mirror of https://github.com/OpenTTD/OpenTTD.git
496 lines
16 KiB
C++
496 lines
16 KiB
C++
/* $Id$ */
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/** @file yapf_road.cpp The road pathfinding. */
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#include "../stdafx.h"
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#include "../depot_base.h"
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#include "../roadveh.h"
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#include "yapf.hpp"
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#include "yapf_node_road.hpp"
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template <class Types>
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class CYapfCostRoadT
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{
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public:
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typedef typename Types::Tpf Tpf; ///< pathfinder (derived from THIS class)
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typedef typename Types::TrackFollower TrackFollower; ///< track follower helper
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typedef typename Types::NodeList::Titem Node; ///< this will be our node type
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typedef typename Node::Key Key; ///< key to hash tables
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protected:
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/** to access inherited path finder */
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Tpf& Yapf()
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{
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return *static_cast<Tpf*>(this);
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}
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int SlopeCost(TileIndex tile, TileIndex next_tile, Trackdir trackdir)
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{
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/* height of the center of the current tile */
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int x1 = TileX(tile) * TILE_SIZE;
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int y1 = TileY(tile) * TILE_SIZE;
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int z1 = GetSlopeZ(x1 + TILE_SIZE / 2, y1 + TILE_SIZE / 2);
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/* height of the center of the next tile */
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int x2 = TileX(next_tile) * TILE_SIZE;
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int y2 = TileY(next_tile) * TILE_SIZE;
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int z2 = GetSlopeZ(x2 + TILE_SIZE / 2, y2 + TILE_SIZE / 2);
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if (z2 - z1 > 1) {
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/* Slope up */
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return Yapf().PfGetSettings().road_slope_penalty;
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}
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return 0;
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}
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/** return one tile cost */
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FORCEINLINE int OneTileCost(TileIndex tile, Trackdir trackdir)
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{
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int cost = 0;
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/* set base cost */
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if (IsDiagonalTrackdir(trackdir)) {
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cost += YAPF_TILE_LENGTH;
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switch (GetTileType(tile)) {
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case MP_ROAD:
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/* Increase the cost for level crossings */
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if (IsLevelCrossing(tile)) {
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cost += Yapf().PfGetSettings().road_crossing_penalty;
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}
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break;
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case MP_STATION:
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if (IsDriveThroughStopTile(tile)) {
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cost += Yapf().PfGetSettings().road_stop_penalty;
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}
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break;
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default:
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break;
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}
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} else {
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/* non-diagonal trackdir */
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cost = YAPF_TILE_CORNER_LENGTH + Yapf().PfGetSettings().road_curve_penalty;
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}
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return cost;
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}
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public:
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/** Called by YAPF to calculate the cost from the origin to the given node.
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* Calculates only the cost of given node, adds it to the parent node cost
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* and stores the result into Node::m_cost member */
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FORCEINLINE bool PfCalcCost(Node& n, const TrackFollower *tf)
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{
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int segment_cost = 0;
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/* start at n.m_key.m_tile / n.m_key.m_td and walk to the end of segment */
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TileIndex tile = n.m_key.m_tile;
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Trackdir trackdir = n.m_key.m_td;
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while (true) {
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/* base tile cost depending on distance between edges */
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segment_cost += Yapf().OneTileCost(tile, trackdir);
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const Vehicle *v = Yapf().GetVehicle();
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/* we have reached the vehicle's destination - segment should end here to avoid target skipping */
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if (Yapf().PfDetectDestinationTile(tile, trackdir)) break;
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/* stop if we have just entered the depot */
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if (IsRoadDepotTile(tile) && trackdir == DiagDirToDiagTrackdir(ReverseDiagDir(GetRoadDepotDirection(tile)))) {
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/* next time we will reverse and leave the depot */
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break;
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}
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/* if there are no reachable trackdirs on new tile, we have end of road */
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TrackFollower F(Yapf().GetVehicle());
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if (!F.Follow(tile, trackdir)) break;
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/* if there are more trackdirs available & reachable, we are at the end of segment */
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if (KillFirstBit(F.m_new_td_bits) != TRACKDIR_BIT_NONE) break;
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Trackdir new_td = (Trackdir)FindFirstBit2x64(F.m_new_td_bits);
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/* stop if RV is on simple loop with no junctions */
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if (F.m_new_tile == n.m_key.m_tile && new_td == n.m_key.m_td) return false;
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/* if we skipped some tunnel tiles, add their cost */
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segment_cost += F.m_tiles_skipped * YAPF_TILE_LENGTH;
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/* add hilly terrain penalty */
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segment_cost += Yapf().SlopeCost(tile, F.m_new_tile, trackdir);
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/* add min/max speed penalties */
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int min_speed = 0;
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int max_speed = F.GetSpeedLimit(&min_speed);
