int y2 = 2 * TileY(m_destTile);
		int dx = abs(x1 - x2);
		int dy = abs(y1 - y2);
		int dmin = min(dx, dy);
		int dxy = abs(dx - dy);
		int d = dmin * YAPF_TILE_CORNER_LENGTH + (dxy - 1) * (YAPF_TILE_LENGTH / 2);
		n.m_estimate = n.m_cost + d;
		assert(n.m_estimate >= n.m_parent->m_estimate);
		return true;
	}
};



template <class Types>
class CYapfFollowRoadT
{
public:
	typedef typename Types::Tpf Tpf;                     ///< the pathfinder class (derived from THIS class)
	typedef typename Types::TrackFollower TrackFollower;
	typedef typename Types::NodeList::Titem Node;        ///< this will be our node type
	typedef typename Node::Key Key;                      ///< key to hash tables

protected:
	/** to access inherited path finder */
	FORCEINLINE Tpf& Yapf()
	{
		return *static_cast<Tpf*>(this);
	}

public:

	/**
	 * Called by YAPF to move from the given node to the next tile. For each
	 *  reachable trackdir on the new tile creates new node, initializes it
	 *  and adds it to the open list by calling Yapf().AddNewNode(n)
	 */
	inline void PfFollowNode(Node& old_node)
	{
		TrackFollower F(Yapf().GetVehicle());
		if (F.Follow(old_node.m_segment_last_tile, old_node.m_segment_last_td)) {
			Yapf().AddMultipleNodes(&old_node, F);
		}
	}

	/** return debug report character to identify the transportation type */
	FORCEINLINE char TransportTypeChar() const
	{
		return 'r';
	}

	static Trackdir stChooseRoadTrack(const RoadVehicle *v, TileIndex tile, DiagDirection enterdir)
	{
		Tpf pf;
		return pf.ChooseRoadTrack(v, tile, enterdir);
	}

	FORCEINLINE Trackdir ChooseRoadTrack(const RoadVehicle *v, TileIndex tile, DiagDirection enterdir)
	{
		/* Handle special case - when next tile is destination tile.
		 * However, when going to a station the (initial) destination
		 * tile might not be a station, but a junction, in which case
		 * this method forces the vehicle to jump in circles. */
		if (tile == v->dest_tile && !v->current_order.IsType(OT_GOTO_STATION)) {
			/* choose diagonal trackdir reachable from enterdir */
			return DiagDirToDiagTrackdir(enterdir);
		}
		/* our source tile will be the next vehicle tile (should be the given one) */
		TileIndex src_tile = tile;
		/* get available trackdirs on the start tile */
		TrackdirBits src_trackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, v->compatible_roadtypes));
		/* select reachable trackdirs only */
		src_trackdirs &= DiagdirReachesTrackdirs(enterdir);

		/* set origin and destination nodes */
		Yapf().SetOrigin(src_tile, src_trackdirs);
		Yapf().SetDestination(v);

		/* find the best path */
		Yapf().FindPath(v);

		/* if path not found - return INVALID_TRACKDIR */
		Trackdir next_trackdir = INVALID_TRACKDIR;
		Node *pNode = Yapf().GetBestNode();
		if (pNode != NULL) {
			/* path was found or at least suggested
			 * walk through the path back to its origin */
			while (pNode->m_parent != NULL) {
				pNode = pNode->m_parent;
			}
			/* return trackdir from the best origin node (one of start nodes) */
			Node& best_next_node = *pNode;
			assert(best_next_node.GetTile() == tile);
			next_trackdir = best_next_node.GetTrackdir();
		}
		return next_trackdir;
	}

	static uint stDistanceToTile(const RoadVehicle *v, TileIndex tile)
	{
		Tpf pf;
		return pf.DistanceToTile(v, tile);
	}

	FORCEINLINE uint DistanceToTile(const RoadVehicle *v, TileIndex dst_tile)
	{
		/* handle special case - when current tile is the destination tile */
		if (dst_tile == v->tile) {
			/* distance is zero in this case */
			return 0;
		}

		if (!SetOriginFromVehiclePos(v)) return UINT_MAX;

		/* get available trackdirs on the destination tile */
		Yapf().SetDestination(v);

		/* if path not found - return distance = UINT_MAX */
		uint dist = UINT_MAX;

		/* find the best path */
		if (!Yapf().FindPath(v)) return dist;

		Node *pNode = Yapf().GetBestNode();
		if (pNode != NULL) {
			/* path was found
			 * get the path cost estimate */
			dist = pNode->GetCostEstimate();
		}

		return dist;
	}

	/** Return true if the valid origin (tile/trackdir) was set from the current vehicle position. */
	FORCEINLINE bool SetOriginFromVehiclePos(const RoadVehicle *v)
	{
		/* set origin (tile, trackdir) */
		TileIndex src_tile = v->tile;
		Trackdir src_td = v->GetVehicleTrackdir();
		if ((TrackStatusToTrackdirBits(GetTileTrackStatus(src_tile, TRANSPORT_ROAD, v->compatible_roadtypes)) & TrackdirToTrackdirBits(src_td)) == 0) {
			/* sometimes the roadveh is not on the road (it resides on non-existing track)
			 * how should we handle that situation? */
			return false;
		}
		Yapf().SetOrigin(src_tile, TrackdirToTrackdirBits(src_td));
		return true;
	}

	static bool stFindNearestDepot(const RoadVehicle *v, TileIndex tile, Trackdir td, int max_distance, TileIndex *depot_tile)
	{
		Tpf pf;
		return pf.FindNearestDepot(v, tile, td, max_distance, depot_tile);
	}

