MineClone2/mods/ENTITIES/mcl_mobs/pathfinding.lua

561 lines
21 KiB
Lua

local math, vector, minetest, mcl_mobs = math, vector, minetest, mcl_mobs
local mob_class = mcl_mobs.mob_class
local PATHFINDING_FAIL_THRESHOLD = 200 -- no. of ticks to fail before giving up. 20p/s. 5s helps them get through door
local PATHFINDING_FAIL_WAIT = 30 -- how long to wait before trying to path again
local PATHING_START_DELAY = 4 -- When doing non-prioritised pathing, how long to wait until last mob pathed
local PATHFINDING_SEARCH_DISTANCE = 25 -- How big the square is that pathfinding will look
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),
vector.new(0,0,1),
vector.new(0,0,-1),
}
local LOGGING_ON = minetest.settings:get_bool("mcl_logging_mobs_pathfinding",false)
local visualize = minetest.settings:get_bool("mcl_mobs_pathfinding_visualize",false)
local LOG_MODULE = "[Mobs Pathfinding]"
local function mcl_log (message)
if LOGGING_ON and message then
minetest.log(LOG_MODULE .. " " .. message)
end
end
function output_table (wp)
if not wp then return end
mcl_log("wp items: ".. tostring(#wp))
for a,b in pairs(wp) do
mcl_log(a.. ": ".. tostring(b))
end
end
function append_paths (wp1, wp2)
--mcl_log("Start append")
if not wp1 or not wp2 then
mcl_log("Cannot append wp's")
return
end
--output_table(wp1)
--output_table(wp2)
for _,a in pairs (wp2) do
table.insert(wp1, a)
end
--mcl_log("End append")
end
local function output_enriched (wp_out)
--mcl_log("Output enriched path")
local i = 0
for _,outy in pairs (wp_out) do
i = i + 1
local action = outy["action"]
if action then
mcl_log("Pos ".. i ..":" .. minetest.pos_to_string(outy["pos"])..", type: " .. action["type"]..", action: " .. action["action"]..", target: " .. minetest.pos_to_string(action["target"]))
end
--mcl_log("failed attempts: " .. outy["failed_attempts"])
end
end
-- This function will take a list of paths, and enrich it with:
-- a var for failed attempts
-- an action, such as to open or close a door where we know that pos requires that action
local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_door_pos)
local wp_out = {}
for i, cur_pos in pairs(wp_in) do
local action = nil
if door_open_pos and vector.equals(cur_pos, door_open_pos) then
mcl_log ("Door open match")
action = {type = "door", action = "open", target = cur_door_pos}
elseif door_close_pos and vector.equals(cur_pos, door_close_pos) then
mcl_log ("Door close match")
action = {type = "door", action = "close", target = cur_door_pos}
elseif cur_door_pos and vector.equals(cur_pos, cur_door_pos) then
mcl_log("Current door pos")
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
wp_out[i]["action"] = action
--wp_out[i] = {"pos" = cur_pos, "failed_attempts" = 0, "action" = action}
--output_pos(cur_pos, i)
end
output_enriched(wp_out)
return wp_out
end
local last_pathing_time = os.time()
function mob_class:ready_to_path(prioritised)
-- mcl_log("Check ready to path")
if self._pf_last_failed and (os.time() - self._pf_last_failed) < PATHFINDING_FAIL_WAIT then
-- mcl_log("Not ready to path as last fail is less than threshold: " .. (os.time() - self._pf_last_failed))
return false
else
local time_since_path_start = os.time() - last_pathing_time
if prioritised or (time_since_path_start) > PATHING_START_DELAY then
mcl_log("We are ready to pathfind, no previous fail or we are past threshold: "..tostring(time_since_path_start))
return true
end
mcl_log("time_since_path_start: " .. tostring(time_since_path_start))
end
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 t then
mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t))
else
mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p))
end
local enriched_path = nil
local wp, prospective_wp
local pos_closest_to_door = nil
local other_side_of_door = nil
if cur_door_pos then
mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos))
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)
local n = minetest.get_node(pos_closest_to_door)
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
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
end
else
mcl_log("Cannot path to this air block next to door.")