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if (max_speed < v->max_speed) segment_cost += 1 * (v->max_speed - max_speed);
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if (min_speed > v->max_speed) segment_cost += 10 * (min_speed - v->max_speed);
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/* move to the next tile */
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tile = F.m_new_tile;
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trackdir = new_td;
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};
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/* save end of segment back to the node */
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n.m_segment_last_tile = tile;
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n.m_segment_last_td = trackdir;
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/* save also tile cost */
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int parent_cost = (n.m_parent != NULL) ? n.m_parent->m_cost : 0;
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n.m_cost = parent_cost + segment_cost;
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return true;
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}
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};
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template <class Types>
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class CYapfDestinationAnyDepotRoadT
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{
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public:
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typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class)
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typedef typename Types::TrackFollower TrackFollower;
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typedef typename Types::NodeList::Titem Node; ///< this will be our node type
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typedef typename Node::Key Key; ///< key to hash tables
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/** to access inherited path finder */
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Tpf& Yapf()
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{
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return *static_cast<Tpf*>(this);
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}
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/** Called by YAPF to detect if node ends in the desired destination */
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FORCEINLINE bool PfDetectDestination(Node& n)
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{
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bool bDest = IsRoadDepotTile(n.m_segment_last_tile);
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return bDest;
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}
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FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir)
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{
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return IsRoadDepotTile(tile);
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}
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/** Called by YAPF to calculate cost estimate. Calculates distance to the destination
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* adds it to the actual cost from origin and stores the sum to the Node::m_estimate */
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FORCEINLINE bool PfCalcEstimate(Node& n)
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{
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n.m_estimate = n.m_cost;
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return true;
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}
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};
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template <class Types>
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class CYapfDestinationTileRoadT
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{
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public:
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typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class)
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typedef typename Types::TrackFollower TrackFollower;
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typedef typename Types::NodeList::Titem Node; ///< this will be our node type
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typedef typename Node::Key Key; ///< key to hash tables
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protected:
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TileIndex m_destTile;
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TrackdirBits m_destTrackdirs;
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public:
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void SetDestination(TileIndex tile, TrackdirBits trackdirs)
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{
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m_destTile = tile;
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m_destTrackdirs = trackdirs;
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}
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protected:
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/** to access inherited path finder */
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Tpf& Yapf()
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{
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return *static_cast<Tpf*>(this);
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}
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public:
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/** Called by YAPF to detect if node ends in the desired destination */
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FORCEINLINE bool PfDetectDestination(Node& n)
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{
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bool bDest = (n.m_segment_last_tile == m_destTile) && ((m_destTrackdirs & TrackdirToTrackdirBits(n.m_segment_last_td)) != TRACKDIR_BIT_NONE);
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return bDest;
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}
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FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir)
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{
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return tile == m_destTile && ((m_destTrackdirs & TrackdirToTrackdirBits(trackdir)) != TRACKDIR_BIT_NONE);
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}
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/** Called by YAPF to calculate cost estimate. Calculates distance to the destination
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* adds it to the actual cost from origin and stores the sum to the Node::m_estimate */
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inline bool PfCalcEstimate(Node& n)
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{
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static int dg_dir_to_x_offs[] = {-1, 0, 1, 0};
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static int dg_dir_to_y_offs[] = {0, 1, 0, -1};
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if (PfDetectDestination(n)) {
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n.m_estimate = n.m_cost;
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return true;
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}
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TileIndex tile = n.m_segment_last_tile;
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DiagDirection exitdir = TrackdirToExitdir(n.m_segment_last_td);
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int x1 = 2 * TileX(tile) + dg_dir_to_x_offs[(int)exitdir];
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int y1 = 2 * TileY(tile) + dg_dir_to_y_offs[(int)exitdir];
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int x2 = 2 * TileX(m_destTile);
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int y2 = 2 * TileY(m_destTile);
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int dx = abs(x1 - x2);
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int dy = abs(y1 - y2);
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int dmin = min(dx, dy);
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int dxy = abs(dx - dy);
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int d = dmin * YAPF_TILE_CORNER_LENGTH + (dxy - 1) * (YAPF_TILE_LENGTH / 2);
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n.m_estimate = n.m_cost + d;
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assert(n.m_estimate >= n.m_parent->m_estimate);
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return true;
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}