	FORCEINLINE bool FindNearestDepot(const RoadVehicle *v, TileIndex tile, Trackdir td, int max_distance, TileIndex *depot_tile)
	{
		/* set origin and destination nodes */
		Yapf().SetOrigin(tile, TrackdirToTrackdirBits(td));

		/* find the best path */
		bool bFound = Yapf().FindPath(v);
		if (!bFound) return false;

		/* some path found
		 * get found depot tile */
		Node *n = Yapf().GetBestNode();

		if (max_distance > 0 && n->m_cost > max_distance * YAPF_TILE_LENGTH) return false;

		*depot_tile = n->m_segment_last_tile;
		return true;
	}
};

template <class Tpf_, class Tnode_list, template <class Types> class Tdestination>
struct CYapfRoad_TypesT
{
	typedef CYapfRoad_TypesT<Tpf_, Tnode_list, Tdestination>  Types;

	typedef Tpf_                              Tpf;
	typedef CFollowTrackRoad                  TrackFollower;
	typedef Tnode_list                        NodeList;
	typedef RoadVehicle                       VehicleType;
	typedef CYapfBaseT<Types>                 PfBase;
	typedef CYapfFollowRoadT<Types>           PfFollow;
	typedef CYapfOriginTileT<Types>           PfOrigin;
	typedef Tdestination<Types>               PfDestination;
	typedef CYapfSegmentCostCacheNoneT<Types> PfCache;
	typedef CYapfCostRoadT<Types>             PfCost;
};

struct CYapfRoad1         : CYapfT<CYapfRoad_TypesT<CYapfRoad1        , CRoadNodeListTrackDir, CYapfDestinationTileRoadT    > > {};
struct CYapfRoad2         : CYapfT<CYapfRoad_TypesT<CYapfRoad2        , CRoadNodeListExitDir , CYapfDestinationTileRoadT    > > {};

struct CYapfRoadAnyDepot1 : CYapfT<CYapfRoad_TypesT<CYapfRoadAnyDepot1, CRoadNodeListTrackDir, CYapfDestinationAnyDepotRoadT> > {};
struct CYapfRoadAnyDepot2 : CYapfT<CYapfRoad_TypesT<CYapfRoadAnyDepot2, CRoadNodeListExitDir , CYapfDestinationAnyDepotRoadT> > {};


Trackdir YapfRoadVehicleChooseTrack(const RoadVehicle *v, TileIndex tile, DiagDirection enterdir, TrackdirBits trackdirs)
{
	/* default is YAPF type 2 */
	typedef Trackdir (*PfnChooseRoadTrack)(const RoadVehicle*, TileIndex, DiagDirection);
	PfnChooseRoadTrack pfnChooseRoadTrack = &CYapfRoad2::stChooseRoadTrack; // default: ExitDir, allow 90-deg

	/* check if non-default YAPF type should be used */
	if (_settings_game.pf.yapf.disable_node_optimization) {
		pfnChooseRoadTrack = &CYapfRoad1::stChooseRoadTrack; // Trackdir, allow 90-deg
	}

	Trackdir td_ret = pfnChooseRoadTrack(v, tile, enterdir);
	return (td_ret != INVALID_TRACKDIR) ? td_ret : (Trackdir)FindFirstBit2x64(trackdirs);
}

FindDepotData YapfRoadVehicleFindNearestDepot(const RoadVehicle *v, int max_distance)
{
	TileIndex tile = v->tile;
	Trackdir trackdir = v->GetVehicleTrackdir();
	if ((TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, v->compatible_roadtypes)) & TrackdirToTrackdirBits(trackdir)) == 0) {
		return FindDepotData();
	}

	/* default is YAPF type 2 */
	typedef bool (*PfnFindNearestDepot)(const RoadVehicle*, TileIndex, Trackdir, int, TileIndex*);
	PfnFindNearestDepot pfnFindNearestDepot = &CYapfRoadAnyDepot2::stFindNearestDepot;

	/* check if non-default YAPF type should be used */
	if (_settings_game.pf.yapf.disable_node_optimization) {
		pfnFindNearestDepot = &CYapfRoadAnyDepot1::stFindNearestDepot; // Trackdir, allow 90-deg
	}

	FindDepotData fdd;
	bool ret = pfnFindNearestDepot(v, tile, trackdir, max_distance, &fdd.tile);
	fdd.best_length = ret ? max_distance / 2 : UINT_MAX; // some fake distance or NOT_FOUND
	return fdd;
}