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Merge pull request 'Villagers and pathfinding improvements' (#3083) from village_town_bell_pathfix into master

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Reviewed-on: https://git.minetest.land/MineClone2/MineClone2/pulls/3083
Reviewed-by: Michieal <michieal@noreply.git.minetest.land>
This commit is contained in:
ancientmarinerdev 2023-01-06 02:59:48 +00:00
commit 00c4ecf643
2 changed files with 254 additions and 157 deletions
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246
mods/ENTITIES/mcl_mobs/pathfinding.lua
View file

@ -1,11 +1,24 @@
local math, vector, minetest, mcl_mobs = math, vector, minetest, mcl_mobs
local mob_class = mcl_mobs.mob_class
local LOGGING_ON = minetest.settings:get_bool("mcl_logging_mobs_villager",false)
local PATHFINDING = "gowp"
local enable_pathfinding = true
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 LOG_MODULE = "[Mobs]"
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)
@ -21,7 +34,7 @@ function output_table (wp)
end
function append_paths (wp1, wp2)
mcl_log("Start append")
--mcl_log("Start append")
if not wp1 or not wp2 then
mcl_log("Cannot append wp's")
return
@ -31,7 +44,7 @@ function append_paths (wp1, wp2)
for _,a in pairs (wp2) do
table.insert(wp1, a)
end
mcl_log("End append")
--mcl_log("End append")
end
local function output_enriched (wp_out)
@ -43,11 +56,12 @@ local function output_enriched (wp_out)
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"])
--mcl_log("failed attempts: " .. outy["failed_attempts"])
end
end
@ -56,34 +70,26 @@ end
-- 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 one_down = vector.new(0,-1,0)
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"}
action = {}
action["type"] = "door"
action["action"] = "open"
action["target"] = cur_door_pos
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 = "closed"}
action = {}
action["type"] = "door"
action["action"] = "close"
action["target"] = cur_door_pos
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)
action = {}
action["type"] = "door"
action["action"] = "open"
action["target"] = cur_door_pos
else
cur_pos_to_add = cur_pos
--mcl_log ("Pos doesn't match")
@ -101,106 +107,156 @@ local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_
return wp_out
end
local plane_adjacents = {
vector.new(1,0,0),
vector.new(-1,0,0),
vector.new(0,0,1),
vector.new(0,0,-1),
}
function mob_class:ready_to_path()
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
mcl_log("We are ready to pathfind, no previous fail or we are past threshold")
return true
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, t, target)
-- target is the same as t, just 1 square difference. Maybe we don't need target
mcl_log("Plot route from mob: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t))
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 cur_door_pos = nil
local pos_closest_to_door = nil
local other_side_of_door = nil
--Path to door first
local wp = minetest.find_path(p,t,150,1,4)
if not wp then
mcl_log("No direct path. Path through door")
if cur_door_pos then
mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos))
-- This could improve. There could be multiple doors. Check you can path from door to target first.
local cur_door_pos = minetest.find_node_near(target,16,{"group:door"})
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)
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
wp = minetest.find_path(p,pos_closest_to_door,150,1,4)
if wp then
mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door))
other_side_of_door = vector.add(cur_door_pos,-v)
mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door))
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,150,1,4)
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,150,1,4)
if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then
table.insert(wp, cur_door_pos)
append_paths (wp, wp_otherside_door_to_target)
enriched_path = generate_enriched_path(wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
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
break
else
mcl_log("This block next to door doesn't work.")
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("Block is not air, it is: ".. n.name)
mcl_log("Cannot path to this air block next to door.")
end
end
else
mcl_log("No door found")
end
else
mcl_log("We have a direct route")
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
local gopath_last = os.time()
function mob_class:gopath(target,callback_arrived)
if self.state == PATHFINDING then mcl_log("Already pathfinding, don't set another until done.") return end
if self._pf_last_failed and (os.time() - self._pf_last_failed) < 30 then
mcl_log("We are not ready to path as last fail is less than threshold: " .. (os.time() - self._pf_last_failed))
return
else
mcl_log("We are ready to pathfind, no previous fail or we are past threshold")
end
--if os.time() - gopath_last < 5 then
-- mcl_log("Not ready to path yet")
-- return
--end
--gopath_last = os.time()
if not self:ready_to_path() then return end
self.order = nil
local p = self.object:get_pos()
local t = vector.offset(target,0,1,0)
local wp = calculate_path_through_door(p, t, target)
--Check direct route
local wp = minetest.find_path(p,t,150,1,4)
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()
-- Cover for a flaw in pathfind where it chooses the wrong door and gets stuck. Take a break, allow others.