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};
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template <class Types>
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class CYapfFollowRoadT
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{
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public:
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typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class)
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typedef typename Types::TrackFollower TrackFollower;
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typedef typename Types::NodeList::Titem Node; ///< this will be our node type
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typedef typename Node::Key Key; ///< key to hash tables
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protected:
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/** to access inherited path finder */
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FORCEINLINE Tpf& Yapf()
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{
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return *static_cast<Tpf*>(this);
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}
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public:
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/** Called by YAPF to move from the given node to the next tile. For each
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* reachable trackdir on the new tile creates new node, initializes it
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* and adds it to the open list by calling Yapf().AddNewNode(n) */
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inline void PfFollowNode(Node& old_node)
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{
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TrackFollower F(Yapf().GetVehicle());
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if (F.Follow(old_node.m_segment_last_tile, old_node.m_segment_last_td)) {
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Yapf().AddMultipleNodes(&old_node, F);
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}
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}
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/** return debug report character to identify the transportation type */
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FORCEINLINE char TransportTypeChar() const
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{
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return 'r';
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}
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static Trackdir stChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir)
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{
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Tpf pf;
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return pf.ChooseRoadTrack(v, tile, enterdir);
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}
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FORCEINLINE Trackdir ChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir)
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{
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/* handle special case - when next tile is destination tile */
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if (tile == v->dest_tile) {
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/* choose diagonal trackdir reachable from enterdir */
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return DiagDirToDiagTrackdir(enterdir);
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}
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/* our source tile will be the next vehicle tile (should be the given one) */
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TileIndex src_tile = tile;
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/* get available trackdirs on the start tile */
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TrackdirBits src_trackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, ((RoadVehicle *)v)->compatible_roadtypes));
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/* select reachable trackdirs only */
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src_trackdirs &= DiagdirReachesTrackdirs(enterdir);
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/* get available trackdirs on the destination tile */
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TileIndex dest_tile = v->dest_tile;
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TrackdirBits dest_trackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(dest_tile, TRANSPORT_ROAD, ((RoadVehicle *)v)->compatible_roadtypes));
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/* set origin and destination nodes */
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Yapf().SetOrigin(src_tile, src_trackdirs);
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Yapf().SetDestination(dest_tile, dest_trackdirs);
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/* find the best path */
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Yapf().FindPath(v);
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/* if path not found - return INVALID_TRACKDIR */
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Trackdir next_trackdir = INVALID_TRACKDIR;
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Node *pNode = Yapf().GetBestNode();
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if (pNode != NULL) {
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/* path was found or at least suggested
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* walk through the path back to its origin */
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while (pNode->m_parent != NULL) {
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pNode = pNode->m_parent;
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}
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/* return trackdir from the best origin node (one of start nodes) */
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Node& best_next_node = *pNode;
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assert(best_next_node.GetTile() == tile);
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next_trackdir = best_next_node.GetTrackdir();
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}
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return next_trackdir;
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}
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static uint stDistanceToTile(const Vehicle *v, TileIndex tile)
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{
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Tpf pf;
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return pf.DistanceToTile(v, tile);
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}
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FORCEINLINE uint DistanceToTile(const Vehicle *v, TileIndex dst_tile)
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{
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/* handle special case - when current tile is the destination tile */
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if (dst_tile == v->tile) {
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/* distance is zero in this case */
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return 0;
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}
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if (!SetOriginFromVehiclePos(v)) return UINT_MAX;
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/* set destination tile, trackdir
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* get available trackdirs on the destination tile */
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TrackdirBits dst_td_bits = TrackStatusToTrackdirBits(GetTileTrackStatus(dst_tile, TRANSPORT_ROAD, ((RoadVehicle *)v)->compatible_roadtypes));
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Yapf().SetDestination(dst_tile, dst_td_bits);
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/* if path not found - return distance = UINT_MAX */
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uint dist = UINT_MAX;
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/* find the best path */
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if (!Yapf().FindPath(v)) return dist;
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Node *pNode = Yapf().GetBestNode();
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if (pNode != NULL) {
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/* path was found
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* get the path cost estimate */
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dist = pNode->GetCostEstimate();
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}
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return dist;
