(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().
This commit is contained in:
matthijs
2005-01-31 11:23:10 +00:00
parent b64c375f2f
commit a2dec6c32a
25 changed files with 1418 additions and 265 deletions

View File

@@ -6,6 +6,7 @@
#include "vehicle.h"
#include "command.h"
#include "pathfind.h"
#include "npf.h"
#include "station.h"
#include "table/train_cmd.h"
#include "gfx.h"
@@ -25,16 +26,9 @@ static const byte _vehicle_initial_x_fract[4] = {10,8,4,8};
static const byte _vehicle_initial_y_fract[4] = {8,4,8,10};
static const byte _state_dir_table[4] = { 0x20, 8, 0x10, 4 };
static const byte _signal_onedir[14] = {
0x80, 0x80, 0x80, 0x20, 0x40, 0x10, 0, 0,
0x40, 0x40, 0x40, 0x10, 0x80, 0x20
};
static const byte _signal_otherdir[14] = {
0x40, 0x40, 0x40, 0x10, 0x80, 0x20, 0, 0,
0x80, 0x80, 0x80, 0x20, 0x40, 0x10
};
/* These two arrays are used for realistic acceleration. XXX: How should they
* be interpreted? */
static const byte _curve_neighbours45[8][2] = {
{7, 1},
{0, 2},
@@ -1301,7 +1295,7 @@ static bool TrainFindDepotEnumProc(uint tile, TrainFindDepotData *tfdd, int trac
// make sure the train doesn't run against a oneway signal
if ((_map5[tile] & 0xC0) == 0x40) {
if (!(_map3_lo[tile] & _signal_onedir[track]) && _map3_lo[tile] & _signal_otherdir[track])
if (!(_map3_lo[tile] & _signal_along_trackdir[track]) && _map3_lo[tile] & _signal_against_trackdir[track])
return true;
}
}
@@ -1328,7 +1322,16 @@ static TrainFindDepotData FindClosestTrainDepot(Vehicle *v)
if (v->u.rail.track == 0x40) { tile = GetVehicleOutOfTunnelTile(v); }
if (!_patches.new_depot_finding) {
if (_patches.new_pathfinding_all) {
NPFFoundTargetData ftd;
byte trackdir = _track_direction_to_trackdir[FIND_FIRST_BIT(v->u.rail.track)][v->direction];
ftd = NPFRouteToDepotBreadthFirst(v->tile, trackdir, TRANSPORT_RAIL);
if (ftd.best_bird_dist == 0) {
/* Found target */
tfdd.tile = ftd.node.tile;
tfdd.best_length = ftd.best_path_dist;
}
} else if (!_patches.new_depot_finding) {
// search in all directions
for(i=0; i!=4; i++)
NewTrainPathfind(tile, i, (TPFEnumProc*)TrainFindDepotEnumProc, &tfdd, NULL);
@@ -1547,6 +1550,7 @@ static bool CheckTrainStayInDepot(Vehicle *v)
return false;
}
/* Check for station tiles */
typedef struct TrainTrackFollowerData {
TileIndex dest_coords;
int station_index; // station index we're heading for
@@ -1559,14 +1563,14 @@ static bool TrainTrackFollower(uint tile, TrainTrackFollowerData *ttfd, int trac
if (IsTileType(tile, MP_RAILWAY) && (_map5[tile]&0xC0) == 0x40) {
// the tile has a signal
byte m3 = _map3_lo[tile];
if (!(m3 & _signal_onedir[track])) {
if (!(m3 & _signal_along_trackdir[track])) {
// if one way signal not pointing towards us, stop going in this direction.
if (m3 & _signal_otherdir[track])
if (m3 & _signal_against_trackdir[track])
return true;
} else if (_map2[tile] & _signal_onedir[track]) {
} else if (_map2[tile] & _signal_along_trackdir[track]) {
// green signal in our direction. either one way or two way.
