falloutBot/go-mc
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implement physics + pathfinding over slabs

Browse Source
This commit is contained in:
Tom
2020-10-12 22:13:02 -07:00
parent 5120b2dd9a
commit 1240aefc38
4 changed files with 102 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
bot/path/path.go
View File

@ -4,7 +4,6 @@ package path
import (
"math"
"math/rand"
"strings"
"time"
"github.com/Tnze/go-mc/bot/world"
@ -51,6 +50,7 @@ func (n *Nav) Path() (path []astar.Pather, distance float64, found bool) {
type Tile struct {
Nav *Nav
HalfBlock bool
Movement Movement
Pos V3
BlockStatus world.BlockStatus
@ -89,11 +89,13 @@ func (t Tile) PathNeighbors() []astar.Pather {
possible := m.Possible(t.Nav, pos.X, pos.Y, pos.Z, t.Pos, t.Movement)
// fmt.Printf("%v-%v: Trying (%v) %v: possible=%v\n", t.Movement, t.Pos, pos, m, possible)
if possible {
bStateID := t.Nav.World.GetBlockStatus(pos.X, pos.Y, pos.Z)
possibles = append(possibles, Tile{
Nav: t.Nav,
Movement: m,
Pos: pos,
BlockStatus: t.Nav.World.GetBlockStatus(pos.X, pos.Y, pos.Z),
BlockStatus: bStateID,
HalfBlock: IsSlab(bStateID) && SlabIsBottom(bStateID),
})
}
}
@ -146,27 +148,34 @@ func (t Tile) Inputs(pos, deltaPos, vel Point, runTime time.Duration) Inputs {
case AscendNorth, AscendSouth, AscendEast, AscendWest:
var (
b = block.ByID[block.StateID[uint32(t.BlockStatus)]]
isStairs = strings.HasSuffix(b.Name, "_stairs")
maybeStuck = runTime < 1250*time.Millisecond
dist2 = math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
b = block.ByID[block.StateID[uint32(t.BlockStatus)]]
_, isStairs = stairs[b.ID]
_, isSlab = slabs[b.ID]
maybeStuck = runTime < 1250*time.Millisecond
dist2 = math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
)
out.Jump = dist2 < 1.75 && deltaPos.Y < -0.81
// Special logic for stairs: Try to go towards the downwards edge initially.
if isStairs && dist2 > (0.9*0.9) && deltaPos.Y < 0 {
if x, _, z := StairsDirection(t.BlockStatus).Offset(); dist2 > (0.9*0.9) && deltaPos.Y < 0 {
pos.X += (0.49 * float64(x))
pos.Z += (0.49 * float64(z))
}
switch {
case isStairs:
// Special logic for stairs: Try to go towards the downwards edge initially.
if dist2 > (0.9*0.9) && deltaPos.Y < 0 {
if x, _, z := StairsDirection(t.BlockStatus).Offset(); dist2 > (0.9*0.9) && deltaPos.Y < 0 {
pos.X += (0.49 * float64(x))
pos.Z += (0.49 * float64(z))
}
at = math.Atan2(-pos.X+float64(t.Pos.X)+0.5, -pos.Z+float64(t.Pos.Z)+0.5)
out = Inputs{
ThrottleX: math.Sin(at),
ThrottleZ: math.Cos(at),
Yaw: math.NaN(),
Jump: out.Jump && !maybeStuck,
at = math.Atan2(-pos.X+float64(t.Pos.X)+0.5, -pos.Z+float64(t.Pos.Z)+0.5)
out = Inputs{
ThrottleX: math.Sin(at),
ThrottleZ: math.Cos(at),
Yaw: math.NaN(),
Jump: out.Jump && !maybeStuck,
}
}
// We dont need to jump for slabs, so only jump if we get stuck.
case isSlab:
out.Jump = out.Jump && !maybeStuck
}
// Turn off the throttle if we get stuck on the jump.
@ -192,5 +201,11 @@ func (t Tile) IsComplete(d Point) bool {
return (d.X*d.X+d.Z*d.Z) < (0.22*0.22) && d.Y >= -0.065
}
return (d.X*d.X+d.Z*d.Z) < (0.18*0.18) && d.Y >= -0.065 && d.Y <= 0.08
yLowerCutoff := -0.065
if t.HalfBlock {
yLowerCutoff -= 0.5
}
// fmt.Println(t.HalfBlock, d.Y, d.Y >= yLowerCutoff, d.Y <= 0.08)
return (d.X*d.X+d.Z*d.Z) < (0.18*0.18) && d.Y >= yLowerCutoff && d.Y <= 0.08
}