1 /*
2 * This file is part of OpenTTD.
3 * 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.
4 * 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.
5 * 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/>.
6 */
7
8 /** @file npf.cpp Implementation of the NPF pathfinder. */
9
10 #include "../../stdafx.h"
11 #include "../../debug.h"
12 #include "../../network/network.h"
13 #include "../../viewport_func.h"
14 #include "../../ship.h"
15 #include "../../roadstop_base.h"
16 #include "../../vehicle_func.h"
17 #include "../pathfinder_func.h"
18 #include "../pathfinder_type.h"
19 #include "../follow_track.hpp"
20 #include "aystar.h"
21
22 #include "../../safeguards.h"
23
24 static const uint NPF_HASH_BITS = 12; ///< The size of the hash used in pathfinding. Just changing this value should be sufficient to change the hash size. Should be an even value.
25 /* Do no change below values */
26 static const uint NPF_HASH_SIZE = 1 << NPF_HASH_BITS;
27 static const uint NPF_HASH_HALFBITS = NPF_HASH_BITS / 2;
28 static const uint NPF_HASH_HALFMASK = (1 << NPF_HASH_HALFBITS) - 1;
29
30 /** Meant to be stored in AyStar.targetdata */
31 struct NPFFindStationOrTileData {
32 TileIndex dest_coords; ///< An indication of where the station is, for heuristic purposes, or the target tile
33 StationID station_index; ///< station index we're heading for, or INVALID_STATION when we're heading for a tile
34 bool reserve_path; ///< Indicates whether the found path should be reserved
35 StationType station_type; ///< The type of station we're heading for
36 bool not_articulated; ///< The (road) vehicle is not articulated
37 const Vehicle *v; ///< The vehicle we are pathfinding for
38 };
39
40 /** Indices into AyStar.userdata[] */
41 struct AyStarUserData {
42 Owner owner;
43 TransportType type;
44 RailTypes railtypes;
45 RoadTypes roadtypes;
46 uint subtype;
47 };
48
49 /** Indices into AyStarNode.userdata[] */
50 enum AyStarNodeUserDataType {
51 NPF_TRACKDIR_CHOICE = 0, ///< The trackdir chosen to get here
52 NPF_NODE_FLAGS,
53 };
54
55 /** Flags for AyStarNode.userdata[NPF_NODE_FLAGS]. Use NPFSetFlag() and NPFGetFlag() to use them. */
56 enum NPFNodeFlag {
57 NPF_FLAG_SEEN_SIGNAL, ///< Used to mark that a signal was seen on the way, for rail only
58 NPF_FLAG_2ND_SIGNAL, ///< Used to mark that two signals were seen, rail only
59 NPF_FLAG_3RD_SIGNAL, ///< Used to mark that three signals were seen, rail only
60 NPF_FLAG_REVERSE, ///< Used to mark that this node was reached from the second start node, if applicable
61 NPF_FLAG_LAST_SIGNAL_RED, ///< Used to mark that the last signal on this path was red
62 NPF_FLAG_LAST_SIGNAL_BLOCK, ///< Used to mark that the last signal on this path was a block signal
63 NPF_FLAG_IGNORE_START_TILE, ///< Used to mark that the start tile is invalid, and searching should start from the second tile on
64 NPF_FLAG_TARGET_RESERVED, ///< Used to mark that the possible reservation target is already reserved
65 NPF_FLAG_IGNORE_RESERVED, ///< Used to mark that reserved tiles should be considered impassable
66 };
67
68 /** Meant to be stored in AyStar.userpath */
69 struct NPFFoundTargetData {
70 uint best_bird_dist; ///< The best heuristic found. Is 0 if the target was found
71 uint best_path_dist; ///< The shortest path. Is UINT_MAX if no path is found
72 Trackdir best_trackdir; ///< The trackdir that leads to the shortest path/closest birds dist
73 AyStarNode node; ///< The node within the target the search led us to
74 bool res_okay; ///< True if a path reservation could be made
75 };
76
77 static AyStar _npf_aystar;
78
79 /* The cost of each trackdir. A diagonal piece is the full NPF_TILE_LENGTH,
80 * the shorter piece is sqrt(2)/2*NPF_TILE_LENGTH =~ 0.7071
81 */
82 #define NPF_STRAIGHT_LENGTH (uint)(NPF_TILE_LENGTH * STRAIGHT_TRACK_LENGTH)
83 static const uint _trackdir_length[TRACKDIR_END] = {
84 NPF_TILE_LENGTH, NPF_TILE_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH,
85 0, 0,
86 NPF_TILE_LENGTH, NPF_TILE_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH, NPF_STRAIGHT_LENGTH
87 };
88
89 /**
90 * Returns the current value of the given flag on the given AyStarNode.
91 */
NPFGetFlag(const AyStarNode * node,NPFNodeFlag flag)92 static inline bool NPFGetFlag(const AyStarNode *node, NPFNodeFlag flag)
93 {
94 return HasBit(node->user_data[NPF_NODE_FLAGS], flag);
95 }
96
97 /**
98 * Sets the given flag on the given AyStarNode to the given value.
99 */
NPFSetFlag(AyStarNode * node,NPFNodeFlag flag,bool value)100 static inline void NPFSetFlag(AyStarNode *node, NPFNodeFlag flag, bool value)
101 {
102 SB(node->user_data[NPF_NODE_FLAGS], flag, 1, value);
103 }
104
CheckIgnoreFirstTile(const PathNode * node)105 bool CheckIgnoreFirstTile(const PathNode *node)
106 {
107 return (node->parent == nullptr && HasBit(node->node.user_data[NPF_NODE_FLAGS], NPF_FLAG_IGNORE_START_TILE));
108 }
109
110 /**
111 * Calculates the minimum distance travelled to get from t0 to t1 when only
112 * using tracks (ie, only making 45 degree turns). Returns the distance in the
113 * NPF scale, ie the number of full tiles multiplied by NPF_TILE_LENGTH to
114 * prevent rounding.
115 */
NPFDistanceTrack(TileIndex t0,TileIndex t1)116 static uint NPFDistanceTrack(TileIndex t0, TileIndex t1)
117 {
118 const uint dx = Delta(TileX(t0), TileX(t1));
119 const uint dy = Delta(TileY(t0), TileY(t1));
120
121 const uint straightTracks = 2 * std::min(dx, dy); // The number of straight (not full length) tracks
122 /* OPTIMISATION:
123 * Original: diagTracks = max(dx, dy) - min(dx,dy);
124 * Proof:
125 * (dx+dy) - straightTracks == (min + max) - straightTracks = min + max - 2 * min = max - min */
126 const uint diagTracks = dx + dy - straightTracks; // The number of diagonal (full tile length) tracks.
127
128 /* Don't factor out NPF_TILE_LENGTH below, this will round values and lose
129 * precision */
130 return diagTracks * NPF_TILE_LENGTH + straightTracks * NPF_TILE_LENGTH * STRAIGHT_TRACK_LENGTH;
131 }
132
133 /**
134 * Calculates a hash value for use in the NPF.
135 * @param key1 The TileIndex of the tile to hash
136 * @param key2 The Trackdir of the track on the tile.
137 *
138 * @todo Think of a better hash.
139 */
NPFHash(uint key1,uint key2)140 static uint NPFHash(uint key1, uint key2)
141 {
142 /* TODO: think of a better hash? */
143 uint part1 = TileX(key1) & NPF_HASH_HALFMASK;
144 uint part2 = TileY(key1) & NPF_HASH_HALFMASK;
145
146 assert(IsValidTrackdir((Trackdir)key2));
147 assert(IsValidTile(key1));
148 return ((part1 << NPF_HASH_HALFBITS | part2) + (NPF_HASH_SIZE * key2 / TRACKDIR_END)) % NPF_HASH_SIZE;
149 }
150
NPFCalcZero(AyStar * as,AyStarNode * current,OpenListNode * parent)151 static int32 NPFCalcZero(AyStar *as, AyStarNode *current, OpenListNode *parent)
152 {
153 return 0;
154 }
155
156 /* Calculates the heuristic to the target station or tile. For train stations, it
157 * takes into account the direction of approach.