*state = true;
} else if (m3 & _signal_otherdir[track]) {
} else if (m3 & _signal_against_trackdir[track]) {
// two way signal. unless we passed another green signal on the way,
// stop going in this direction.
if (!*state) return true;
@@ -1643,97 +1647,132 @@ static const byte _search_directions[6][4] = {
};
static const byte _pick_track_table[6] = {1, 3, 2, 2, 0, 0};
#if PF_BENCHMARK
unsigned int rdtsc()
{
unsigned int high, low;
__asm__ __volatile__ ("rdtsc" : "=a" (low), "=d" (high));
return low;
}
#endif
/* choose a track */
static byte ChooseTrainTrack(Vehicle *v, uint tile, int direction, byte trackbits)
static byte ChooseTrainTrack(Vehicle *v, uint tile, int enterdir, byte trackbits)
{
TrainTrackFollowerData fd;
int bits = trackbits;
uint best_track;
#if 0
#if PF_BENCHMARK
int time = rdtsc();
static float f;
#endif
assert( (bits & ~0x3F) == 0);
/* quick return in case only one possible direction is available */
/* quick return in case only one possible track is available */
if (KILL_FIRST_BIT(bits) == 0)
return FIND_FIRST_BIT(bits);
FillWithStationData(&fd, v);
if (_patches.new_pathfinding_all) { /* Use a new pathfinding for everything */
NPFFindStationOrTileData fstd;
NPFFoundTargetData ftd;
byte trackdir;
if (_patches.new_pathfinding) {
fd.best_bird_dist = (uint)-1;
fd.best_track_dist = (uint)-1;
fd.best_track = 0xFF;
NewTrainPathfind(tile - TileOffsByDir(direction), direction, (TPFEnumProc*)TrainTrackFollower, &fd, NULL);
NPFFillWithOrderData(&fstd, v);
/* The enterdir for the new tile, is the exitdir for the old tile */
trackdir = _track_exitdir_to_trackdir[FIND_FIRST_BIT(v->u.rail.track)][enterdir];
assert(trackdir != 0xff);
// printf("Train %d %s\n", v->unitnumber, fd.best_track_dist == -1 ? "NOTFOUND" : "FOUND");
if (fd.best_track == 0xff) {
// blaha
ftd = NPFRouteToStationOrTile(tile - TileOffsByDir(enterdir), trackdir, &fstd, TRANSPORT_RAIL);
if (ftd.best_bird_dist != 0 || ftd.best_trackdir == 0xff) {
/* Not found, or we are already there. Just do something */
//TODO: maybe display error?
//TODO: go straight ahead if possible?
best_track = FIND_FIRST_BIT(bits);
} else {
best_track = fd.best_track & 7;
/* Discard enterdir information, making it a normal track */
best_track = ftd.best_trackdir & 7; /* TODO: Wrapper function? */
}
} else {
int i, r;
uint best_bird_dist = 0;
uint best_track_dist = 0;
byte train_dir = v->direction & 3;
FillWithStationData(&fd, v);
best_track = -1;
do {
i = FIND_FIRST_BIT(bits);
bits = KILL_FIRST_BIT(bits);
if (_patches.new_pathfinding) {
/* New train pathfinding */
fd.best_bird_dist = (uint)-1;
fd.best_track_dist = (uint)-1;
fd.best_track = 0xFF;
NewTrainPathfind(tile - TileOffsByDir(enterdir), enterdir, (TPFEnumProc*)TrainTrackFollower, &fd, NULL);
NewTrainPathfind(tile, _search_directions[i][direction], (TPFEnumProc*)TrainTrackFollower, &fd, NULL);
if (best_track != (uint)-1) {
if (best_track_dist == (uint)-1) {
if (fd.best_track_dist == (uint)-1) {
/* neither reached the destination, pick the one with the smallest bird dist */
if (fd.best_bird_dist > best_bird_dist) goto bad;
if (fd.best_bird_dist < best_bird_dist) goto good;
} else {
/* we found the destination for the first time */
goto good;
}
} else {
if (fd.best_track_dist == (uint)-1) {
/* didn't find destination, but we've found the destination previously */
goto bad;
} else {
/* both old & new reached the destination, compare track length */
if (fd.best_track_dist > best_track_dist) goto bad;
if (fd.best_track_dist < best_track_dist) goto good;
}
}
// printf("Train %d %s\n", v->unitnumber, fd.best_track_dist == -1 ? "NOTFOUND" : "FOUND");
/* if we reach this position, there's two paths of equal value so far.
