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More tweaks to pathfinding
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kno10
parent
4388152650
commit
932118f10b
@ -368,6 +368,10 @@ function mob_class:do_jump()
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-- what is in front of mob?
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local nod = node_ok(vector_offset(pos, dir_x, 0.5, dir_z))
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local ndef = minetest.registered_nodes[nod.name]
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-- thin blocks that do not need to be jumped
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if nod.name == node_snow or (ndef and ndef.groups.carpet or 0) > 0 then return false end
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-- this is used to detect if there's a block on top of the block in front of the mob.
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-- If there is, there is no point in jumping as we won't manage.
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@ -378,15 +382,9 @@ function mob_class:do_jump()
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local ntdef = minetest.registered_nodes[node_top.name]
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if ntdef and ntdef.walkable == true and not (self.attack and self.state == "attack") then return false end
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-- thin blocks that do not need to be jumped
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if nod.name == node_snow then return false end
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local ndef = minetest.registered_nodes[nod.name]
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if self.walk_chance ~= 0 and not (ndef and ndef.walkable) and not self._can_jump_cliff then return false end
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if minetest.get_item_group(nod.name, "fence") ~= 0
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or minetest.get_item_group(nod.name, "fence_gate") ~= 0
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or minetest.get_item_group(nod.name, "wall") ~= 0 then
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if (ndef.groups.fence or 0) ~= 0 or (ndef.groups.fence_gate or 0) ~= 0 or (ndef.groups.wall or 0) ~= 0 then
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self.facing_fence = true
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return false
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end
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@ -9,9 +9,6 @@ local PATHFINDING_SEARCH_DISTANCE = 25 -- How big the square is that pathfinding
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local PATHFINDING = "gowp"
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local one_down = vector.new(0,-1,0)
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local one_up = vector.new(0,1,0)
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local plane_adjacents = {
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vector.new(1,0,0),
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vector.new(-1,0,0),
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@ -83,11 +80,6 @@ local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_
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action = {type = "door", action = "open", target = cur_door_pos}
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end
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if visualize then
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core.add_particle({pos = cur_pos, expirationtime=5+i/4, size=3+2/i, velocity=vector.new(0,-0.01,0),
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texture="mcl_copper_anti_oxidation_particle.png"}) -- white stars
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end
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wp_out[i] = {}
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wp_out[i]["pos"] = cur_pos
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wp_out[i]["failed_attempts"] = 0
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@ -119,74 +111,49 @@ end
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-- This function is used to see if we can path. We could use to check a route, rather than making people move.
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local function calculate_path_through_door (p, cur_door_pos, t)
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if not cur_door_pos then return end
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if t then
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mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t))
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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))
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else
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mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p))
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mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. " through " .. minetest.pos_to_string(cur_door_pos))
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end
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local enriched_path = nil
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local wp, prospective_wp
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for _,v in pairs(plane_adjacents) do
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local pos_closest_to_door = vector.add(cur_door_pos,v)
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local n = minetest.get_node(pos_closest_to_door)
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if not n.walkable then
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mcl_log("We have open space next to door at: " .. minetest.pos_to_string(pos_closest_to_door))
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local pos_closest_to_door = nil
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local other_side_of_door = nil
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local prospective_wp = minetest.find_path(p, pos_closest_to_door, PATHFINDING_SEARCH_DISTANCE, 1, 4)
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if cur_door_pos then
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mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos))
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if prospective_wp then
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local other_side_of_door = vector.add(cur_door_pos,-v)
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mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door))
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mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door))
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for _,v in pairs(plane_adjacents) do
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pos_closest_to_door = vector.add(cur_door_pos,v)
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other_side_of_door = vector.add(cur_door_pos,-v)
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table.insert(prospective_wp, cur_door_pos)
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local n = minetest.get_node(pos_closest_to_door)
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if t then
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mcl_log("We have t, lets go from door to target")
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local wp_otherside_door_to_target = minetest.find_path(other_side_of_door, t, PATHFINDING_SEARCH_DISTANCE, 1, 4)
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if n.name == "air" then
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mcl_log("We have air space next to door at: " .. minetest.pos_to_string(pos_closest_to_door))
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prospective_wp = minetest.find_path(p, pos_closest_to_door, PATHFINDING_SEARCH_DISTANCE, 1, 4)
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if prospective_wp then
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mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door))
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mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door))
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table.insert(prospective_wp, cur_door_pos)
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if t then
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mcl_log("We have t, lets go from door to target")
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local wp_otherside_door_to_target = minetest.find_path(other_side_of_door, t, PATHFINDING_SEARCH_DISTANCE, 1, 4)
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if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then
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append_paths (prospective_wp, wp_otherside_door_to_target)
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wp = prospective_wp
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mcl_log("We have a path from outside door to target")
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else
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mcl_log("We cannot path from outside door to target")
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end
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if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then
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append_paths (prospective_wp, wp_otherside_door_to_target)
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mcl_log("We have a path from outside door to target")
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return generate_enriched_path(prospective_wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
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else
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mcl_log("No t, just add other side of door")
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table.insert(prospective_wp, other_side_of_door)
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wp = prospective_wp
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end
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if wp then
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enriched_path = generate_enriched_path(wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
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break
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mcl_log("We cannot path from outside door to target")
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end
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else
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mcl_log("Cannot path to this air block next to door.")