158 */
NPFCalcStationOrTileHeuristic(AyStar * as,AyStarNode * current,OpenListNode * parent)159 static int32 NPFCalcStationOrTileHeuristic(AyStar *as, AyStarNode *current, OpenListNode *parent)
160 {
161 NPFFindStationOrTileData *fstd = (NPFFindStationOrTileData*)as->user_target;
162 NPFFoundTargetData *ftd = (NPFFoundTargetData*)as->user_path;
163 TileIndex from = current->tile;
164 TileIndex to = fstd->dest_coords;
165 uint dist;
166 AyStarUserData *user = (AyStarUserData *)as->user_data;
167
168 /* aim for the closest station tile */
169 if (fstd->station_index != INVALID_STATION) {
170 to = CalcClosestStationTile(fstd->station_index, from, fstd->station_type);
171 }
172
173 if (user->type == TRANSPORT_ROAD) {
174 /* Since roads only have diagonal pieces, we use manhattan distance here */
175 dist = DistanceManhattan(from, to) * NPF_TILE_LENGTH;
176 } else {
177 /* Ships and trains can also go diagonal, so the minimum distance is shorter */
178 dist = NPFDistanceTrack(from, to);
179 }
180
181 Debug(npf, 4, "Calculating H for: ({}, {}). Result: {}", TileX(current->tile), TileY(current->tile), dist);
182
183 if (dist < ftd->best_bird_dist) {
184 ftd->best_bird_dist = dist;
185 ftd->best_trackdir = (Trackdir)current->user_data[NPF_TRACKDIR_CHOICE];
186 }
187 return dist;
188 }
189
190
191 /* Fills AyStarNode.user_data[NPF_TRACKDIRCHOICE] with the chosen direction to
192 * get here, either getting it from the current choice or from the parent's
193 * choice */
NPFFillTrackdirChoice(AyStarNode * current,OpenListNode * parent)194 static void NPFFillTrackdirChoice(AyStarNode *current, OpenListNode *parent)
195 {
196 if (parent->path.parent == nullptr) {
197 Trackdir trackdir = current->direction;
198 /* This is a first order decision, so we'd better save the
199 * direction we chose */
200 current->user_data[NPF_TRACKDIR_CHOICE] = trackdir;
201 Debug(npf, 6, "Saving trackdir: 0x{:X}", trackdir);
202 } else {
203 /* We've already made the decision, so just save our parent's decision */
204 current->user_data[NPF_TRACKDIR_CHOICE] = parent->path.node.user_data[NPF_TRACKDIR_CHOICE];
205 }
206 }
207
208 /* Will return the cost of the tunnel. If it is an entry, it will return the
209 * cost of that tile. If the tile is an exit, it will return the tunnel length
210 * including the exit tile. Requires that this is a Tunnel tile */
NPFTunnelCost(AyStarNode * current)211 static uint NPFTunnelCost(AyStarNode *current)
212 {
213 DiagDirection exitdir = TrackdirToExitdir(current->direction);
214 TileIndex tile = current->tile;
215 if (GetTunnelBridgeDirection(tile) == ReverseDiagDir(exitdir)) {
216 /* We just popped out if this tunnel, since were
217 * facing the tunnel exit */
218 return NPF_TILE_LENGTH * (GetTunnelBridgeLength(current->tile, GetOtherTunnelEnd(current->tile)) + 1);
219 /* @todo: Penalty for tunnels? */
220 } else {
221 /* We are entering the tunnel, the enter tile is just a
222 * straight track */
223 return NPF_TILE_LENGTH;
224 }
225 }
226
NPFBridgeCost(AyStarNode * current)227 static inline uint NPFBridgeCost(AyStarNode *current)
228 {
229 return NPF_TILE_LENGTH * GetTunnelBridgeLength(current->tile, GetOtherBridgeEnd(current->tile));
230 }
231
NPFSlopeCost(AyStarNode * current)232 static uint NPFSlopeCost(AyStarNode *current)
233 {
234 TileIndex next = current->tile + TileOffsByDiagDir(TrackdirToExitdir(current->direction));
235
236 /* Get center of tiles */
237 int x1 = TileX(current->tile) * TILE_SIZE + TILE_SIZE / 2;
238 int y1 = TileY(current->tile) * TILE_SIZE + TILE_SIZE / 2;
239 int x2 = TileX(next) * TILE_SIZE + TILE_SIZE / 2;
240 int y2 = TileY(next) * TILE_SIZE + TILE_SIZE / 2;
241
242 int dx4 = (x2 - x1) / 4;
243 int dy4 = (y2 - y1) / 4;
244
245 /* Get the height on both sides of the tile edge.
246 * Avoid testing the height on the tile-center. This will fail for halftile-foundations.
247 */
248 int z1 = GetSlopePixelZ(x1 + dx4, y1 + dy4);
249 int z2 = GetSlopePixelZ(x2 - dx4, y2 - dy4);
250
251 if (z2 - z1 > 1) {
252 /* Slope up */
253 return _settings_game.pf.npf.npf_rail_slope_penalty;
254 }
255 return 0;
256 /* Should we give a bonus for slope down? Probably not, we
257 * could just subtract that bonus from the penalty, because
258 * there is only one level of steepness... */
259 }
260
NPFReservedTrackCost(AyStarNode * current)261 static uint NPFReservedTrackCost(AyStarNode *current)
262 {
263 TileIndex tile = current->tile;
264 TrackBits track = TrackToTrackBits(TrackdirToTrack(current->direction));
265 TrackBits res = GetReservedTrackbits(tile);
266
267 if (NPFGetFlag(current, NPF_FLAG_3RD_SIGNAL) || NPFGetFlag(current, NPF_FLAG_LAST_SIGNAL_BLOCK) || ((res & track) == TRACK_BIT_NONE && !TracksOverlap(res | track))) return 0;
268
269 if (IsTileType(tile, MP_TUNNELBRIDGE)) {
270 DiagDirection exitdir = TrackdirToExitdir(current->direction);
271 if (GetTunnelBridgeDirection(tile) == ReverseDiagDir(exitdir)) {
272 return _settings_game.pf.npf.npf_rail_pbs_cross_penalty * (GetTunnelBridgeLength(tile, GetOtherTunnelBridgeEnd(tile)) + 1);
273 }
274 }
275 return _settings_game.pf.npf.npf_rail_pbs_cross_penalty;
276 }
277
278 /**
279 * Mark tiles by mowing the grass when npf debug level >= 1.
280 * Will not work for multiplayer games, since it can (will) cause desyncs.
281 */
NPFMarkTile(TileIndex tile)282 static void NPFMarkTile(TileIndex tile)
283 {
284 if (_debug_npf_level < 1 || _networking) return;
285 switch (GetTileType(tile)) {
286 case MP_RAILWAY:
287 /* DEBUG: mark visited tiles by mowing the grass under them ;-) */
288 if (!IsRailDepot(tile)) {
289 SetRailGroundType(tile, RAIL_GROUND_BARREN);
290 MarkTileDirtyByTile(tile);
291 }
292 break;
293
294 case MP_ROAD:
295 if (!IsRoadDepot(tile)) {
296 SetRoadside(tile, ROADSIDE_BARREN);
297 MarkTileDirtyByTile(tile);
298 }
299 break;
300
301 default:
302 break;
303 }
304 }
305
CountShipProc(Vehicle * v,void * data)306 static Vehicle *CountShipProc(Vehicle *v, void *data)
307 {
308 uint *count = (uint *)data;
309 /* Ignore other vehicles (aircraft) and ships inside depot. */
310 if (v->type == VEH_SHIP && (v->vehstatus & VS_HIDDEN) == 0) (*count)++;
311
312 return nullptr;
313 }
314
NPFWaterPathCost(AyStar * as,AyStarNode * current,OpenListNode * parent)315 static int32 NPFWaterPathCost(AyStar *as, AyStarNode *current, OpenListNode *parent)
316 {
317 /* TileIndex tile = current->tile; */
318 int32 cost = 0;
319 Trackdir trackdir = current->direction;
320
321 cost = _trackdir_length[trackdir]; // Should be different for diagonal tracks
322
323 if (IsBuoyTile(current->tile) && IsDiagonalTrackdir(trackdir)) {
324 cost += _settings_game.pf.npf.npf_buoy_penalty; // A small penalty for going over buoys
325 }
326
327 if (current->direction != NextTrackdir((Trackdir)parent->path.node.direction)) {
328 cost += _settings_game.pf.npf.npf_water_curve_penalty;
329 }
330
331 if (IsDockingTile(current->tile)) {
332 /* Check docking tile for occupancy */
333 uint count = 0;
334 HasVehicleOnPos(current->tile, &count, &CountShipProc);
335 cost += count * 3 * _trackdir_length[trackdir];
336 }
337
338 /* @todo More penalties? */
339
340 return cost;
341 }
342
343 /* Determine the cost of this node, for road tracks */
NPFRoadPathCost(AyStar * as,AyStarNode * current,OpenListNode * parent)344 static int32 NPFRoadPathCost(AyStar *as, AyStarNode *current, OpenListNode *parent)
345 {
346 TileIndex tile = current->tile;
347 int32 cost = 0;
348
349 /* Determine base length */
350 switch (GetTileType(tile)) {
351 case MP_TUNNELBRIDGE:
352 cost = IsTunnel(tile) ? NPFTunnelCost(current) : NPFBridgeCost(current);
353 break;
354
355 case MP_ROAD:
356 cost = NPF_TILE_LENGTH;
357 /* Increase the cost for level crossings */
358 if (IsLevelCrossing(tile)) cost += _settings_game.pf.npf.npf_crossing_penalty;
359 break;
360
361 case MP_STATION: {
362 cost = NPF_TILE_LENGTH;
363 const RoadStop *rs = RoadStop::GetByTile(tile, GetRoadStopType(tile));