end
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
local function is_solid(pos)
local ndef = minetest.registered_nodes[minetest.get_node(pos).name]
return (not ndef) or ndef.walkable
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)
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
return nil
end
function mob_class:gopath(target, callback_arrived, prioritised)
if self.state == PATHFINDING then mcl_log("Already pathfinding, don't set another until done.") return end
if not self:ready_to_path(prioritised) then return end
last_pathing_time = os.time()
self.order = nil
-- maybe feet are buried in solid?
local start = self.object:get_pos()
local p = find_open_node(start, 1)
if not p then -- buried?
minetest.log("action", "Cannot path from "..minetest.pos_to_string(start).." because it is solid. Nodetype: "..minetest.get_node(start).name)
return
end
-- target might be a job-site that is solid
local t, drop_last_wp = find_open_node(target, 1)
if not t then
minetest.log("action", "Cannot path to "..minetest.pos_to_string(target).." because it is solid. Nodetype: "..minetest.get_node(target).name)
return
end
--Check direct route
local wp = minetest.find_path(p, t, PATHFINDING_SEARCH_DISTANCE, 1, 4)
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
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
wp = calculate_path_through_door(p, door_closest, t)
-- Path through 2 doors
if not wp then
mcl_log("### Still not wp. Need to path through 2 doors.")
local path_through_closest_door = calculate_path_through_door(p, door_closest)
if path_through_closest_door and #path_through_closest_door > 0 then
mcl_log("We have path through first door")
mcl_log("Number of pos in path through door: " .. tostring(#path_through_closest_door))
local pos_after_door_entry = path_through_closest_door[#path_through_closest_door]
if pos_after_door_entry then
local pos_after_door = pos_after_door_entry["pos"]
mcl_log("pos_after_door: " .. minetest.pos_to_string(pos_after_door))
local path_after_door = calculate_path_through_door(pos_after_door, door_near_target, t)
if path_after_door and #path_after_door > 1 then
mcl_log("We have path after first door")
table.remove(path_after_door, 1) -- Remove duplicate
wp = path_through_closest_door
append_paths (wp, path_after_door)
else
mcl_log("Path after door is not good")
end
else
mcl_log("No pos after door")
end
else
mcl_log("Path through closest door empty or null")
end
else
mcl_log("ok, we have a path through 1 door")
end
end
else
wp = generate_enriched_path(wp)
mcl_log("We have a direct route")
end
if not wp then
mcl_log("Could not calculate path")
self._pf_last_failed = os.time()
-- If cannot path, don't immediately try again
end
-- todo: we would also need to avoid overhangs, but minetest.find_path cannot help us there
-- we really need a better pathfinder overall.
-- try to find a way around fences and walls. This is very barebones, but at least it should
-- help path around very simple fences *IF* there is a detour that does not require jumping or gates.
if wp and #wp > 0 then
local i = 1
while i < #wp do
-- 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
-- plan opening fence gates
if 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
wp[i+1].action = {type = "door", action = "close", target = wp[i].pos}
end
-- do not jump on fences and walls, but try to walk around
elseif bdef and i > 1 and ((bdef.groups.fence or 0) > 0 or (bdef.groups.wall or 0) > 0) and wp[i].pos.y > wp[i-1].pos.y then
-- find end of wall(s)
local j = i + 1
while j <= #wp do
local below = vector.offset(wp[j].pos, 0, -1, 0)
local bdef = minetest.registered_nodes[minetest.get_node(below).name]
if not bdef or ((bdef.groups.fence or 0) == 0 and (bdef.groups.wall or 0) == 0) then
break
end
j = j + 1
end
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.")
i = i + #swp - 4
else
minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." failed.")
