falloutBot/go-mc
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Implement asension of ladders

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This commit is contained in:
Tom
2020-09-23 23:08:37 -07:00
parent 797ba13fdd
commit 39379d1388
2 changed files with 41 additions and 8 deletions
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34
bot/path/path.go
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@ -95,7 +95,8 @@ func (t Tile) PathNeighbors() []astar.Pather {
return possibles
}
func (t Tile) Inputs(deltaPos, vel Point) Inputs {
func (t Tile) Inputs(pos, deltaPos, vel Point) Inputs {
// Sufficient for simple movements.
at := math.Atan2(-deltaPos.X, -deltaPos.Z)
out := Inputs{
@ -104,6 +105,30 @@ func (t Tile) Inputs(deltaPos, vel Point) Inputs {
}
switch t.Movement {
case DescendLadder, DescendLadderEast, DescendLadderWest, DescendLadderNorth, DescendLadderSouth:
// Deadzone the throttle to prevent an accidental ascend.
if dist2 := math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z); dist2 < (0.22 * 0.22 * 2) {
out.ThrottleX, out.ThrottleZ = 0, 0
}
case AscendLadder:
dist2 := math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
bStateID := t.Nav.World.GetBlockStatus(t.Pos.X, t.Pos.Y, t.Pos.Z)
if x, _, z := LadderDirection(bStateID).Offset(); dist2 > (0.9*0.9) && deltaPos.Y < 0 {
pos.X -= (0.55 * float64(x))
pos.Z -= (0.55 * float64(z))
} else {
pos.X += (0.55 * float64(x))
pos.Z += (0.55 * 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),
}
case AscendNorth, AscendSouth, AscendEast, AscendWest:
dist2 := math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
out.Jump = dist2 < 1.75 && deltaPos.Y < -0.81
@ -119,8 +144,11 @@ func (t Tile) Inputs(deltaPos, vel Point) Inputs {
func (t Tile) IsComplete(d Point) bool {
switch t.Movement {
case DescendLadder, DescendLadderNorth, DescendLadderSouth, DescendLadderWest, DescendLadderEast, DropNorth, DropSouth, DropEast, DropWest:
return (d.X*d.X+d.Z*d.Z) < (0.1*0.1*0.13) && d.Y <= 0.05
case DescendLadder, DescendLadderNorth, DescendLadderSouth, DescendLadderWest, DescendLadderEast,
DropNorth, DropSouth, DropEast, DropWest:
return (d.X*d.X+d.Z*d.Z) < (2*0.2*0.25) && d.Y <= 0.05
case AscendLadder:
return d.Y >= 0
}
return (d.X*d.X+d.Z*d.Z) < (0.18*0.18) && d.Y >= -0.01 && d.Y <= 0.08