364 if (IsDriveThroughStopTile(tile)) {
365 /* Increase the cost for drive-through road stops */
366 cost += _settings_game.pf.npf.npf_road_drive_through_penalty;
367 DiagDirection dir = TrackdirToExitdir(current->direction);
368 if (!RoadStop::IsDriveThroughRoadStopContinuation(tile, tile - TileOffsByDiagDir(dir))) {
369 /* When we're the first road stop in a 'queue' of them we increase
370 * cost based on the fill percentage of the whole queue. */
371 const RoadStop::Entry *entry = rs->GetEntry(dir);
372 cost += entry->GetOccupied() * _settings_game.pf.npf.npf_road_dt_occupied_penalty / entry->GetLength();
373 }
374 } else {
375 /* Increase cost for filled road stops */
376 cost += _settings_game.pf.npf.npf_road_bay_occupied_penalty * (!rs->IsFreeBay(0) + !rs->IsFreeBay(1)) / 2;
377 }
378 break;
379 }
380
381 default:
382 break;
383 }
384
385 /* Determine extra costs */
386
387 /* Check for slope */
388 cost += NPFSlopeCost(current);
389
390 /* Check for turns. Road vehicles only really drive diagonal, turns are
391 * represented by non-diagonal tracks */
392 if (!IsDiagonalTrackdir(current->direction)) {
393 cost += _settings_game.pf.npf.npf_road_curve_penalty;
394 }
395
396 NPFMarkTile(tile);
397 Debug(npf, 4, "Calculating G for: ({}, {}). Result: {}", TileX(current->tile), TileY(current->tile), cost);
398 return cost;
399 }
400
401
402 /* Determine the cost of this node, for railway tracks */
NPFRailPathCost(AyStar * as,AyStarNode * current,OpenListNode * parent)403 static int32 NPFRailPathCost(AyStar *as, AyStarNode *current, OpenListNode *parent)
404 {
405 TileIndex tile = current->tile;
406 Trackdir trackdir = current->direction;
407 int32 cost = 0;
408 /* HACK: We create a OpenListNode manually, so we can call EndNodeCheck */
409 OpenListNode new_node;
410
411 /* Determine base length */
412 switch (GetTileType(tile)) {
413 case MP_TUNNELBRIDGE:
414 cost = IsTunnel(tile) ? NPFTunnelCost(current) : NPFBridgeCost(current);
415 break;
416
417 case MP_RAILWAY:
418 cost = _trackdir_length[trackdir]; // Should be different for diagonal tracks
419 break;
420
421 case MP_ROAD: // Railway crossing
422 cost = NPF_TILE_LENGTH;
423 break;
424
425 case MP_STATION:
426 /* We give a station tile a penalty. Logically we would only want to give
427 * station tiles that are not our destination this penalty. This would
428 * discourage trains to drive through busy stations. But, we can just
429 * give any station tile a penalty, because every possible route will get
430 * this penalty exactly once, on its end tile (if it's a station) and it
431 * will therefore not make a difference. */
432 cost = NPF_TILE_LENGTH + _settings_game.pf.npf.npf_rail_station_penalty;
433
434 if (IsRailWaypoint(tile)) {
435 NPFFindStationOrTileData *fstd = (NPFFindStationOrTileData*)as->user_target;
436 if (fstd->v->current_order.IsType(OT_GOTO_WAYPOINT) && GetStationIndex(tile) == fstd->v->current_order.GetDestination()) {
437 /* This waypoint is our destination; maybe this isn't an unreserved
438 * one, so check that and if so see that as the last signal being
439 * red. This way waypoints near stations should work better. */
440 const Train *train = Train::From(fstd->v);
441 CFollowTrackRail ft(train);
442 TileIndex t = tile;
443 Trackdir td = trackdir;
444 while (ft.Follow(t, td)) {
445 assert(t != ft.m_new_tile);
446 t = ft.m_new_tile;
447 if (KillFirstBit(ft.m_new_td_bits) != TRACKDIR_BIT_NONE) {
448 /* We encountered a junction; it's going to be too complex to
449 * handle this perfectly, so just bail out. There is no simple
450 * free path, so try the other possibilities. */
451 td = INVALID_TRACKDIR;
452 break;
453 }
454 td = RemoveFirstTrackdir(&ft.m_new_td_bits);
455 /* If this is a safe waiting position we're done searching for it */
456 if (IsSafeWaitingPosition(train, t, td, true, _settings_game.pf.forbid_90_deg)) break;
457 }
458 if (td == INVALID_TRACKDIR ||
459 !IsSafeWaitingPosition(train, t, td, true, _settings_game.pf.forbid_90_deg) ||
460 !IsWaitingPositionFree(train, t, td, _settings_game.pf.forbid_90_deg)) {
461 cost += _settings_game.pf.npf.npf_rail_lastred_penalty;
462 }
463 }
464 }
465 break;
466
467 default:
468 break;
469 }
470
471 /* Determine extra costs */
472
473 /* Check for signals */
474 if (IsTileType(tile, MP_RAILWAY)) {
475 if (HasSignalOnTrackdir(tile, trackdir)) {
476 SignalType sigtype = GetSignalType(tile, TrackdirToTrack(trackdir));
477 /* Ordinary track with signals */
478 if (GetSignalStateByTrackdir(tile, trackdir) == SIGNAL_STATE_RED) {
479 /* Signal facing us is red */
480 if (!NPFGetFlag(current, NPF_FLAG_SEEN_SIGNAL)) {
481 /* Penalize the first signal we
482 * encounter, if it is red */
483
484 /* Is this a presignal exit or combo? */
485 if (!IsPbsSignal(sigtype)) {
486 if (sigtype == SIGTYPE_EXIT || sigtype == SIGTYPE_COMBO) {
487 /* Penalise exit and combo signals differently (heavier) */
488 cost += _settings_game.pf.npf.npf_rail_firstred_exit_penalty;
489 } else {
490 cost += _settings_game.pf.npf.npf_rail_firstred_penalty;
491 }
492 }
493 }
494 /* Record the state of this signal. Path signals are assumed to
495 * be green as the signal state of them has no meaning for this. */
496 NPFSetFlag(current, NPF_FLAG_LAST_SIGNAL_RED, !IsPbsSignal(sigtype));
497 } else {
498 /* Record the state of this signal */
499 NPFSetFlag(current, NPF_FLAG_LAST_SIGNAL_RED, false);
500 }
501 if (NPFGetFlag(current, NPF_FLAG_SEEN_SIGNAL)) {
502 if (NPFGetFlag(current, NPF_FLAG_2ND_SIGNAL)) {
503 NPFSetFlag(current, NPF_FLAG_3RD_SIGNAL, true);
504 } else {
505 NPFSetFlag(current, NPF_FLAG_2ND_SIGNAL, true);
506 }
507 } else {
508 NPFSetFlag(current, NPF_FLAG_SEEN_SIGNAL, true);
509 }
510 NPFSetFlag(current, NPF_FLAG_LAST_SIGNAL_BLOCK, !IsPbsSignal(sigtype));
511 }
512
513 if (HasPbsSignalOnTrackdir(tile, ReverseTrackdir(trackdir)) && !NPFGetFlag(current, NPF_FLAG_3RD_SIGNAL)) {
514 cost += _settings_game.pf.npf.npf_rail_pbs_signal_back_penalty;
515 }
516 }
517
518 /* Penalise the tile if it is a target tile and the last signal was
519 * red */
520 /* HACK: We create a new_node here so we can call EndNodeCheck. Ugly as hell
521 * of course... */
522 new_node.path.node = *current;
523 if (as->EndNodeCheck(as, &new_node) == AYSTAR_FOUND_END_NODE && NPFGetFlag(current, NPF_FLAG_LAST_SIGNAL_RED)) {
524 cost += _settings_game.pf.npf.npf_rail_lastred_penalty;
525 }
526
527 /* Check for slope */
528 cost += NPFSlopeCost(current);
529
530 /* Check for turns */
531 if (current->direction != NextTrackdir((Trackdir)parent->path.node.direction)) {
532 cost += _settings_game.pf.npf.npf_rail_curve_penalty;
533 }
534 /* TODO, with realistic acceleration, also the amount of straight track between
535 * curves should be taken into account, as this affects the speed limit. */
536
537 /* Check for reverse in depot */
538 if (IsRailDepotTile(tile) && as->EndNodeCheck(as, &new_node) != AYSTAR_FOUND_END_NODE) {
539 /* Penalise any depot tile that is not the last tile in the path. This
540 * _should_ penalise every occurrence of reversing in a depot (and only
541 * that) */
542 cost += _settings_game.pf.npf.npf_rail_depot_reverse_penalty;
543 }
544
545 /* Check for occupied track */
546 cost += NPFReservedTrackCost(current);
547
548 NPFMarkTile(tile);
549 Debug(npf, 4, "Calculating G for: ({}, {}). Result: {}", TileX(current->tile), TileY(current->tile), cost);
550 return cost;
551 }
552
553 /* Will find any depot */
NPFFindDepot(const AyStar * as,const OpenListNode * current)554 static int32 NPFFindDepot(const AyStar *as, const OpenListNode *current)
555 {
556 AyStarUserData *user = (AyStarUserData *)as->user_data;
557 /* It's not worth caching the result with NPF_FLAG_IS_TARGET here as below,
558 * since checking the cache not that much faster than the actual check */
559 return IsDepotTypeTile(current->path.node.tile, user->type) ?
