From 932118f10bc453ef3e3fceef7baea34e30194acb Mon Sep 17 00:00:00 2001 From: kno10 Date: Tue, 29 Oct 2024 00:28:48 +0100 Subject: [PATCH] More tweaks to pathfinding --- mods/ENTITIES/mcl_mobs/movement.lua | 12 +-- mods/ENTITIES/mcl_mobs/pathfinding.lua | 124 +++++++++++-------------- 2 files changed, 59 insertions(+), 77 deletions(-) diff --git a/mods/ENTITIES/mcl_mobs/movement.lua b/mods/ENTITIES/mcl_mobs/movement.lua index c7bff6287..e30c010d2 100644 --- a/mods/ENTITIES/mcl_mobs/movement.lua +++ b/mods/ENTITIES/mcl_mobs/movement.lua @@ -368,6 +368,10 @@ function mob_class:do_jump() -- what is in front of mob? local nod = node_ok(vector_offset(pos, dir_x, 0.5, dir_z)) + local ndef = minetest.registered_nodes[nod.name] + + -- thin blocks that do not need to be jumped + if nod.name == node_snow or (ndef and ndef.groups.carpet or 0) > 0 then return false end -- this is used to detect if there's a block on top of the block in front of the mob. -- If there is, there is no point in jumping as we won't manage. @@ -378,15 +382,9 @@ function mob_class:do_jump() local ntdef = minetest.registered_nodes[node_top.name] if ntdef and ntdef.walkable == true and not (self.attack and self.state == "attack") then return false end - -- thin blocks that do not need to be jumped - if nod.name == node_snow then return false end - - local ndef = minetest.registered_nodes[nod.name] if self.walk_chance ~= 0 and not (ndef and ndef.walkable) and not self._can_jump_cliff then return false end - if minetest.get_item_group(nod.name, "fence") ~= 0 - or minetest.get_item_group(nod.name, "fence_gate") ~= 0 - or minetest.get_item_group(nod.name, "wall") ~= 0 then + if (ndef.groups.fence or 0) ~= 0 or (ndef.groups.fence_gate or 0) ~= 0 or (ndef.groups.wall or 0) ~= 0 then self.facing_fence = true return false end diff --git a/mods/ENTITIES/mcl_mobs/pathfinding.lua b/mods/ENTITIES/mcl_mobs/pathfinding.lua index 1374237f0..3dc01d073 100644 --- a/mods/ENTITIES/mcl_mobs/pathfinding.lua +++ b/mods/ENTITIES/mcl_mobs/pathfinding.lua @@ -9,9 +9,6 @@ local PATHFINDING_SEARCH_DISTANCE = 25 -- How big the square is that pathfinding local PATHFINDING = "gowp" -local one_down = vector.new(0,-1,0) -local one_up = vector.new(0,1,0) - local plane_adjacents = { vector.new(1,0,0), vector.new(-1,0,0), @@ -83,11 +80,6 @@ local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_ action = {type = "door", action = "open", target = cur_door_pos} end - if visualize then - core.add_particle({pos = cur_pos, expirationtime=5+i/4, size=3+2/i, velocity=vector.new(0,-0.01,0), - texture="mcl_copper_anti_oxidation_particle.png"}) -- white stars - end - wp_out[i] = {} wp_out[i]["pos"] = cur_pos wp_out[i]["failed_attempts"] = 0 @@ -119,74 +111,49 @@ end -- This function is used to see if we can path. We could use to check a route, rather than making people move. local function calculate_path_through_door (p, cur_door_pos, t) + if not cur_door_pos then return end if t then - mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t)) + mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. " through " .. minetest.pos_to_string(cur_door_pos) .. ", to target: " .. minetest.pos_to_string(t)) else - mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p)) + mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. " through " .. minetest.pos_to_string(cur_door_pos)) end - local enriched_path = nil - local wp, prospective_wp + for _,v in pairs(plane_adjacents) do + local pos_closest_to_door = vector.add(cur_door_pos,v) + local n = minetest.get_node(pos_closest_to_door) + if not n.walkable then + mcl_log("We have open space next to door at: " .. minetest.pos_to_string(pos_closest_to_door)) - local pos_closest_to_door = nil - local other_side_of_door = nil + local prospective_wp = minetest.find_path(p, pos_closest_to_door, PATHFINDING_SEARCH_DISTANCE, 1, 4) - if cur_door_pos then - mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos)) + if prospective_wp then + local other_side_of_door = vector.add(cur_door_pos,-v) + mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door)) + mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door)) - for _,v in pairs(plane_adjacents) do - pos_closest_to_door = vector.add(cur_door_pos,v) - other_side_of_door = vector.add(cur_door_pos,-v) + table.insert(prospective_wp, cur_door_pos) - local n = minetest.get_node(pos_closest_to_door) + if t then + mcl_log("We have t, lets go from door to target") + local wp_otherside_door_to_target = minetest.find_path(other_side_of_door, t, PATHFINDING_SEARCH_DISTANCE, 1, 4) - if n.name == "air" then - mcl_log("We have air space next to door at: " .. minetest.pos_to_string(pos_closest_to_door)) - - prospective_wp = minetest.find_path(p, pos_closest_to_door, PATHFINDING_SEARCH_DISTANCE, 1, 4) - - if prospective_wp then - mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door)) - mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door)) - - table.insert(prospective_wp, cur_door_pos) - - if t then - mcl_log("We have t, lets go from door to target") - local wp_otherside_door_to_target = minetest.find_path(other_side_of_door, t, PATHFINDING_SEARCH_DISTANCE, 1, 4) - - if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then - append_paths (prospective_wp, wp_otherside_door_to_target) - - wp = prospective_wp - mcl_log("We have a path from outside door to