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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15
bot/path/movement.go
View File

@ -58,6 +58,7 @@ var allMovements = []Movement{TraverseNorth, TraverseSouth, TraverseEast, Traver
DropNorth, DropSouth, DropEast, DropWest,
AscendNorth, AscendSouth, AscendEast, AscendWest,
DescendLadder, DescendLadderNorth, DescendLadderSouth, DescendLadderEast, DescendLadderWest,
AscendLadder,
}
// Valid movement values.
@ -84,6 +85,7 @@ const (
DescendLadderSouth
DescendLadderEast
DescendLadderWest
AscendLadder
)
func (m Movement) Possible(nav *Nav, x, y, z int, from V3, previous Movement) bool {
@ -125,12 +127,10 @@ func (m Movement) Possible(nav *Nav, x, y, z int, from V3, previous Movement) bo
AirLikeBlock(nav.World.GetBlockStatus(from.X, from.Y+1, from.Z)) &&
AirLikeBlock(nav.World.GetBlockStatus(from.X, from.Y+2, from.Z))
case DescendLadder:
case DescendLadder, AscendLadder:
if bID := nav.World.GetBlockStatus(x, y+1, z); !AirLikeBlock(bID) && !IsLadder(bID) {
return false
}
bID := nav.World.GetBlockStatus(x, y, z)
fmt.Println(bID, IsLadder(bID))
return IsLadder(nav.World.GetBlockStatus(x, y, z))
case DescendLadderNorth, DescendLadderSouth, DescendLadderEast, DescendLadderWest:
@ -139,8 +139,6 @@ func (m Movement) Possible(nav *Nav, x, y, z int, from V3, previous Movement) bo
return false
}
}
bID := nav.World.GetBlockStatus(x, y, z)
fmt.Println(bID, IsLadder(bID))
return IsLadder(nav.World.GetBlockStatus(x, y, z))
default:
@ -161,6 +159,8 @@ func (m Movement) Offset() (x, y, z int) {
case TraverseWest:
return West.Offset()
case AscendLadder:
return 0, 1, 0
case DescendLadder:
return 0, -1, 0
case DropNorth, DescendLadderNorth:
@ -211,6 +211,8 @@ func (m Movement) BaseCost() float64 {
return 1.5
case DescendLadder:
return 1.2
case AscendLadder:
return 1.5
default:
panic(m)
}
@ -266,6 +268,9 @@ func (m Movement) String() string {
return "descend-ladder-east"
case DescendLadderWest:
return "descend-ladder-west"
case AscendLadder:
return "ascend-ladder"
default:
panic(m)
}

34
bot/path/path.go
View File

@ -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