* pick one randomly. */
r = (byte)Random();
if (_pick_track_table[i] == train_dir) r += 80;
if (_pick_track_table[best_track] == train_dir) r -= 80;
if (r <= 127) goto bad;
if (fd.best_track == 0xff) {
// blaha
best_track = FIND_FIRST_BIT(bits);
} else {
best_track = fd.best_track & 7;
}
good:;
best_track = i;
best_bird_dist = fd.best_bird_dist;
best_track_dist = fd.best_track_dist;
bad:;
} while (bits != 0);
// printf("Train %d %s\n", v->unitnumber, best_track_dist == -1 ? "NOTFOUND" : "FOUND");
assert(best_track != (uint)-1);
} else {
/* Original pathfinding */
int i, r;
uint best_bird_dist = 0;
uint best_track_dist = 0;
byte train_dir = v->direction & 3;
best_track = (uint)-1;
do {
i = FIND_FIRST_BIT(bits);
bits = KILL_FIRST_BIT(bits);
fd.best_bird_dist = (uint)-1;
fd.best_track_dist = (uint)-1;
NewTrainPathfind(tile, _search_directions[i][enterdir], (TPFEnumProc*)TrainTrackFollower, &fd, NULL);
if (best_track != (uint)-1) {
if (best_track_dist == (uint)-1) {
if (fd.best_track_dist == (uint)-1) {
/* neither reached the destination, pick the one with the smallest bird dist */
if (fd.best_bird_dist > best_bird_dist) goto bad;
if (fd.best_bird_dist < best_bird_dist) goto good;
} else {
/* we found the destination for the first time */
goto good;
}
} else {
if (fd.best_track_dist == (uint)-1) {
/* didn't find destination, but we've found the destination previously */
goto bad;
} else {
/* both old & new reached the destination, compare track length */
if (fd.best_track_dist > best_track_dist) goto bad;
if (fd.best_track_dist < best_track_dist) goto good;
}
}
/* if we reach this position, there's two paths of equal value so far.
* pick one randomly. */
r = (byte)Random();
if (_pick_track_table[i] == train_dir) r += 80;
if (_pick_track_table[best_track] == train_dir) r -= 80;
if (r <= 127) goto bad;
}
good:;
best_track = i;
best_bird_dist = fd.best_bird_dist;
best_track_dist = fd.best_track_dist;
bad:;
} while (bits != 0);
// printf("Train %d %s\n", v->unitnumber, best_track_dist == -1 ? "NOTFOUND" : "FOUND");
assert(best_track != (uint)-1);
}
}
#if 0
#if PF_BENCHMARK
time = rdtsc() - time;
f = f * 0.99 + 0.01 * time;
printf("PF time = %d %f\n", time, f);
@@ -1766,49 +1805,74 @@ static bool CheckReverseTrain(Vehicle *v)
i = _search_directions[FIND_FIRST_BIT(v->u.rail.track)][v->direction>>1];
while(true) {
fd.best_bird_dist = (uint)-1;
fd.best_track_dist = (uint)-1;
if (_patches.new_pathfinding_all) { /* Use a new pathfinding for everything */
NPFFindStationOrTileData fstd;
NPFFoundTargetData ftd;
byte trackdir, trackdir_rev;
Vehicle* last = GetLastVehicleInChain(v);
NewTrainPathfind(v->tile, reverse ^ i, (TPFEnumProc*)TrainTrackFollower, &fd, NULL);
NPFFillWithOrderData(&fstd, v);
if (best_track != -1) {
if (best_bird_dist != 0) {
if (fd.best_bird_dist != 0) {
/* neither reached the destination, pick the one with the smallest bird dist */
if (fd.best_bird_dist > best_bird_dist) goto bad;
if (fd.best_bird_dist < best_bird_dist) goto good;
} else {
/* we found the destination for the first time */
goto good;
}
} else {
if (fd.best_bird_dist != 0) {
/* didn't find destination, but we've found the destination previously */
goto bad;
} else {
/* both old & new reached the destination, compare track length */
if (fd.best_track_dist > best_track_dist) goto bad;
if (fd.best_track_dist < best_track_dist) goto good;
}
}
trackdir = _track_direction_to_trackdir[FIND_FIRST_BIT(v->u.rail.track)][v->direction];
trackdir_rev = REVERSE_TRACKDIR(_track_direction_to_trackdir[FIND_FIRST_BIT(last->u.rail.track)][last->direction]);
assert(trackdir != 0xff);
assert(trackdir_rev != 0xff);
/* if we reach this position, there's two paths of equal value so far.