target") - else - mcl_log("We cannot path from outside door to target") - end + if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then + append_paths (prospective_wp, wp_otherside_door_to_target) + mcl_log("We have a path from outside door to target") + return generate_enriched_path(prospective_wp, pos_closest_to_door, other_side_of_door, cur_door_pos) else - mcl_log("No t, just add other side of door") - table.insert(prospective_wp, other_side_of_door) - wp = prospective_wp - end - - if wp then - enriched_path = generate_enriched_path(wp, pos_closest_to_door, other_side_of_door, cur_door_pos) - break + mcl_log("We cannot path from outside door to target") end else - mcl_log("Cannot path to this air block next to door.") + mcl_log("No t, just add other side of door") + table.insert(prospective_wp, other_side_of_door) + return generate_enriched_path(prospective_wp, pos_closest_to_door, other_side_of_door, cur_door_pos) end + else + mcl_log("Cannot path to this air block next to door.") end end - else - mcl_log("No door found") end - - if wp and not enriched_path then - mcl_log("Wp but not enriched") - enriched_path = generate_enriched_path(wp) - end - return enriched_path end -- we treat ignore as solid, as we cannot path there @@ -198,7 +165,7 @@ end local function find_open_node(pos, radius) local r = vector.round(pos) if not is_solid(r) then return r end - local above = vector.offset(pos, 0, 1, 0) + local above = vector.offset(r, 0, 1, 0) if not is_solid(above) then return above, true end -- additional return: drop last local n = minetest.find_node_near(pos, radius or 1, {"air"}) if n then return n end @@ -233,15 +200,15 @@ function mob_class:gopath(target, callback_arrived, prioritised) if not wp then mcl_log("### No direct path. Path through door closest to target.") local door_near_target = minetest.find_node_near(target, 16, {"group:door"}) - local below = vector.offset(door_near_target, 0, -1, 0) - if minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_near_target = below end + local below = door_near_target and vector.offset(door_near_target, 0, -1, 0) + if below and minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_near_target = below end wp = calculate_path_through_door(p, door_near_target, t) if not wp then mcl_log("### No path though door closest to target. Try door closest to origin.") local door_closest = minetest.find_node_near(p, 16, {"group:door"}) - local below = vector.offset(door_closest, 0, -1, 0) - if minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_closest = below end + local below = door_closest and vector.offset(door_closest, 0, -1, 0) + if below and minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_closest = below end wp = calculate_path_through_door(p, door_closest, t) -- Path through 2 doors @@ -298,8 +265,18 @@ function mob_class:gopath(target, callback_arrived, prioritised) -- fence or wall underneath? local bdef = minetest.registered_nodes[minetest.get_node(vector.offset(wp[i].pos, 0, -1, 0)).name] if not bdef then minetest.log("warning", "There must not be unknown nodes on path") end + -- carpets are fine + if bdef and (bdef.groups.carpet or 0) > 0 then + wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0) + -- target bottom of door + elseif bdef and (bdef.groups.door or 0) > 0 then + wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0) + -- not walkable? + elseif bdef and not bdef.walkable then + wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0) + i = i - 1 -- plan opening fence gates - if bdef and (bdef.groups.fence_gate or 0) > 0 then + elseif bdef and (bdef.groups.fence_gate or 0) > 0 then wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0) wp[math.max(1,i-1)].action = {type = "door", action = "open", target = wp[i].pos} if i+1 < #wp then @@ -317,26 +294,33 @@ function mob_class:gopath(target, callback_arrived, prioritised) end j = j + 1 end - minetest.log("warning", bdef.name .. " at "..tostring(i).." end at "..(j <= #wp and tostring(j) or "nil")) + -- minetest.log("warning", bdef.name .. " at "..tostring(i).." end at "..(j <= #wp and tostring(j) or "nil")) if j <= #wp and wp[i-1].pos.y == wp[j].pos.y then local swp = minetest.find_path(wp[i-1].pos, wp[j].pos, PATHFINDING_SEARCH_DISTANCE, 0, 0) -- TODO: if we do not find a path here, consider pathing through a fence gate! if swp and #swp > 0 then for k = j-1,i,-1 do table.remove(wp, k) end for k = 2, #swp-1 do table.insert(wp, i-2+k, {pos = swp[k], failed_attempts = 0}) end - minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." successful.") + --minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." successful.") i = i + #swp - 4 else - minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." failed.") + --minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." failed.") end end end i = i + 1 end end + if wp and drop_last_wp and vector.equals(wp[#wp], t) then table.remove(wp, #wp) end if wp and #wp > 0 then + if visualize then + for i = 1,#wp do + core.add_particle({pos = wp[i].pos, expirationtime=3+i/3, size=3+2/i, velocity=vector.new(0,-0.02,0), + texture="mcl_copper_anti_oxidation_particle.png"}) -- white stars + end + end + --output_table(wp) - if drop_last_wp and #wp > 1 then table.remove(wp, #wp) end self._target = t self.callback_arrived = callback_arrived self.current_target = table.remove(wp,1)