560 AYSTAR_FOUND_END_NODE : AYSTAR_DONE;
561 }
562
563 /** Find any safe and free tile. */
NPFFindSafeTile(const AyStar * as,const OpenListNode * current)564 static int32 NPFFindSafeTile(const AyStar *as, const OpenListNode *current)
565 {
566 const Train *v = Train::From(((NPFFindStationOrTileData *)as->user_target)->v);
567
568 return (IsSafeWaitingPosition(v, current->path.node.tile, current->path.node.direction, true, _settings_game.pf.forbid_90_deg) &&
569 IsWaitingPositionFree(v, current->path.node.tile, current->path.node.direction, _settings_game.pf.forbid_90_deg)) ?
570 AYSTAR_FOUND_END_NODE : AYSTAR_DONE;
571 }
572
573 /* Will find a station identified using the NPFFindStationOrTileData */
NPFFindStationOrTile(const AyStar * as,const OpenListNode * current)574 static int32 NPFFindStationOrTile(const AyStar *as, const OpenListNode *current)
575 {
576 NPFFindStationOrTileData *fstd = (NPFFindStationOrTileData*)as->user_target;
577 const AyStarNode *node = ¤t->path.node;
578 TileIndex tile = node->tile;
579
580 if (fstd->station_index == INVALID_STATION && tile == fstd->dest_coords) return AYSTAR_FOUND_END_NODE;
581
582 if (fstd->v->type == VEH_SHIP) {
583 /* Ships do not actually reach the destination station, so we check for a docking tile instead. */
584 if (IsDockingTile(tile) && IsShipDestinationTile(tile, fstd->station_index)) return AYSTAR_FOUND_END_NODE;
585 return AYSTAR_DONE;
586 }
587
588 if (IsTileType(tile, MP_STATION) && GetStationIndex(tile) == fstd->station_index) {
589 if (fstd->v->type == VEH_TRAIN) return AYSTAR_FOUND_END_NODE;
590
591 assert(fstd->v->type == VEH_ROAD);
592 /* Only if it is a valid station *and* we can stop there */
593 if (GetStationType(tile) == fstd->station_type && (fstd->not_articulated || IsDriveThroughStopTile(tile))) return AYSTAR_FOUND_END_NODE;
594 }
595 return AYSTAR_DONE;
596 }
597
598 /**
599 * Find the node containing the first signal on the path.
600 *
601 * If the first signal is on the very first two tiles of the path,
602 * the second signal is returned. If no suitable signal is present, the
603 * last node of the path is returned.
604 */
FindSafePosition(PathNode * path,const Train * v)605 static const PathNode *FindSafePosition(PathNode *path, const Train *v)
606 {
607 /* If there is no signal, reserve the whole path. */
608 PathNode *sig = path;
609
610 for (; path->parent != nullptr; path = path->parent) {
611 if (IsSafeWaitingPosition(v, path->node.tile, path->node.direction, true, _settings_game.pf.forbid_90_deg)) {
612 sig = path;
613 }
614 }
615
616 return sig;
617 }
618
619 /**
620 * Lift the reservation of the tiles from @p start till @p end, excluding @p end itself.
621 */
ClearPathReservation(const PathNode * start,const PathNode * end)622 static void ClearPathReservation(const PathNode *start, const PathNode *end)
623 {
624 bool first_run = true;
625 for (; start != end; start = start->parent) {
626 if (IsRailStationTile(start->node.tile) && first_run) {
627 SetRailStationPlatformReservation(start->node.tile, TrackdirToExitdir(start->node.direction), false);
628 } else {
629 UnreserveRailTrack(start->node.tile, TrackdirToTrack(start->node.direction));
630 }
631 first_run = false;
632 }
633 }
634
635 /**
636 * To be called when @p current contains the (shortest route to) the target node.
637 * Will fill the contents of the NPFFoundTargetData using
638 * AyStarNode[NPF_TRACKDIR_CHOICE]. If requested, path reservation
639 * is done here.
640 */
NPFSaveTargetData(AyStar * as,OpenListNode * current)641 static void NPFSaveTargetData(AyStar *as, OpenListNode *current)
642 {
643 AyStarUserData *user = (AyStarUserData *)as->user_data;
644 NPFFoundTargetData *ftd = (NPFFoundTargetData*)as->user_path;
645 ftd->best_trackdir = (Trackdir)current->path.node.user_data[NPF_TRACKDIR_CHOICE];
646 ftd->best_path_dist = current->g;
647 ftd->best_bird_dist = 0;
648 ftd->node = current->path.node;
649 ftd->res_okay = false;
650
651 if (as->user_target != nullptr && ((NPFFindStationOrTileData*)as->user_target)->reserve_path && user->type == TRANSPORT_RAIL) {
652 /* Path reservation is requested. */
653 const Train *v = Train::From(((NPFFindStationOrTileData *)as->user_target)->v);
654
655 const PathNode *target = FindSafePosition(¤t->path, v);
656 ftd->node = target->node;
657
658 /* If the target is a station skip to platform end. */
659 if (IsRailStationTile(target->node.tile)) {
660 DiagDirection dir = TrackdirToExitdir(target->node.direction);
661 uint len = Station::GetByTile(target->node.tile)->GetPlatformLength(target->node.tile, dir);
662 TileIndex end_tile = TILE_ADD(target->node.tile, (len - 1) * TileOffsByDiagDir(dir));
663
664 /* Update only end tile, trackdir of a station stays the same. */
665 ftd->node.tile = end_tile;
666 if (!IsWaitingPositionFree(v, end_tile, target->node.direction, _settings_game.pf.forbid_90_deg)) return;
667 SetRailStationPlatformReservation(target->node.tile, dir, true);
668 SetRailStationReservation(target->node.tile, false);
669 } else {
670 if (!IsWaitingPositionFree(v, target->node.tile, target->node.direction, _settings_game.pf.forbid_90_deg)) return;
671 }
672
673 for (const PathNode *cur = target; cur->parent != nullptr; cur = cur->parent) {
674 if (!TryReserveRailTrack(cur->node.tile, TrackdirToTrack(cur->node.direction))) {
675 /* Reservation failed, undo. */
676 ClearPathReservation(target, cur);
677 return;
678 }
679 }
680
681 ftd->res_okay = true;
682 }
683 }
684
685 /**
686 * Finds out if a given company's vehicles are allowed to enter a given tile.
687 * @param owner The owner of the vehicle.
688 * @param tile The tile that is about to be entered.
689 * @param enterdir The direction in which the vehicle wants to enter the tile.
690 * @return true if the vehicle can enter the tile.
691 * @todo This function should be used in other places than just NPF,
692 * maybe moved to another file too.
693 */
CanEnterTileOwnerCheck(Owner owner,TileIndex tile,DiagDirection enterdir)694 static bool CanEnterTileOwnerCheck(Owner owner, TileIndex tile, DiagDirection enterdir)
695 {
696 if (IsTileType(tile, MP_RAILWAY) || // Rail tile (also rail depot)
697 HasStationTileRail(tile) || // Rail station tile/waypoint
698 IsRoadDepotTile(tile) || // Road depot tile
699 IsStandardRoadStopTile(tile)) { // Road station tile (but not drive-through stops)
700 return IsTileOwner(tile, owner); // You need to own these tiles entirely to use them
701 }
702
703 switch (GetTileType(tile)) {
704 case MP_ROAD:
705 /* rail-road crossing : are we looking at the railway part? */
706 if (IsLevelCrossing(tile) &&
707 DiagDirToAxis(enterdir) != GetCrossingRoadAxis(tile)) {
708 return IsTileOwner(tile, owner); // Railway needs owner check, while the street is public
709 }
710 break;
711
712 case MP_TUNNELBRIDGE:
713 if (GetTunnelBridgeTransportType(tile) == TRANSPORT_RAIL) {
714 return IsTileOwner(tile, owner);
715 }
716 break;
717
718 default:
719 break;
720 }
721
722 return true; // no need to check
723 }
724
725
726 /**
727 * Returns the direction the exit of the depot on the given tile is facing.