end
end
end
i = i + 1
end
end
if wp and #wp > 0 then
--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)
while self.current_target and self.current_target.pos and vector.distance(p, self.current_target.pos) < 0.5 do
--mcl_log("Skipping close initial waypoint")
self.current_target = table.remove(wp,1)
end
if self.current_target and self.current_target.pos then
self:turn_in_direction(self.current_target.pos.x - p.x, self.current_target.pos.z - p.z, 2)
self.waypoints = wp
self.state = PATHFINDING
return true
end
end
self:turn_in_direction(target.x - p.x, target.z - p.z, 4)
self.state = "walk"
self.waypoints = nil
self.current_target = nil
--minetest.log("no path found")
end
function mob_class:interact_with_door(action, target)
local p = self.object:get_pos()
--local t = minetest.get_timeofday()
--local dd = minetest.find_nodes_in_area(vector.offset(p,-1,-1,-1),vector.offset(p,1,1,1),{"group:door"})
--for _,d in pairs(dd) do
if target then
mcl_log("Door target is: ".. minetest.pos_to_string(target))
local n = minetest.get_node(target)
if n.name:find("_b_") or n.name:find("_t_") then
local def = minetest.registered_nodes[n.name]
local meta = minetest.get_meta(target)
local closed = meta:get_int("is_open") == 0
if closed and action == "open" and def.on_rightclick then
mcl_log("Open door")
def.on_rightclick(target,n,self)
elseif not closed and action == "close" and def.on_rightclick then
mcl_log("Close door")
def.on_rightclick(target,n,self)
end
elseif n.name:find("_gate") then
local def = minetest.registered_nodes[n.name]
local meta = minetest.get_meta(target)
local closed = meta:get_int("state") == 0
if closed and action == "open" and def.on_rightclick then
mcl_log("Open gate")
def.on_rightclick(target,n,self)
elseif not closed and action == "close" and def.on_rightclick then
mcl_log("Close gate")
def.on_rightclick(target,n,self)
end
else
mcl_log("Not door")
end
else
mcl_log("no target. cannot try and open or close door")
end
--end
end
function mob_class:do_pathfind_action(action)
if action then
mcl_log("Action present")
local type = action["type"]
local action_val = action["action"]
local target = action["target"]
if target then
mcl_log("Target: ".. minetest.pos_to_string(target))
end
if type and type == "door" then
mcl_log("Type is door")
self.object:set_velocity(vector.zero())
self:interact_with_door(action_val, target)
end
end
end
function mob_class:check_gowp(dtime)
local p = self.object:get_pos()
-- no destination
if not p or not self._target then
mcl_log("p: ".. tostring(p)..", self._target: ".. tostring(self._target))
return
end
-- arrived at location, finish gowp
local distance_to_targ = vector.distance(p,self._target)
--mcl_log("Distance to targ: ".. tostring(distance_to_targ))
if distance_to_targ < 1.8 then
mcl_log("Arrived at _target")
self.waypoints = nil
self._target = nil
self.current_target = nil
self.state = "stand"
self.order = "stand"
self.object:set_velocity(vector.zero())
self.object:set_acceleration(vector.zero())
if self.callback_arrived then return self.callback_arrived(self) end
return true
elseif not self.current_target then
mcl_log("Not close enough to targ: ".. tostring(distance_to_targ))
end
-- More pathing to be done
local distance_to_current_target = 50
if self.current_target and self.current_target.pos then
local dx, dy, dz = self.current_target.pos.x-p.x, self.current_target.pos.y-p.y, self.current_target.pos.z-p.z
distance_to_current_target = (dx*dx+dy*dy*0.5+dz*dz)^0.5 -- reduced weight on y
--distance_to_current_target = vector.distance(p,self.current_target.pos)
end
-- also check next target, maybe we were too fast
local next_target = #self.waypoints > 1 and self.waypoints[1]
if not self.current_target["action"] and next_target and next_target.pos and distance_to_current_target < 1.5 then
local dx, dy, dz = next_target.pos.x-p.x, next_target.pos.y-p.y, next_target.pos.z-p.z
local distance_to_next_target = (dx*dx+dy*dy*0.5+dz*dz)^0.5 -- reduced weight on y
if distance_to_next_target < distance_to_current_target then
mcl_log("Skipped one waypoint.")
self.current_target = table.remove(self.waypoints, 1) -- pop waypoint already
distance_to_current_target = distance_to_next_target
end
end
-- debugging tool
if visualize and self.current_target and self.current_target.pos then
core.add_particle({pos = self.current_target.pos, expirationtime=.1, size=3, velocity=vector.new(0,-0.2,0), texture="mcl_particles_flame.png"})
end
-- 0.6 is working but too sensitive. sends villager back too frequently. 0.7 is quite good, but not with heights
-- 0.8 is optimal for 0.025 frequency checks and also 1... Actually. 0.8 is winning
-- 0.9 and 1.0 is also good. Stick with unless door open or closing issues
local threshold = self.current_target["action"] and 0.7 or 0.9
if self.waypoints and #self.waypoints > 0 and ( not self.current_target or not self.current_target.pos or distance_to_current_target < threshold ) then
-- We have waypoints, and are at current_target or have no current target. We need a new current_target.