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mcl_log("No t, just add other side of door")
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table.insert(prospective_wp, other_side_of_door)
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return generate_enriched_path(prospective_wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
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end
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else
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mcl_log("Cannot path to this air block next to door.")
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end
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end
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else
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mcl_log("No door found")
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end
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if wp and not enriched_path then
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mcl_log("Wp but not enriched")
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enriched_path = generate_enriched_path(wp)
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end
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return enriched_path
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end
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-- we treat ignore as solid, as we cannot path there
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@ -198,7 +165,7 @@ end
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local function find_open_node(pos, radius)
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local r = vector.round(pos)
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if not is_solid(r) then return r end
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local above = vector.offset(pos, 0, 1, 0)
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local above = vector.offset(r, 0, 1, 0)
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if not is_solid(above) then return above, true end -- additional return: drop last
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local n = minetest.find_node_near(pos, radius or 1, {"air"})
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if n then return n end
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@ -233,15 +200,15 @@ function mob_class:gopath(target, callback_arrived, prioritised)
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if not wp then
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mcl_log("### No direct path. Path through door closest to target.")
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local door_near_target = minetest.find_node_near(target, 16, {"group:door"})
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local below = vector.offset(door_near_target, 0, -1, 0)
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if minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_near_target = below end
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local below = door_near_target and vector.offset(door_near_target, 0, -1, 0)
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if below and minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_near_target = below end
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wp = calculate_path_through_door(p, door_near_target, t)
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if not wp then
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mcl_log("### No path though door closest to target. Try door closest to origin.")
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local door_closest = minetest.find_node_near(p, 16, {"group:door"})
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local below = vector.offset(door_closest, 0, -1, 0)
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if minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_closest = below end
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local below = door_closest and vector.offset(door_closest, 0, -1, 0)
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if below and minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_closest = below end
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wp = calculate_path_through_door(p, door_closest, t)
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-- Path through 2 doors
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@ -298,8 +265,18 @@ function mob_class:gopath(target, callback_arrived, prioritised)
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-- fence or wall underneath?
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local bdef = minetest.registered_nodes[minetest.get_node(vector.offset(wp[i].pos, 0, -1, 0)).name]
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if not bdef then minetest.log("warning", "There must not be unknown nodes on path") end
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-- carpets are fine
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if bdef and (bdef.groups.carpet or 0) > 0 then
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wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
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-- target bottom of door
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elseif bdef and (bdef.groups.door or 0) > 0 then
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wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
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-- not walkable?
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elseif bdef and not bdef.walkable then
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wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
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i = i - 1
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-- plan opening fence gates
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if bdef and (bdef.groups.fence_gate or 0) > 0 then
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elseif bdef and (bdef.groups.fence_gate or 0) > 0 then
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wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
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wp[math.max(1,i-1)].action = {type = "door", action = "open", target = wp[i].pos}
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if i+1 < #wp then
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@ -317,26 +294,33 @@ function mob_class:gopath(target, callback_arrived, prioritised)
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end
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j = j + 1
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end
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minetest.log("warning", bdef.name .. " at "..tostring(i).." end at "..(j <= #wp and tostring(j) or "nil"))
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-- minetest.log("warning", bdef.name .. " at "..tostring(i).." end at "..(j <= #wp and tostring(j) or "nil"))
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if j <= #wp and wp[i-1].pos.y == wp[j].pos.y then
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local swp = minetest.find_path(wp[i-1].pos, wp[j].pos, PATHFINDING_SEARCH_DISTANCE, 0, 0)
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-- TODO: if we do not find a path here, consider pathing through a fence gate!
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if swp and #swp > 0 then
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for k = j-1,i,-1 do table.remove(wp, k) end
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for k = 2, #swp-1 do table.insert(wp, i-2+k, {pos = swp[k], failed_attempts = 0}) end
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minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." successful.")
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--minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." successful.")
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i = i + #swp - 4
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else
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minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." failed.")
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--minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." failed.")
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end
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end
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end
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i = i + 1
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end
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end
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if wp and drop_last_wp and vector.equals(wp[#wp], t) then table.remove(wp, #wp) end
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if wp and #wp > 0 then
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if visualize then
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for i = 1,#wp do
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core.add_particle({pos = wp[i].pos, expirationtime=3+i/3, size=3+2/i, velocity=vector.new(0,-0.02,0),
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texture="mcl_copper_anti_oxidation_particle.png"}) -- white stars
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end
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end
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--output_table(wp)
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if drop_last_wp and #wp > 1 then table.remove(wp, #wp) end
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self._target = t
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self.callback_arrived = callback_arrived
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self.current_target = table.remove(wp,1)
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