728 */
GetDepotDirection(TileIndex tile,TransportType type)729 static DiagDirection GetDepotDirection(TileIndex tile, TransportType type)
730 {
731 assert(IsDepotTypeTile(tile, type));
732
733 switch (type) {
734 case TRANSPORT_RAIL: return GetRailDepotDirection(tile);
735 case TRANSPORT_ROAD: return GetRoadDepotDirection(tile);
736 case TRANSPORT_WATER: return GetShipDepotDirection(tile);
737 default: return INVALID_DIAGDIR; // Not reached
738 }
739 }
740
741 /** Tests if a tile is a road tile with a single tramtrack (tram can reverse) */
GetSingleTramBit(TileIndex tile)742 static DiagDirection GetSingleTramBit(TileIndex tile)
743 {
744 if (IsNormalRoadTile(tile)) {
745 RoadBits rb = GetRoadBits(tile, RTT_TRAM);
746 switch (rb) {
747 case ROAD_NW: return DIAGDIR_NW;
748 case ROAD_SW: return DIAGDIR_SW;
749 case ROAD_SE: return DIAGDIR_SE;
750 case ROAD_NE: return DIAGDIR_NE;
751 default: break;
752 }
753 }
754 return INVALID_DIAGDIR;
755 }
756
757 /**
758 * Tests if a tile can be entered or left only from one side.
759 *
760 * Depots, non-drive-through roadstops, and tiles with single trambits are tested.
761 *
762 * @param tile The tile of interest.
763 * @param type The transporttype of the vehicle.
764 * @param subtype For TRANSPORT_ROAD the compatible RoadTypes of the vehicle.
765 * @return The single entry/exit-direction of the tile, or INVALID_DIAGDIR if there are more or less directions
766 */
GetTileSingleEntry(TileIndex tile,TransportType type,uint subtype)767 static DiagDirection GetTileSingleEntry(TileIndex tile, TransportType type, uint subtype)
768 {
769 if (type != TRANSPORT_WATER && IsDepotTypeTile(tile, type)) return GetDepotDirection(tile, type);
770
771 if (type == TRANSPORT_ROAD) {
772 if (IsStandardRoadStopTile(tile)) return GetRoadStopDir(tile);
773 if ((RoadTramType)subtype == RTT_TRAM) return GetSingleTramBit(tile);
774 }
775
776 return INVALID_DIAGDIR;
777 }
778
779 /**
780 * Tests if a vehicle must reverse on a tile.
781 *
782 * @param tile The tile of interest.
783 * @param dir The direction in which the vehicle drives on a tile.
784 * @param type The transporttype of the vehicle.
785 * @param subtype For TRANSPORT_ROAD the compatible RoadTypes of the vehicle.
786 * @return true iff the vehicle must reverse on the tile.
787 */
ForceReverse(TileIndex tile,DiagDirection dir,TransportType type,uint subtype)788 static inline bool ForceReverse(TileIndex tile, DiagDirection dir, TransportType type, uint subtype)
789 {
790 DiagDirection single_entry = GetTileSingleEntry(tile, type, subtype);
791 return single_entry != INVALID_DIAGDIR && single_entry != dir;
792 }
793
794 /**
795 * Tests if a vehicle can enter a tile.
796 *
797 * @param tile The tile of interest.
798 * @param dir The direction in which the vehicle drives onto a tile.
799 * @param user Vehicle information.
800 * @return true iff the vehicle can enter the tile.
801 */
CanEnterTile(TileIndex tile,DiagDirection dir,AyStarUserData * user)802 static bool CanEnterTile(TileIndex tile, DiagDirection dir, AyStarUserData *user)
803 {
804 /* Check tunnel entries and bridge ramps */
805 if (IsTileType(tile, MP_TUNNELBRIDGE) && GetTunnelBridgeDirection(tile) != dir) return false;
806
807 /* Test ownership */
808 if (!CanEnterTileOwnerCheck(user->owner, tile, dir)) return false;
809
810 /* check correct rail type (mono, maglev, etc) */
811 switch (user->type) {
812 case TRANSPORT_RAIL: {
813 RailType rail_type = GetTileRailType(tile);
814 if (!HasBit(user->railtypes, rail_type)) return false;
815 break;
816 }
817
818 case TRANSPORT_ROAD: {
819 RoadType road_type = GetRoadType(tile, (RoadTramType)user->subtype);
820 if (!HasBit(user->roadtypes, road_type)) return false;
821 break;
822 }
823
824 default: break;
825 }
826
827 /* Depots, standard roadstops and single tram bits can only be entered from one direction */
828 DiagDirection single_entry = GetTileSingleEntry(tile, user->type, user->subtype);
829 return single_entry == INVALID_DIAGDIR || single_entry == ReverseDiagDir(dir);
830 }
831
832 /**
833 * Returns the driveable Trackdirs on a tile.
834 *
835 * One-way-roads are taken into account. Signals are not tested.
836 *
837 * @param dst_tile The tile of interest.
838 * @param src_tile The originating tile.
839 * @param src_trackdir The direction the vehicle is currently moving.
840 * @param type The transporttype of the vehicle.
841 * @param subtype For TRANSPORT_ROAD the compatible RoadTypes of the vehicle.
842 * @return The Trackdirs the vehicle can continue moving on.
843 */
GetDriveableTrackdirBits(TileIndex dst_tile,TileIndex src_tile,Trackdir src_trackdir,TransportType type,uint subtype)844 static TrackdirBits GetDriveableTrackdirBits(TileIndex dst_tile, TileIndex src_tile, Trackdir src_trackdir, TransportType type, uint subtype)
845 {
846 TrackdirBits trackdirbits = TrackStatusToTrackdirBits(GetTileTrackStatus(dst_tile, type, subtype));
847
848 if (trackdirbits == TRACKDIR_BIT_NONE && type == TRANSPORT_ROAD && (RoadTramType)subtype == RTT_TRAM) {
849 /* GetTileTrackStatus() returns 0 for single tram bits.
850 * As we cannot change it there (easily) without breaking something, change it here */
851 switch (GetSingleTramBit(dst_tile)) {
852 case DIAGDIR_NE:
853 case DIAGDIR_SW:
854 trackdirbits = TRACKDIR_BIT_X_NE | TRACKDIR_BIT_X_SW;
855 break;
856
857 case DIAGDIR_NW:
858 case DIAGDIR_SE:
859 trackdirbits = TRACKDIR_BIT_Y_NW | TRACKDIR_BIT_Y_SE;
860 break;
861
862 default: break;
863 }
864 }
865
866 Debug(npf, 4, "Next node: ({}, {}) [{}], possible trackdirs: 0x{:X}", TileX(dst_tile), TileY(dst_tile), dst_tile, trackdirbits);
867
868 /* Select only trackdirs we can reach from our current trackdir */
869 trackdirbits &= TrackdirReachesTrackdirs(src_trackdir);
870
871 /* Filter out trackdirs that would make 90 deg turns for trains */
872 if (type == TRANSPORT_RAIL && Rail90DegTurnDisallowed(GetTileRailType(src_tile), GetTileRailType(dst_tile))) {
873 trackdirbits &= ~TrackdirCrossesTrackdirs(src_trackdir);
874 }
875
876 Debug(npf, 6, "After filtering: ({}, {}), possible trackdirs: 0x{:X}", TileX(dst_tile), TileY(dst_tile), trackdirbits);
877
878 return trackdirbits;
879 }
880
881
882 /* Will just follow the results of GetTileTrackStatus concerning where we can
883 * go and where not. Uses AyStar.user_data[NPF_TYPE] as the transport type and
884 * an argument to GetTileTrackStatus. Will skip tunnels, meaning that the
885 * entry and exit are neighbours. Will fill
886 * AyStarNode.user_data[NPF_TRACKDIR_CHOICE] with an appropriate value, and
887 * copy AyStarNode.user_data[NPF_NODE_FLAGS] from the parent */
NPFFollowTrack(AyStar * aystar,OpenListNode * current)888 static void NPFFollowTrack(AyStar *aystar, OpenListNode *current)
889 {
890 AyStarUserData *user = (AyStarUserData *)aystar->user_data;
891 /* We leave src_tile on track src_trackdir in direction src_exitdir */
892 Trackdir src_trackdir = current->path.node.direction;
893 TileIndex src_tile = current->path.node.tile;
894 DiagDirection src_exitdir = TrackdirToExitdir(src_trackdir);
895
896 /* Information about the vehicle: TransportType (road/rail/water) and SubType (compatible rail/road types) */
897 TransportType type = user->type;
898 uint subtype = user->subtype;
899
900 /* Initialize to 0, so we can jump out (return) somewhere an have no neighbours */
901 aystar->num_neighbours = 0;
902 Debug(npf, 4, "Expanding: ({}, {}, {}) [{}]", TileX(src_tile), TileY(src_tile), src_trackdir, src_tile);
903
904 /* We want to determine the tile we arrive, and which choices we have there */
905 TileIndex dst_tile;
906 TrackdirBits trackdirbits;
907
908 /* Find dest tile */
909 /* Is src_tile valid, and can be used?
910 * When choosing track on a junction src_tile is the tile neighboured to the junction wrt. exitdir.