self:do_pathfind_action (self.current_target["action"])
local failed_attempts = self.current_target["failed_attempts"]
mcl_log("There after " .. failed_attempts .. " failed attempts. current target:".. minetest.pos_to_string(self.current_target.pos) .. ". Distance: " .. distance_to_current_target)
self.current_target = table.remove(self.waypoints, 1)
-- use smoothing -- TODO: check for blockers before cutting corners?
if #self.waypoints > 0 and not self.current_target["action"] then
local curwp, nextwp = self.current_target.pos, self.waypoints[1].pos
self:go_to_pos(vector.new(curwp.x*0.7+nextwp.x*0.3,curwp.y,curwp.z*0.7+nextwp.z*0.3))
return
end
self:go_to_pos(self.current_target.pos)
--if self.current_target["action"] then self:set_velocity(self.walk_velocity * 0.5) end
return
elseif self.current_target and self.current_target.pos then
-- No waypoints left, but have current target and not close enough. Potentially last waypoint to go to.
self.current_target["failed_attempts"] = self.current_target["failed_attempts"] + 1
local failed_attempts = self.current_target["failed_attempts"]
if failed_attempts >= PATHFINDING_FAIL_THRESHOLD then
mcl_log("Failed to reach position " .. minetest.pos_to_string(self.current_target.pos) .. " too many times. At: "..minetest.pos_to_string(p).." Abandon route. Times tried: " .. failed_attempts .. " current distance "..distance_to_current_target)
self.state = "stand"
self.current_target = nil
self.waypoints = nil
self._target = nil
self._pf_last_failed = os.time()
self.object:set_velocity(vector.zero())
self.object:set_acceleration(vector.zero())
return
end
--mcl_log("Not at pos with failed attempts ".. failed_attempts ..": ".. minetest.pos_to_string(p) .. "self.current_target: ".. minetest.pos_to_string(self.current_target.pos) .. ". Distance: ".. distance_to_current_target)
self:go_to_pos(self.current_target["pos"])
-- Do i just delete current_target, and return so we can find final path.
else
-- Not at target, no current waypoints or current_target. Through the door and should be able to path to target.
-- Is a little sensitive and could take 1 - 7 times. A 10 fail count might be a good exit condition.
mcl_log("We don't have waypoints or a current target. Let's try to path to target")
if self.waypoints then
mcl_log("WP: " .. tostring(self.waypoints))
mcl_log("WP num: " .. tostring(#self.waypoints))
else
mcl_log("No wp set")
end
if self.current_target then
mcl_log("Current target: " .. tostring(self.current_target))
else
mcl_log("No current target")
end
local final_wp = minetest.find_path(p, self._target, PATHFINDING_SEARCH_DISTANCE, 1, 4)
if final_wp then
mcl_log("We can get to target here.")
-- self.waypoints = final_wp
self:go_to_pos(self._target)
else
-- Abandon route?
mcl_log("Cannot plot final route to target")
end
end
-- I don't think we need the following anymore, but test first.
-- Maybe just need something to path to target if no waypoints left
--[[ ok, let's try
if self.current_target and self.current_target["pos"] and (self.waypoints and #self.waypoints == 0) then
local updated_p = self.object:get_pos()
local distance_to_cur_targ = vector.distance(updated_p,self.current_target["pos"])
mcl_log("Distance to current target: ".. tostring(distance_to_cur_targ))
mcl_log("Current p: ".. minetest.pos_to_string(updated_p))
-- 1.6 is good. is 1.9 better? It could fail less, but will it path to door when it isn't after door
if distance_to_cur_targ > 1.6 then
mcl_log("not close to current target: ".. minetest.pos_to_string(self.current_target["pos"]))
self:go_to_pos(self._current_target)
else
mcl_log("close to current target: ".. minetest.pos_to_string(self.current_target["pos"]))
mcl_log("target is: ".. minetest.pos_to_string(self._target))
self.current_target = nil
end
return
end
--]]--
end