-- If cannot path, don't immediately try again
end
--output_table(wp)
if wp and #wp > 0 then
--output_table(wp)
self._target = t
self.callback_arrived = callback_arrived
local current_location = table.remove(wp,1)
@ -269,17 +325,7 @@ function mob_class:do_pathfind_action(action)
end
end
local gowp_etime = 0
function mob_class:check_gowp(dtime)
gowp_etime = gowp_etime + dtime
-- 0.1 is optimal.
--less frequently = villager will get sent back after passing a point.
--more frequently = villager will fail points they shouldn't they just didn't get there yet
--if gowp_etime < 0.05 then return end
--gowp_etime = 0
local p = self.object:get_pos()
-- no destination
@ -292,7 +338,7 @@ function mob_class:check_gowp(dtime)
-- 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 < 2 then
if distance_to_targ < 1.8 then
mcl_log("Arrived at _target")
self.waypoints = nil
self._target = nil
@ -303,6 +349,8 @@ function mob_class:check_gowp(dtime)
self.object:set_acceleration({x = 0, y = 0, z = 0})
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
@ -315,7 +363,7 @@ function mob_class:check_gowp(dtime)
-- 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 < 0.9 ) then
-- We have waypoints, and no current target, or we're at it. We need a new current_target.
-- 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"]
@ -325,10 +373,11 @@ function mob_class:check_gowp(dtime)
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. Potentially last waypoint to go to.
-- 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 >= 50 then
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
@ -348,9 +397,22 @@ function mob_class:check_gowp(dtime)
-- 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,150,1,4)
if final_wp then
mcl_log("We might be able to get to target here.")
mcl_log("We can get to target here.")
-- self.waypoints = final_wp
self:go_to_pos(self._target)
else
@ -374,9 +436,9 @@ function mob_class:check_gowp(dtime)
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

165
mods/ENTITIES/mobs_mc/villager.lua
View file

@ -641,7 +641,7 @@ function get_activity(tod)
else
activity = "chill"
end
mcl_log("Time is " .. tod ..". Activity is: ".. activity)
--mcl_log("Time is " .. tod ..". Activity is: ".. activity)
return activity
end
@ -770,7 +770,7 @@ local function check_bed (entity)
local n = minetest.get_node(b)
local is_bed_bottom = string.find(n.name,"_bottom")
mcl_log("" .. tostring(is_bed_bottom))
--mcl_log("is bed bottom: " .. tostring(is_bed_bottom))
if n and not is_bed_bottom then
mcl_log("Where did my bed go?!")
entity._bed = nil --the stormtroopers have killed uncle owen
@ -836,6 +836,7 @@ end
local function take_bed (entity)
if not entity then return end
if not entity:ready_to_path() then return end
local p = entity.object:get_pos()
@ -1059,9 +1060,9 @@ local function look_for_job(self, requested_jobsites)
end
local function get_a_job(self)
if self.order == WORK then self.order = nil end
if not self:ready_to_path() then return end
mcl_log("I'm unemployed or lost my job block and have traded. Can I get a job?")
@ -1135,68 +1136,85 @@ local function validate_jobsite(self)
end
local function do_work (self)
--debug_trades(self)
if self.child then
mcl_log("A child so don't send to work")
if not self or self.child then
mcl_log("No self, or a child so don't work")
return
end
--mcl_log("Time for work")
local jobsite_node = retrieve_my_jobsite (self)
-- Don't try if looking_for_work, or gowp possibly
if validate_jobsite(self) then
--mcl_log("My jobsite is valid. Do i need to travel?")