911 * But we must not check the validity of this move, as src_tile is totally unrelated to the move, if a roadvehicle reversed on a junction. */
912 if (CheckIgnoreFirstTile(¤t->path)) {
913 /* Do not perform any checks that involve src_tile */
914 dst_tile = src_tile + TileOffsByDiagDir(src_exitdir);
915 trackdirbits = GetDriveableTrackdirBits(dst_tile, src_tile, src_trackdir, type, subtype);
916 } else if (IsTileType(src_tile, MP_TUNNELBRIDGE) && GetTunnelBridgeDirection(src_tile) == src_exitdir) {
917 /* We drive through the wormhole and arrive on the other side */
918 dst_tile = GetOtherTunnelBridgeEnd(src_tile);
919 trackdirbits = TrackdirToTrackdirBits(src_trackdir);
920 } else if (ForceReverse(src_tile, src_exitdir, type, subtype)) {
921 /* We can only reverse on this tile */
922 dst_tile = src_tile;
923 src_trackdir = ReverseTrackdir(src_trackdir);
924 trackdirbits = TrackdirToTrackdirBits(src_trackdir);
925 } else {
926 /* We leave src_tile in src_exitdir and reach dst_tile */
927 dst_tile = AddTileIndexDiffCWrap(src_tile, TileIndexDiffCByDiagDir(src_exitdir));
928
929 if (dst_tile != INVALID_TILE && IsNormalRoadTile(dst_tile) && !CanEnterTile(dst_tile, src_exitdir, user)) dst_tile = INVALID_TILE;
930
931 if (dst_tile == INVALID_TILE) {
932 /* We cannot enter the next tile. Road vehicles can reverse, others reach dead end */
933 if (type != TRANSPORT_ROAD || (RoadTramType)subtype == RTT_TRAM) return;
934
935 dst_tile = src_tile;
936 src_trackdir = ReverseTrackdir(src_trackdir);
937 }
938
939 trackdirbits = GetDriveableTrackdirBits(dst_tile, src_tile, src_trackdir, type, subtype);
940
941 if (trackdirbits == TRACKDIR_BIT_NONE) {
942 /* We cannot enter the next tile. Road vehicles can reverse, others reach dead end */
943 if (type != TRANSPORT_ROAD || (RoadTramType)subtype == RTT_TRAM) return;
944
945 dst_tile = src_tile;
946 src_trackdir = ReverseTrackdir(src_trackdir);
947
948 trackdirbits = GetDriveableTrackdirBits(dst_tile, src_tile, src_trackdir, type, subtype);
949 }
950 }
951
952 if (NPFGetFlag(¤t->path.node, NPF_FLAG_IGNORE_RESERVED)) {
953 /* Mask out any reserved tracks. */
954 TrackBits reserved = GetReservedTrackbits(dst_tile);
955 trackdirbits &= ~TrackBitsToTrackdirBits(reserved);
956
957 for (Track t : SetTrackBitIterator(TrackdirBitsToTrackBits(trackdirbits))) {
958 if (TracksOverlap(reserved | TrackToTrackBits(t))) trackdirbits &= ~TrackToTrackdirBits(t);
959 }
960 }
961
962 /* Enumerate possible track */
963 uint i = 0;
964 while (trackdirbits != TRACKDIR_BIT_NONE) {
965 Trackdir dst_trackdir = RemoveFirstTrackdir(&trackdirbits);
966 Debug(npf, 5, "Expanded into trackdir: {}, remaining trackdirs: 0x{:X}", dst_trackdir, trackdirbits);
967
968 /* Tile with signals? */
969 if (IsTileType(dst_tile, MP_RAILWAY) && GetRailTileType(dst_tile) == RAIL_TILE_SIGNALS) {
970 if (HasSignalOnTrackdir(dst_tile, ReverseTrackdir(dst_trackdir)) && !HasSignalOnTrackdir(dst_tile, dst_trackdir) && IsOnewaySignal(dst_tile, TrackdirToTrack(dst_trackdir))) {
971 /* If there's a one-way signal not pointing towards us, stop going in this direction. */
972 break;
973 }
974 }
975 {
976 /* We've found ourselves a neighbour :-) */
977 AyStarNode *neighbour = &aystar->neighbours[i];
978 neighbour->tile = dst_tile;
979 neighbour->direction = dst_trackdir;
980 /* Save user data */
981 neighbour->user_data[NPF_NODE_FLAGS] = current->path.node.user_data[NPF_NODE_FLAGS];
982 NPFFillTrackdirChoice(neighbour, current);
983 }
984 i++;
985 }
986 aystar->num_neighbours = i;
987 }
988
989 /*
990 * Plan a route to the specified target (which is checked by target_proc),
991 * from start1 and if not nullptr, from start2 as well. The type of transport we
992 * are checking is in type. reverse_penalty is applied to all routes that
993 * originate from the second start node.
994 * When we are looking for one specific target (optionally multiple tiles), we
995 * should use a good heuristic to perform aystar search. When we search for
996 * multiple targets that are spread around, we should perform a breadth first
997 * search by specifying CalcZero as our heuristic.
998 */
NPFRouteInternal(AyStarNode * start1,bool ignore_start_tile1,AyStarNode * start2,bool ignore_start_tile2,NPFFindStationOrTileData * target,AyStar_EndNodeCheck target_proc,AyStar_CalculateH heuristic_proc,AyStarUserData * user,uint reverse_penalty,bool ignore_reserved=false,int max_penalty=0)999 static NPFFoundTargetData NPFRouteInternal(AyStarNode *start1, bool ignore_start_tile1, AyStarNode *start2, bool ignore_start_tile2, NPFFindStationOrTileData *target, AyStar_EndNodeCheck target_proc, AyStar_CalculateH heuristic_proc, AyStarUserData *user, uint reverse_penalty, bool ignore_reserved = false, int max_penalty = 0)
1000 {
1001 /* Initialize procs */
1002 _npf_aystar.max_path_cost = max_penalty;
1003 _npf_aystar.CalculateH = heuristic_proc;
1004 _npf_aystar.EndNodeCheck = target_proc;
1005 _npf_aystar.FoundEndNode = NPFSaveTargetData;
1006 _npf_aystar.GetNeighbours = NPFFollowTrack;
1007 switch (user->type) {
1008 default: NOT_REACHED();
1009 case TRANSPORT_RAIL: _npf_aystar.CalculateG = NPFRailPathCost; break;
1010 case TRANSPORT_ROAD: _npf_aystar.CalculateG = NPFRoadPathCost; break;
1011 case TRANSPORT_WATER: _npf_aystar.CalculateG = NPFWaterPathCost; break;
1012 }
1013
1014 /* Initialize Start Node(s) */
1015 start1->user_data[NPF_TRACKDIR_CHOICE] = INVALID_TRACKDIR;
1016 start1->user_data[NPF_NODE_FLAGS] = 0;
1017 NPFSetFlag(start1, NPF_FLAG_IGNORE_START_TILE, ignore_start_tile1);
1018 NPFSetFlag(start1, NPF_FLAG_IGNORE_RESERVED, ignore_reserved);
1019 _npf_aystar.AddStartNode(start1, 0);
1020 if (start2 != nullptr) {
1021 start2->user_data[NPF_TRACKDIR_CHOICE] = INVALID_TRACKDIR;
1022 start2->user_data[NPF_NODE_FLAGS] = 0;
1023 NPFSetFlag(start2, NPF_FLAG_IGNORE_START_TILE, ignore_start_tile2);
1024 NPFSetFlag(start2, NPF_FLAG_REVERSE, true);
1025 NPFSetFlag(start2, NPF_FLAG_IGNORE_RESERVED, ignore_reserved);
1026 _npf_aystar.AddStartNode(start2, reverse_penalty);
1027 }
1028
1029 /* Initialize result */
1030 NPFFoundTargetData result;
1031 result.best_bird_dist = UINT_MAX;
1032 result.best_path_dist = UINT_MAX;
1033 result.best_trackdir = INVALID_TRACKDIR;
1034 result.node.tile = INVALID_TILE;
1035 result.res_okay = false;
1036 _npf_aystar.user_path = &result;
1037
1038 /* Initialize target */
1039 _npf_aystar.user_target = target;
1040
1041 /* Initialize user_data */
1042 _npf_aystar.user_data = user;
1043
1044 /* GO! */
1045 [[maybe_unused]] int r = _npf_aystar.Main();
1046 assert(r != AYSTAR_STILL_BUSY);
1047
1048 if (result.best_bird_dist != 0) {
1049 if (target != nullptr) {
1050 Debug(npf, 1, "Could not find route to tile 0x{:X} from 0x{:X}.", target->dest_coords, start1->tile);
1051 } else {
1052 /* Assumption: target == nullptr, so we are looking for a depot */
1053 Debug(npf, 1, "Could not find route to a depot from tile 0x{:X}.", start1->tile);
1054 }
1055
1056 }
1057 return result;
1058 }
1059
1060 /* Will search as below, but with two start nodes, the second being the
1061 * reverse. Look at the NPF_FLAG_REVERSE flag in the result node to see which
1062 * direction was taken (NPFGetFlag(result.node, NPF_FLAG_REVERSE)) */
NPFRouteToStationOrTileTwoWay(TileIndex tile1,Trackdir trackdir1,bool ignore_start_tile1,TileIndex tile2,Trackdir trackdir2,bool ignore_start_tile2,NPFFindStationOrTileData * target,AyStarUserData * user)1063 static NPFFoundTargetData NPFRouteToStationOrTileTwoWay(TileIndex tile1, Trackdir trackdir1, bool ignore_start_tile1, TileIndex tile2, Trackdir trackdir2, bool ignore_start_tile2, NPFFindStationOrTileData *target, AyStarUserData *user)
1064 {
1065 AyStarNode start1;
1066 AyStarNode start2;
1067
1068 start1.tile = tile1;
1069 start2.tile = tile2;
1070 start1.direction = trackdir1;
1071 start2.direction = trackdir2;
1072
1073 return NPFRouteInternal(&start1, ignore_start_tile1, (IsValidTile(tile2) ? &start2 : nullptr), ignore_start_tile2, target, NPFFindStationOrTile, NPFCalcStationOrTileHeuristic, user, 0);
1074 }
1075
1076 /* Will search from the given tile and direction, for a route to the given
1077 * station for the given transport type. See the declaration of
1078 * NPFFoundTargetData above for the meaning of the result. */
NPFRouteToStationOrTile(TileIndex tile,Trackdir trackdir,bool ignore_start_tile,NPFFindStationOrTileData * target,AyStarUserData * user)1079 static NPFFoundTargetData NPFRouteToStationOrTile(TileIndex tile, Trackdir trackdir, bool ignore_start_tile, NPFFindStationOrTileData *target, AyStarUserData *user)
1080 {
1081 return NPFRouteToStationOrTileTwoWay(tile, trackdir, ignore_start_tile, INVALID_TILE, INVALID_TRACKDIR, false, target, user);
1082 }
1083
1084 /* Search using breadth first. Good for little track choice and inaccurate
1085 * heuristic, such as railway/road with two start nodes, the second being the reverse. Call
1086 * NPFGetFlag(result.node, NPF_FLAG_REVERSE) to see from which node the path
1087 * originated. All paths from the second node will have the given
1088 * reverse_penalty applied (NPF_TILE_LENGTH is the equivalent of one full
1089 * tile).