* pick one randomly. */
r = (byte)Random();
if (_pick_track_table[i] == (v->direction & 3)) r += 80;
if (_pick_track_table[best_track] == (v->direction & 3)) r -= 80;
if (r <= 127) goto bad;
ftd = NPFRouteToStationOrTileTwoWay(v->tile, trackdir, last->tile, trackdir_rev, &fstd, TRANSPORT_RAIL);
if (ftd.best_bird_dist != 0) {
/* We didn't find anything, just keep on going straight ahead */
reverse_best = false;
} else {
if (ftd.node.user_data[NPF_NODE_FLAGS] & NPF_FLAG_REVERSE)
reverse_best = true;
else
reverse_best = false;
}
} else {
while(true) {
fd.best_bird_dist = (uint)-1;
fd.best_track_dist = (uint)-1;
NewTrainPathfind(v->tile, reverse ^ i, (TPFEnumProc*)TrainTrackFollower, &fd, NULL);
if (best_track != -1) {
if (best_bird_dist != 0) {
if (fd.best_bird_dist != 0) {
/* neither reached the destination, pick the one with the smallest bird dist */
if (fd.best_bird_dist > best_bird_dist) goto bad;
if (fd.best_bird_dist < best_bird_dist) goto good;
} else {
/* we found the destination for the first time */
goto good;
}
} else {
if (fd.best_bird_dist != 0) {
/* didn't find destination, but we've found the destination previously */
goto bad;
} else {
/* both old & new reached the destination, compare track length */
if (fd.best_track_dist > best_track_dist) goto bad;
if (fd.best_track_dist < best_track_dist) goto good;
}
}
/* if we reach this position, there's two paths of equal value so far.
* pick one randomly. */
r = (byte)Random();
if (_pick_track_table[i] == (v->direction & 3)) r += 80;
if (_pick_track_table[best_track] == (v->direction & 3)) r -= 80;
if (r <= 127) goto bad;
}
good:;
best_track = i;
best_bird_dist = fd.best_bird_dist;
best_track_dist = fd.best_track_dist;
reverse_best = reverse;
best_track = i;
best_bird_dist = fd.best_bird_dist;
best_track_dist = fd.best_track_dist;
reverse_best = reverse;
bad:;
if (reverse != 0)
break;
reverse = 2;
if (reverse != 0)
break;
reverse = 2;
}
}
return reverse_best != 0;
@@ -2331,7 +2395,7 @@ static void TrainController(Vehicle *v)
Vehicle *prev = NULL;
GetNewVehiclePosResult gp;
uint32 r, tracks,ts;
int dir, i;
int i, enterdir, newdir, dir;
byte chosen_dir;
byte chosen_track;
byte old_z;
@@ -2355,8 +2419,10 @@ static void TrainController(Vehicle *v)
return;
r = VehicleEnterTile(v, gp.new_tile, gp.x, gp.y);
if (r & 0x8)
if (r & 0x8) {
//debug("%x & 0x8", r);
goto invalid_rail;
}
if (r & 0x2) {
TrainEnterStation(v, r >> 8);
return;
@@ -2371,30 +2437,43 @@ static void TrainController(Vehicle *v)
} else {
/* A new tile is about to be entered. */
byte bits;
/* Determine what direction we're entering the new tile from */
dir = GetNewVehicleDirectionByTile(gp.new_tile, gp.old_tile);
assert(dir==1 || dir==3 || dir==5 || dir==7);
enterdir = dir >> 1;
assert(enterdir==0 || enterdir==1 || enterdir==2 || enterdir==3);
/* Get the status of the tracks in the new tile and mask
* away the bits that aren't reachable. */
ts = GetTileTrackStatus(gp.new_tile, TRANSPORT_RAIL) & _reachable_tracks[dir >> 1];
ts = GetTileTrackStatus(gp.new_tile, TRANSPORT_RAIL) & _reachable_tracks[enterdir];
/* Combine the from & to directions.
