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Implement jumped crossings and dropping down two blocks

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This commit is contained in:
Tom
2020-10-03 18:56:45 -07:00
parent a552ddc008
commit 5934c78e0c
2 changed files with 80 additions and 2 deletions
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74
bot/path/movement.go
View File

@ -24,6 +24,11 @@ func (d Direction) Offset() (x, y, z int) {
panic(fmt.Sprintf("unknown direction value: %v", d))
}
func (d Direction) Offset2x() (x, y, z int) {
x, y, z = d.Offset()
return x + x, y + y, z + z
}
func (d Direction) String() string {
switch d {
case North:
@ -65,9 +70,11 @@ type Movement uint8
var allMovements = []Movement{TraverseNorth, TraverseSouth, TraverseEast, TraverseWest,
TraverseNorthWest, TraverseNorthEast, TraverseSouthWest, TraverseSouthEast,
DropNorth, DropSouth, DropEast, DropWest,
Drop2North, Drop2South, Drop2East, Drop2West,
AscendNorth, AscendSouth, AscendEast, AscendWest,
DescendLadder, DescendLadderNorth, DescendLadderSouth, DescendLadderEast, DescendLadderWest,
AscendLadder,
JumpCrossNorth, JumpCrossSouth, JumpCrossEast, JumpCrossWest,
}
// Valid movement values.
@ -85,6 +92,10 @@ const (
DropSouth
DropEast
DropWest
Drop2North
Drop2South
Drop2East
Drop2West
AscendNorth
AscendSouth
AscendEast
@ -95,6 +106,10 @@ const (
DescendLadderEast
DescendLadderWest
AscendLadder
JumpCrossEast
JumpCrossWest
JumpCrossNorth
JumpCrossSouth
)
func (m Movement) Possible(nav *Nav, x, y, z int, from V3, previous Movement) bool {
@ -120,6 +135,12 @@ func (m Movement) Possible(nav *Nav, x, y, z int, from V3, previous Movement) bo
}
return AirLikeBlock(nav.World.GetBlockStatus(x, y+1, from.Z)) && AirLikeBlock(nav.World.GetBlockStatus(x, y+2, from.Z))
case Drop2North, Drop2South, Drop2East, Drop2West:
if !AirLikeBlock(nav.World.GetBlockStatus(x, y+4, z)) {
return false
}
fallthrough
case DropNorth, DropSouth, DropEast, DropWest:
for amt := 0; amt < 3; amt++ {
if !AirLikeBlock(nav.World.GetBlockStatus(x, y+amt+1, z)) {
@ -150,6 +171,19 @@ func (m Movement) Possible(nav *Nav, x, y, z int, from V3, previous Movement) bo
}
return IsLadder(nav.World.GetBlockStatus(x, y, z))
case JumpCrossEast, JumpCrossWest, JumpCrossNorth, JumpCrossSouth:
if !AirLikeBlock(nav.World.GetBlockStatus(x, y+1, z)) || !AirLikeBlock(nav.World.GetBlockStatus(x, y+2, z)) || !AirLikeBlock(nav.World.GetBlockStatus(x, y+3, z)) {
return false
}
midX, midZ := (from.X+x)/2, (from.Z+z)/2
if !AirLikeBlock(nav.World.GetBlockStatus(midX, y+1, midZ)) || !AirLikeBlock(nav.World.GetBlockStatus(midX, y+2, midZ)) || !AirLikeBlock(nav.World.GetBlockStatus(midX, y+3, midZ)) {
return false
}
if !AirLikeBlock(nav.World.GetBlockStatus(from.X, from.Y+3, from.Z)) {
return false
}
return SteppableBlock(nav.World.GetBlockStatus(x, y, z))
default:
panic(m)
}
@ -168,6 +202,15 @@ func (m Movement) Offset() (x, y, z int) {
case TraverseWest:
return West.Offset()
case JumpCrossEast:
return East.Offset2x()
case JumpCrossWest:
return West.Offset2x()
case JumpCrossNorth:
return North.Offset2x()
case JumpCrossSouth:
return South.Offset2x()
case AscendLadder:
return 0, 1, 0
case DescendLadder:
@ -198,6 +241,15 @@ func (m Movement) Offset() (x, y, z int) {
case TraverseSouthEast:
return 1, 0, 1
case Drop2North:
return 0, -2, -1
case Drop2South:
return 0, -2, 1
case Drop2East:
return 1, -2, 0
case Drop2West:
return -1, -2, 0
default:
panic(m)
}
@ -212,7 +264,7 @@ func (m Movement) BaseCost() float64 {
case TraverseNorthWest, TraverseNorthEast, TraverseSouthWest, TraverseSouthEast:
return 2.5
case DropNorth, DropSouth, DropEast, DropWest:
case DropNorth, DropSouth, DropEast, DropWest, Drop2North, Drop2South, Drop2East, Drop2West:
return 4
case AscendNorth, AscendSouth, AscendEast, AscendWest:
return 4
@ -222,6 +274,9 @@ func (m Movement) BaseCost() float64 {
return 1
case AscendLadder:
return 3
case JumpCrossEast, JumpCrossWest, JumpCrossNorth, JumpCrossSouth:
return 5.5
default:
panic(m)
}
@ -248,6 +303,14 @@ func (m Movement) String() string {
return "drop-east"
case DropWest:
return "drop-west"
case Drop2North:
return "drop-2-north"
case Drop2South:
return "drop-2-south"
case Drop2East:
return "drop-2-east"
case Drop2West:
return "drop-2-west"
case AscendNorth:
return "jump-north"
@ -280,6 +343,15 @@ func (m Movement) String() string {
case AscendLadder:
return "ascend-ladder"
case JumpCrossEast:
return "jump-crossing-east"
case JumpCrossWest:
return "jump-crossing-west"
case JumpCrossNorth:
return "jump-crossing-north"
case JumpCrossSouth:
return "jump-crossing-south"
default:
panic(m)
}

8
bot/path/path.go
View File

@ -129,7 +129,7 @@ func (t Tile) Inputs(pos, deltaPos, vel Point, runTime time.Duration) Inputs {
case AscendLadder:
dist2 := math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
if x, _, z := LadderDirection(t.BlockStatus).Offset(); dist2 > (0.9*0.9) && deltaPos.Y < 0 {
if x, _, z := LadderDirection(t.BlockStatus).Offset(); dist2 > (0.8*0.8) && deltaPos.Y < 0 {
pos.X -= (0.25 * float64(x))
pos.Z -= (0.25 * float64(z))
} else {
@ -173,6 +173,10 @@ func (t Tile) Inputs(pos, deltaPos, vel Point, runTime time.Duration) Inputs {
if dist2 < 1 && deltaPos.Y < 0 && vel.Y == 0 {
out.ThrottleX, out.ThrottleZ = 0, 0
}
case JumpCrossEast, JumpCrossWest, JumpCrossNorth, JumpCrossSouth:
dist2 := math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
out.Jump = dist2 > 1.5 && dist2 < 1.78
}
return out
}
@ -184,6 +188,8 @@ func (t Tile) IsComplete(d Point) bool {
return (d.X*d.X+d.Z*d.Z) < (2*0.2*0.25) && d.Y <= 0.05
case AscendLadder:
return d.Y >= 0
case JumpCrossEast, JumpCrossWest, JumpCrossNorth, JumpCrossSouth:
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