1090 */
NPFRouteToDepotBreadthFirstTwoWay(TileIndex tile1,Trackdir trackdir1,bool ignore_start_tile1,TileIndex tile2,Trackdir trackdir2,bool ignore_start_tile2,NPFFindStationOrTileData * target,AyStarUserData * user,uint reverse_penalty,int max_penalty)1091 static NPFFoundTargetData NPFRouteToDepotBreadthFirstTwoWay(TileIndex tile1, Trackdir trackdir1, bool ignore_start_tile1, TileIndex tile2, Trackdir trackdir2, bool ignore_start_tile2, NPFFindStationOrTileData *target, AyStarUserData *user, uint reverse_penalty, int max_penalty)
1092 {
1093 AyStarNode start1;
1094 AyStarNode start2;
1095
1096 start1.tile = tile1;
1097 start2.tile = tile2;
1098 start1.direction = trackdir1;
1099 start2.direction = trackdir2;
1100
1101 /* perform a breadth first search. Target is nullptr,
1102 * since we are just looking for any depot...*/
1103 return NPFRouteInternal(&start1, ignore_start_tile1, (IsValidTile(tile2) ? &start2 : nullptr), ignore_start_tile2, target, NPFFindDepot, NPFCalcZero, user, reverse_penalty, false, max_penalty);
1104 }
1105
InitializeNPF()1106 void InitializeNPF()
1107 {
1108 static bool first_init = true;
1109 if (first_init) {
1110 first_init = false;
1111 _npf_aystar.Init(NPFHash, NPF_HASH_SIZE);
1112 } else {
1113 _npf_aystar.Clear();
1114 }
1115 _npf_aystar.loops_per_tick = 0;
1116 _npf_aystar.max_path_cost = 0;
1117 //_npf_aystar.max_search_nodes = 0;
1118 /* We will limit the number of nodes for now, until we have a better
1119 * solution to really fix performance */
1120 _npf_aystar.max_search_nodes = _settings_game.pf.npf.npf_max_search_nodes;
1121 }
1122
NPFFillWithOrderData(NPFFindStationOrTileData * fstd,const Vehicle * v,bool reserve_path=false)1123 static void NPFFillWithOrderData(NPFFindStationOrTileData *fstd, const Vehicle *v, bool reserve_path = false)
1124 {
1125 /* Ships don't really reach their stations, but the tile in front. So don't
1126 * save the station id for ships. For roadvehs we don't store it either,
1127 * because multistop depends on vehicles actually reaching the exact
1128 * dest_tile, not just any stop of that station.
1129 * So only for train orders to stations we fill fstd->station_index, for all
1130 * others only dest_coords */
1131 if (v->current_order.IsType(OT_GOTO_STATION) || v->current_order.IsType(OT_GOTO_WAYPOINT)) {
1132 fstd->station_index = v->current_order.GetDestination();
1133 if (v->type == VEH_TRAIN) {
1134 fstd->station_type = v->current_order.IsType(OT_GOTO_STATION) ? STATION_RAIL : STATION_WAYPOINT;
1135 } else if (v->type == VEH_ROAD) {
1136 fstd->station_type = RoadVehicle::From(v)->IsBus() ? STATION_BUS : STATION_TRUCK;
1137 } else if (v->type == VEH_SHIP) {
1138 fstd->station_type = v->current_order.IsType(OT_GOTO_STATION) ? STATION_DOCK : STATION_BUOY;
1139 }
1140
1141 fstd->not_articulated = v->type == VEH_ROAD && !RoadVehicle::From(v)->HasArticulatedPart();
1142 /* Let's take the closest tile of the station as our target for vehicles */
1143 fstd->dest_coords = CalcClosestStationTile(fstd->station_index, v->tile, fstd->station_type);
1144 } else {
1145 fstd->dest_coords = v->dest_tile;
1146 fstd->station_index = INVALID_STATION;
1147 }
1148 fstd->reserve_path = reserve_path;
1149 fstd->v = v;
1150 }
1151
1152 /*** Road vehicles ***/
1153
NPFRoadVehicleFindNearestDepot(const RoadVehicle * v,int max_penalty)1154 FindDepotData NPFRoadVehicleFindNearestDepot(const RoadVehicle *v, int max_penalty)
1155 {
1156 Trackdir trackdir = v->GetVehicleTrackdir();
1157
1158 AyStarUserData user = { v->owner, TRANSPORT_ROAD, RAILTYPES_NONE, v->compatible_roadtypes, GetRoadTramType(v->roadtype) };
1159 NPFFoundTargetData ftd = NPFRouteToDepotBreadthFirstTwoWay(v->tile, trackdir, false, INVALID_TILE, INVALID_TRACKDIR, false, nullptr, &user, 0, max_penalty);
1160
1161 if (ftd.best_bird_dist != 0) return FindDepotData();
1162
1163 /* Found target */
1164 /* Our caller expects a number of tiles, so we just approximate that
1165 * number by this. It might not be completely what we want, but it will
1166 * work for now :-) We can possibly change this when the old pathfinder
1167 * is removed. */
1168 return FindDepotData(ftd.node.tile, ftd.best_path_dist);
1169 }
1170
NPFRoadVehicleChooseTrack(const RoadVehicle * v,TileIndex tile,DiagDirection enterdir,bool & path_found)1171 Trackdir NPFRoadVehicleChooseTrack(const RoadVehicle *v, TileIndex tile, DiagDirection enterdir, bool &path_found)
1172 {
1173 NPFFindStationOrTileData fstd;
1174
1175 NPFFillWithOrderData(&fstd, v);
1176 Trackdir trackdir = DiagDirToDiagTrackdir(enterdir);
1177
1178 AyStarUserData user = { v->owner, TRANSPORT_ROAD, RAILTYPES_NONE, v->compatible_roadtypes, GetRoadTramType(v->roadtype) };
1179 NPFFoundTargetData ftd = NPFRouteToStationOrTile(tile - TileOffsByDiagDir(enterdir), trackdir, true, &fstd, &user);
1180
1181 assert(ftd.best_trackdir != INVALID_TRACKDIR);
1182
1183 /* If ftd.best_bird_dist is 0, we found our target and ftd.best_trackdir contains
1184 * the direction we need to take to get there, if ftd.best_bird_dist is not 0,
1185 * we did not find our target, but ftd.best_trackdir contains the direction leading
1186 * to the tile closest to our target. */
1187 path_found = (ftd.best_bird_dist == 0);
1188 return ftd.best_trackdir;
1189 }
1190
1191 /*** Ships ***/
1192
NPFShipChooseTrack(const Ship * v,bool & path_found)1193 Track NPFShipChooseTrack(const Ship *v, bool &path_found)
1194 {
1195 NPFFindStationOrTileData fstd;
1196 Trackdir trackdir = v->GetVehicleTrackdir();
1197 assert(trackdir != INVALID_TRACKDIR); // Check that we are not in a depot
1198
1199 NPFFillWithOrderData(&fstd, v);
1200
1201 AyStarUserData user = { v->owner, TRANSPORT_WATER, RAILTYPES_NONE, ROADTYPES_NONE, 0 };
1202 NPFFoundTargetData ftd = NPFRouteToStationOrTile(v->tile, trackdir, true, &fstd, &user);
1203
1204 assert(ftd.best_trackdir != INVALID_TRACKDIR);
1205
1206 /* If ftd.best_bird_dist is 0, we found our target and ftd.best_trackdir contains
1207 * the direction we need to take to get there, if ftd.best_bird_dist is not 0,
1208 * we did not find our target, but ftd.best_trackdir contains the direction leading
