MineClone2/mods/ENTITIES/mcl_mobs/pathfinding.lua
2024-12-01 00:53:42 +01:00

465 lines
16 KiB
Lua

local math, vector, minetest, mcl_mobs = math, vector, minetest, mcl_mobs
local mob_class = mcl_mobs.mob_class
local PATHFINDING_FAIL_THRESHOLD = 100 -- 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 = 50 -- 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 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
mcl_log("Pos ".. i ..":" .. minetest.pos_to_string(outy["pos"]))
local action = outy["action"]
if action then
--mcl_log("Pos ".. i ..":" .. minetest.pos_to_string(outy["pos"]))
mcl_log("type: " .. action["type"])
mcl_log("action: " .. action["action"])
mcl_log("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 = {}
-- TODO Just pass in door position and the index before is open, the index after is close
local current_door_index = -1
for i, cur_pos in pairs(wp_in) do
local action = nil
local cur_pos_to_add = vector.add(cur_pos, one_down)
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}
cur_pos_to_add = vector.add(cur_pos, one_down)
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}
cur_pos_to_add = vector.add(cur_pos, one_down)
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}
cur_pos_to_add = vector.add(cur_pos, one_down)
else
cur_pos_to_add = cur_pos
--mcl_log ("Pos doesn't match")
end
wp_out[i] = {}
wp_out[i]["pos"] = cur_pos_to_add
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
mcl_log("time_since_path_start: " .. tostring(time_since_path_start))
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")
return true
end
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
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
local p = self.object:get_pos()
local t = vector.offset(target,0,1,0)
--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"})
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"})
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 = vector.add(pos_after_door_entry["pos"], one_up)
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
if wp and #wp > 0 then
--output_table(wp)
self._target = t
self.callback_arrived = callback_arrived
local current_location = table.remove(wp,1)
if current_location and current_location["pos"] then
mcl_log("Removing first co-ord? " .. tostring(current_location["pos"]))
else
mcl_log("Nil pos")
end
self.current_target = current_location
self.waypoints = wp
self.state = PATHFINDING
return true
else
self.state = "walk"
self.waypoints = nil
self.current_target = nil
-- minetest.log("no path found")
end
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
mcl_log("Door")
local def = minetest.registered_nodes[n.name]
local closed = n.name:find("_b_1") or n.name:find("_t_1")
--if self.state == PATHFINDING then
if closed and action == "open" and def.on_rightclick then
mcl_log("Open door")
def.on_rightclick(target,n,self)
end
if not closed and action == "close" and def.on_rightclick then
mcl_log("Close door")
def.on_rightclick(target,n,self)
end
--else
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: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))
mcl_log("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*0.25+dz*dz)^0.5 -- reduced weight on y
--distance_to_current_target = vector.distance(p,self.current_target["pos"])
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
if self.waypoints and #self.waypoints > 0 and ( not self.current_target or not self.current_target["pos"] or distance_to_current_target < 0.8 ) 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
if #self.waypoints > 0 then
local curwp, nextwp = self.current_target["pos"], self.waypoints[1]["pos"]
self:go_to_pos(vector.new(curwp.x*0.5+nextwp.x*0.5,curwp.y*0.5+nextwp.y*0.5,curwp.z*0.5+nextwp.z*0.5))
end
self:go_to_pos(self.current_target["pos"])
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. Abandon route. Times tried: " .. failed_attempts)
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
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 > 1.9 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