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}
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/** Return true if the valid origin (tile/trackdir) was set from the current vehicle position. */
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FORCEINLINE bool SetOriginFromVehiclePos(const Vehicle *v)
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{
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/* set origin (tile, trackdir) */
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TileIndex src_tile = v->tile;
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Trackdir src_td = v->GetVehicleTrackdir();
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if ((TrackStatusToTrackdirBits(GetTileTrackStatus(src_tile, TRANSPORT_ROAD, ((RoadVehicle *)v)->compatible_roadtypes)) & TrackdirToTrackdirBits(src_td)) == 0) {
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/* sometimes the roadveh is not on the road (it resides on non-existing track)
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* how should we handle that situation? */
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return false;
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}
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Yapf().SetOrigin(src_tile, TrackdirToTrackdirBits(src_td));
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return true;
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}
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static Depot *stFindNearestDepot(const Vehicle *v, TileIndex tile, Trackdir td)
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{
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Tpf pf;
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return pf.FindNearestDepot(v, tile, td);
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}
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FORCEINLINE Depot *FindNearestDepot(const Vehicle *v, TileIndex tile, Trackdir td)
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{
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/* set origin and destination nodes */
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Yapf().SetOrigin(tile, TrackdirToTrackdirBits(td));
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/* find the best path */
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bool bFound = Yapf().FindPath(v);
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if (!bFound) return false;
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/* some path found
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* get found depot tile */
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Node *n = Yapf().GetBestNode();
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TileIndex depot_tile = n->m_segment_last_tile;
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assert(IsRoadDepotTile(depot_tile));
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Depot *ret = GetDepotByTile(depot_tile);
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return ret;
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}
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};
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template <class Tpf_, class Tnode_list, template <class Types> class Tdestination>
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struct CYapfRoad_TypesT
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{
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typedef CYapfRoad_TypesT<Tpf_, Tnode_list, Tdestination> Types;
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typedef Tpf_ Tpf;
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typedef CFollowTrackRoad TrackFollower;
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typedef Tnode_list NodeList;
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typedef CYapfBaseT<Types> PfBase;
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typedef CYapfFollowRoadT<Types> PfFollow;
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typedef CYapfOriginTileT<Types> PfOrigin;
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typedef Tdestination<Types> PfDestination;
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typedef CYapfSegmentCostCacheNoneT<Types> PfCache;
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typedef CYapfCostRoadT<Types> PfCost;
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};
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struct CYapfRoad1 : CYapfT<CYapfRoad_TypesT<CYapfRoad1 , CRoadNodeListTrackDir, CYapfDestinationTileRoadT > > {};
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struct CYapfRoad2 : CYapfT<CYapfRoad_TypesT<CYapfRoad2 , CRoadNodeListExitDir , CYapfDestinationTileRoadT > > {};
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struct CYapfRoadAnyDepot1 : CYapfT<CYapfRoad_TypesT<CYapfRoadAnyDepot1, CRoadNodeListTrackDir, CYapfDestinationAnyDepotRoadT> > {};
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struct CYapfRoadAnyDepot2 : CYapfT<CYapfRoad_TypesT<CYapfRoadAnyDepot2, CRoadNodeListExitDir , CYapfDestinationAnyDepotRoadT> > {};
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Trackdir YapfChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir)
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{
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/* default is YAPF type 2 */
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typedef Trackdir (*PfnChooseRoadTrack)(const Vehicle*, TileIndex, DiagDirection);
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PfnChooseRoadTrack pfnChooseRoadTrack = &CYapfRoad2::stChooseRoadTrack; // default: ExitDir, allow 90-deg
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/* check if non-default YAPF type should be used */
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if (_settings_game.pf.yapf.disable_node_optimization) {
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pfnChooseRoadTrack = &CYapfRoad1::stChooseRoadTrack; // Trackdir, allow 90-deg
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}
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Trackdir td_ret = pfnChooseRoadTrack(v, tile, enterdir);
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return td_ret;
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}
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uint YapfRoadVehDistanceToTile(const Vehicle *v, TileIndex tile)
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{
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/* default is YAPF type 2 */
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typedef uint (*PfnDistanceToTile)(const Vehicle*, TileIndex);
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PfnDistanceToTile pfnDistanceToTile = &CYapfRoad2::stDistanceToTile; // default: ExitDir, allow 90-deg
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/* check if non-default YAPF type should be used */
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if (_settings_game.pf.yapf.disable_node_optimization) {
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pfnDistanceToTile = &CYapfRoad1::stDistanceToTile; // Trackdir, allow 90-deg
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}
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/* measure distance in YAPF units */
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uint dist = pfnDistanceToTile(v, tile);
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/* convert distance to tiles */
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if (dist != UINT_MAX) {
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dist = (dist + YAPF_TILE_LENGTH - 1) / YAPF_TILE_LENGTH;
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}
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return dist;
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}
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Depot *YapfFindNearestRoadDepot(const Vehicle *v)
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{
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TileIndex tile = v->tile;
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Trackdir trackdir = v->GetVehicleTrackdir();
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if ((TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, ((RoadVehicle *)v)->compatible_roadtypes)) & TrackdirToTrackdirBits(trackdir)) == 0) {
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return NULL;
|
|
}
|
|
|
|
/* handle the case when our vehicle is already in the depot tile */
|
|
if (IsRoadDepotTile(tile)) {
|
|
/* only what we need to return is the Depot* */
|
|
return GetDepotByTile(tile);
|
|
}
|
|
|
|
/* default is YAPF type 2 */
|
|
typedef Depot *(*PfnFindNearestDepot)(const Vehicle*, TileIndex, Trackdir);
|
|
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
|
|
}
|
|
|
|
Depot *ret = pfnFindNearestDepot(v, tile, trackdir);
|
|
return ret;
|
|
}
|