1209 * to the tile closest to our target. */
1210 path_found = (ftd.best_bird_dist == 0);
1211 return TrackdirToTrack(ftd.best_trackdir);
1212 }
1213
NPFShipCheckReverse(const Ship * v,Trackdir * best_td)1214 bool NPFShipCheckReverse(const Ship *v, Trackdir *best_td)
1215 {
1216 NPFFindStationOrTileData fstd;
1217 NPFFoundTargetData ftd;
1218
1219 NPFFillWithOrderData(&fstd, v);
1220
1221 Trackdir trackdir = v->GetVehicleTrackdir();
1222 Trackdir trackdir_rev = ReverseTrackdir(trackdir);
1223 assert(trackdir != INVALID_TRACKDIR);
1224 assert(trackdir_rev != INVALID_TRACKDIR);
1225
1226 AyStarUserData user = { v->owner, TRANSPORT_WATER, RAILTYPES_NONE, ROADTYPES_NONE, 0 };
1227 if (best_td != nullptr) {
1228 DiagDirection entry = ReverseDiagDir(VehicleExitDir(v->direction, v->state));
1229 TrackdirBits rtds = DiagdirReachesTrackdirs(entry) & TrackStatusToTrackdirBits(GetTileTrackStatus(v->tile, TRANSPORT_WATER, 0, entry));
1230 Trackdir best = (Trackdir)FindFirstBit2x64(rtds);
1231 rtds = KillFirstBit(rtds);
1232 if (rtds == TRACKDIR_BIT_NONE) return false; /* At most one choice. */
1233 for (; rtds != TRACKDIR_BIT_NONE; rtds = KillFirstBit(rtds)) {
1234 Trackdir td = (Trackdir)FindFirstBit2x64(rtds);
1235 ftd = NPFRouteToStationOrTileTwoWay(v->tile, best, false, v->tile, td, false, &fstd, &user);
1236 if (ftd.best_bird_dist == 0 && NPFGetFlag(&ftd.node, NPF_FLAG_REVERSE)) best = td;
1237 }
1238 if (ftd.best_bird_dist == 0) {
1239 *best_td = best;
1240 return true;
1241 }
1242 } else {
1243 ftd = NPFRouteToStationOrTileTwoWay(v->tile, trackdir, false, v->tile, trackdir_rev, false, &fstd, &user);
1244 }
1245 /* If we didn't find anything, just keep on going straight ahead, otherwise take the reverse flag */
1246 return ftd.best_bird_dist == 0 && NPFGetFlag(&ftd.node, NPF_FLAG_REVERSE);
1247 }
1248
1249 /*** Trains ***/
1250
NPFTrainFindNearestDepot(const Train * v,int max_penalty)1251 FindDepotData NPFTrainFindNearestDepot(const Train *v, int max_penalty)
1252 {
1253 const Train *last = v->Last();
1254 Trackdir trackdir = v->GetVehicleTrackdir();
1255 Trackdir trackdir_rev = ReverseTrackdir(last->GetVehicleTrackdir());
1256 NPFFindStationOrTileData fstd;
1257 fstd.v = v;
1258 fstd.reserve_path = false;
1259
1260 assert(trackdir != INVALID_TRACKDIR);
1261 AyStarUserData user = { v->owner, TRANSPORT_RAIL, v->compatible_railtypes, ROADTYPES_NONE, 0 };
1262 NPFFoundTargetData ftd = NPFRouteToDepotBreadthFirstTwoWay(v->tile, trackdir, false, last->tile, trackdir_rev, false, &fstd, &user, NPF_INFINITE_PENALTY, max_penalty);
1263 if (ftd.best_bird_dist != 0) return FindDepotData();
1264
1265 /* Found target */
1266 /* Our caller expects a number of tiles, so we just approximate that
1267 * number by this. It might not be completely what we want, but it will
1268 * work for now :-) We can possibly change this when the old pathfinder
1269 * is removed. */
1270 return FindDepotData(ftd.node.tile, ftd.best_path_dist, NPFGetFlag(&ftd.node, NPF_FLAG_REVERSE));
1271 }
1272
NPFTrainFindNearestSafeTile(const Train * v,TileIndex tile,Trackdir trackdir,bool override_railtype)1273 bool NPFTrainFindNearestSafeTile(const Train *v, TileIndex tile, Trackdir trackdir, bool override_railtype)
1274 {
1275 assert(v->type == VEH_TRAIN);
1276
1277 NPFFindStationOrTileData fstd;
1278 fstd.v = v;
1279 fstd.reserve_path = true;
1280
1281 AyStarNode start1;
1282 start1.tile = tile;
1283 start1.direction = trackdir;
1284
1285 RailTypes railtypes = v->compatible_railtypes;
1286 if (override_railtype) railtypes |= GetRailTypeInfo(v->railtype)->compatible_railtypes;
1287
1288 /* perform a breadth first search. Target is nullptr,
1289 * since we are just looking for any safe tile...*/
1290 AyStarUserData user = { v->owner, TRANSPORT_RAIL, railtypes, ROADTYPES_NONE, 0 };
1291 return NPFRouteInternal(&start1, true, nullptr, false, &fstd, NPFFindSafeTile, NPFCalcZero, &user, 0, true).res_okay;
1292 }
1293
NPFTrainCheckReverse(const Train * v)1294 bool NPFTrainCheckReverse(const Train *v)
1295 {
1296 NPFFindStationOrTileData fstd;
1297 NPFFoundTargetData ftd;
1298 const Train *last = v->Last();
1299
1300 NPFFillWithOrderData(&fstd, v);
1301
1302 Trackdir trackdir = v->GetVehicleTrackdir();
1303 Trackdir trackdir_rev = ReverseTrackdir(last->GetVehicleTrackdir());
1304 assert(trackdir != INVALID_TRACKDIR);
1305 assert(trackdir_rev != INVALID_TRACKDIR);
1306
1307 AyStarUserData user = { v->owner, TRANSPORT_RAIL, v->compatible_railtypes, ROADTYPES_NONE, 0 };
1308 ftd = NPFRouteToStationOrTileTwoWay(v->tile, trackdir, false, last->tile, trackdir_rev, false, &fstd, &user);
1309 /* If we didn't find anything, just keep on going straight ahead, otherwise take the reverse flag */
1310 return ftd.best_bird_dist == 0 && NPFGetFlag(&ftd.node, NPF_FLAG_REVERSE);
1311 }
1312
NPFTrainChooseTrack(const Train * v,bool & path_found,bool reserve_track,struct PBSTileInfo * target)1313 Track NPFTrainChooseTrack(const Train *v, bool &path_found, bool reserve_track, struct PBSTileInfo *target)
1314 {
1315 NPFFindStationOrTileData fstd;
1316 NPFFillWithOrderData(&fstd, v, reserve_track);
1317
1318 PBSTileInfo origin = FollowTrainReservation(v);
1319 assert(IsValidTrackdir(origin.trackdir));
1320
1321 AyStarUserData user = { v->owner, TRANSPORT_RAIL, v->compatible_railtypes, ROADTYPES_NONE, 0 };
1322 NPFFoundTargetData ftd = NPFRouteToStationOrTile(origin.tile, origin.trackdir, true, &fstd, &user);
1323
1324 if (target != nullptr) {
1325 target->tile = ftd.node.tile;
1326 target->trackdir = (Trackdir)ftd.node.direction;
1327 target->okay = ftd.res_okay;
1328 }
1329
1330 assert(ftd.best_trackdir != INVALID_TRACKDIR);
1331
1332 /* If ftd.best_bird_dist is 0, we found our target and ftd.best_trackdir contains
1333 * the direction we need to take to get there, if ftd.best_bird_dist is not 0,
1334 * we did not find our target, but ftd.best_trackdir contains the direction leading
1335 * to the tile closest to our target. */
1336 path_found = (ftd.best_bird_dist == 0);
1337 /* Discard enterdir information, making it a normal track */
1338 return TrackdirToTrack(ftd.best_trackdir);
1339 }
1340