falloutBot/go-mc
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Get Ascend* movements working reliably

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This commit is contained in:
Tom
2020-09-23 15:23:47 -07:00
parent fcdf4bda87
commit fa6f9b72b3
3 changed files with 21 additions and 15 deletions
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19
bot/path/path.go
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@ -8,6 +8,11 @@ import (
"github.com/beefsack/go-astar"
)
// Point represents a point in 3D space.
type Point struct {
X, Y, Z float64
}
type V3 struct {
X, Y, Z int
}
@ -62,7 +67,7 @@ func (t Tile) PathEstimatedCost(to astar.Pather) float64 {
func (t Tile) PathNeighbors() []astar.Pather {
possibles := make([]astar.Pather, 0, 8)
if t.PathEstimatedCost(Tile{Pos: t.Nav.Start}) > 1200 {
if c := t.PathEstimatedCost(Tile{Pos: t.Nav.Start}); c > 8000 {
return nil
}
@ -88,9 +93,9 @@ func (t Tile) PathNeighbors() []astar.Pather {
return possibles
}
func (t Tile) Inputs(dX, dY, dZ float64) Inputs {
func (t Tile) Inputs(deltaPos, vel Point) Inputs {
// Sufficient for simple movements.
at := math.Atan2(-dX, -dZ)
at := math.Atan2(-deltaPos.X, -deltaPos.Z)
out := Inputs{
ThrottleX: math.Sin(at),
ThrottleZ: math.Cos(at),
@ -98,7 +103,13 @@ func (t Tile) Inputs(dX, dY, dZ float64) Inputs {
switch t.Movement {
case AscendNorth, AscendSouth, AscendEast, AscendWest:
out.Jump = math.Sqrt(dX*dX+dZ*dZ) < 1.75
dist2 := math.Sqrt(deltaPos.X*deltaPos.X + deltaPos.Z*deltaPos.Z)
out.Jump = dist2 < 1.75 && deltaPos.Y < -0.81
// Turn off the throttle if we get stuck on the jump.
if dist2 < 1 && deltaPos.Y < 0 && vel.Y == 0 {
out.ThrottleX, out.ThrottleZ = 0, 0
}
out.Yaw = 0
}
return out