* Now, the lower byte contains the track status, and the byte at bit 16 contains
* the signal status. */
tracks = ts|(ts >> 8);
if ( (byte) tracks == 0)
bits = tracks & 0xFF;
if (_patches.new_pathfinding_all && _patches.forbid_90_deg && prev == NULL)
/* We allow wagons to make 90 deg turns, because forbid_90_deg
* can be switched on halfway a turn */
bits &= ~_track_crosses_tracks[FIND_FIRST_BIT(v->u.rail.track)];
if ( bits == 0) {
//debug("%x == 0", bits);
goto invalid_rail;
}
/* Check if the new tile contrains tracks that are compatible
* with the current train, if not, bail out. */
if (!CheckCompatibleRail(v, gp.new_tile))
if (!CheckCompatibleRail(v, gp.new_tile)) {
//debug("!CheckCompatibleRail(%p, %x)", v, gp.new_tile);
goto invalid_rail;
}
if (prev == NULL) {
/* Currently the locomotive is active. Determine which one of the
* available tracks to choose */
chosen_track = 1 << ChooseTrainTrack(v, gp.new_tile, dir>>1, (byte)tracks);
chosen_track = 1 << ChooseTrainTrack(v, gp.new_tile, enterdir, bits);
assert(chosen_track & tracks);
/* Check if it's a red signal and that force proceed is not clicked. */
if ( (tracks>>16)&chosen_track && v->u.rail.force_proceed == 0) goto red_light;
@@ -2402,7 +2481,7 @@ static void TrainController(Vehicle *v)
static byte _matching_tracks[8] = {0x30, 1, 0xC, 2, 0x30, 1, 0xC, 2};
/* The wagon is active, simply follow the prev vehicle. */
chosen_track = (byte)(_matching_tracks[GetDirectionToVehicle(prev, gp.x, gp.y)] & tracks);
chosen_track = (byte)(_matching_tracks[GetDirectionToVehicle(prev, gp.x, gp.y)] & bits);
}
/* make sure chosen track is a valid track */
@@ -2410,7 +2489,7 @@ static void TrainController(Vehicle *v)
/* Update XY to reflect the entrance to the new tile, and select the direction to use */
{
const byte *b = _initial_tile_subcoord[FIND_FIRST_BIT(chosen_track)][dir>>1];
const byte *b = _initial_tile_subcoord[FIND_FIRST_BIT(chosen_track)][enterdir];
gp.x = (gp.x & ~0xF) | b[0];
gp.y = (gp.y & ~0xF) | b[1];
chosen_dir = b[2];
@@ -2418,8 +2497,10 @@ static void TrainController(Vehicle *v)
/* Call the landscape function and tell it that the vehicle entered the tile */
r = VehicleEnterTile(v, gp.new_tile, gp.x, gp.y);
if (r&0x8)
if (r&0x8){
//debug("%x & 0x8", r);
goto invalid_rail;
}
if (v->subtype == TS_Front_Engine) v->load_unload_time_rem = 0;
@@ -2429,12 +2510,12 @@ static void TrainController(Vehicle *v)
}
if (v->subtype == TS_Front_Engine)
TrainMovedChangeSignals(gp.new_tile, dir>>1);
TrainMovedChangeSignals(gp.new_tile, enterdir);
/* Signals can only change when the first
* (above) or the last vehicle moves. */
if (v->next == NULL)
TrainMovedChangeSignals(gp.old_tile, (dir>>1) ^ 2);
TrainMovedChangeSignals(gp.old_tile, (enterdir) ^ 2);
if (prev == NULL) {
AffectSpeedByDirChange(v, chosen_dir);
@@ -2462,9 +2543,9 @@ static void TrainController(Vehicle *v)
common:;
/* update image of train, as well as delta XY */
dir = GetNewVehicleDirection(v, gp.x, gp.y);
UpdateTrainDeltaXY(v, dir);
v->cur_image = GetTrainImage(v, dir);
newdir = GetNewVehicleDirection(v, gp.x, gp.y);
UpdateTrainDeltaXY(v, newdir);
v->cur_image = GetTrainImage(v, newdir);
v->x_pos = gp.x;
v->y_pos = gp.y;
@@ -2498,18 +2579,18 @@ red_light: {
* FIND_FIRST_BIT only handles 6 bits at a time. */
i = FindFirstBit2x64(ts);
if (!(_map3_lo[gp.new_tile] & _signal_otherdir[i])) {
if (!(_map3_lo[gp.new_tile] & _signal_against_trackdir[i])) {
v->cur_speed = 0;
v->subspeed = 0;
v->progress = 255-100;
if (++v->load_unload_time_rem < _patches.wait_oneway_signal * 20)
return;
} else if (_map3_lo[gp.new_tile] & _signal_onedir[i]){
} else if (_map3_lo[gp.new_tile] & _signal_along_trackdir[i]){
v->cur_speed = 0;
v->subspeed = 0;
v->progress = 255-10;
if (++v->load_unload_time_rem < _patches.wait_twoway_signal * 73) {
uint o_tile = gp.new_tile + TileOffsByDir(dir >> 1);
uint o_tile = gp.new_tile + TileOffsByDir(enterdir);
/* check if a train is waiting on the other side */
if (VehicleFromPos(o_tile, (void*)( (o_tile<<8) | (dir^4)), (VehicleFromPosProc*)CheckVehicleAtSignal) == NULL)
return;