local jobsite2 = retrieve_my_jobsite (self)
if jobsite_node then
local jobsite = self._jobsite
if self and jobsite2 and self._jobsite then
local distance_to_jobsite = vector.distance(self.object:get_pos(),self._jobsite)
--mcl_log("Villager: ".. minetest.pos_to_string(self.object:get_pos()) .. ", jobsite: " .. minetest.pos_to_string(self._jobsite) .. ", distance to jobsite: ".. distance_to_jobsite)
local distance_to_jobsite = vector.distance(self.object:get_pos(), jobsite)
--mcl_log("Villager: ".. minetest.pos_to_string(self.object:get_pos()) .. ", jobsite: " .. minetest.pos_to_string(self._jobsite) .. ", distance to jobsite: ".. distance_to_jobsite)
if distance_to_jobsite < 2 then
if self.state ~= PATHFINDING and self.order ~= WORK then
mcl_log("Setting order to work.")
self.order = WORK
unlock_trades(self)
else
--mcl_log("Still pathfinding.")
end
if distance_to_jobsite < 2 then
if self.state ~= PATHFINDING and self.order ~= WORK then
mcl_log("Setting order to work.")
self.order = WORK
unlock_trades(self)
else
mcl_log("Not at job block. Need to commute.")
if self.order == WORK then
self.order = nil
return
end
self:gopath(jobsite, function(self,jobsite)
if not self then
--mcl_log("missing self. not good")
return false
end
if not self._jobsite then
--mcl_log("Jobsite not valid")
return false
end
if vector.distance(self.object:get_pos(),self._jobsite) < 2 then
--mcl_log("Made it to work ok callback!")
return true
else
--mcl_log("Need to walk to work. Not sure we can get here.")
end
end)
--mcl_log("Still pathfinding.")
end
else
mcl_log("Not at job block. Need to commute.")
if self.order == WORK then
self.order = nil
return
end
self:gopath(jobsite, function(self, jobsite)
if not self then
--mcl_log("missing self. not good")
return false
end
if not self._jobsite then
--mcl_log("Jobsite not valid")
return false
end
if vector.distance(self.object:get_pos(),self._jobsite) < 2 then
--mcl_log("Made it to work ok callback!")
return true
else
--mcl_log("Need to walk to work. Not sure we can get here.")
end
end)
end
elseif self._profession == "unemployed" or has_traded(self) then
get_a_job(self)
end
end
local below_vec = vector.new(0, -1, 0)
local function get_ground_below_floating_object (float_pos)
local pos = float_pos
repeat
mcl_log("Current pos: " .. minetest.pos_to_string(pos))
pos = vector.add(pos, below_vec)
local node = minetest.get_node(pos)
mcl_log("First non air materials: ".. tostring(node.name))
until node.name ~= "air"
-- If pos is 1 below float_pos, then just return float_pos as there is no air below it
if pos.y == float_pos.y - 1 then
--mcl_log("pos is only 1 lower than float pos so no air below")
return float_pos
else
--mcl_log("pos is more than 1 lower than float pos so air is below")
return pos
end
return pos
end
local function go_to_town_bell(self)
if self.order == GATHERING then
mcl_log("Already gathering")
return
else
mcl_log("Current order" .. self.order)
end
if self.order == GATHERING then return
else mcl_log("Current order" .. self.order) end
if not self:ready_to_path() then return end
mcl_log("Go to town bell")
local looking_for_type={}
@ -1208,8 +1226,9 @@ local function go_to_town_bell(self)
--Ideally should check for closest available. It'll make pathing easier.
for _,n in pairs(nn) do
mcl_log("Found bell")
local target_point = get_ground_below_floating_object(n)
local gp = self:gopath(n,function(self)
local gp = self:gopath(target_point,function(self)
if self then
self.order = GATHERING
mcl_log("Callback has a self")
@ -1277,22 +1296,45 @@ local function validate_bed(self)
end
local function do_activity (self)
-- Maybe just check we're pathfinding first?
if self.following then
mcl_log("Following, so do not do activity.")
return
end
if self.state == PATHFINDING then
mcl_log("Pathfinding, so do not do activity.")
return
end
if not validate_bed(self) and self.state ~= PATHFINDING then
local jobsite_valid = false
if not mcl_beds.is_night() then
if self.order == SLEEP then self.order = nil end
mcl_log("Villager has no bed. Currently at location: "..minetest.pos_to_string(self.object:get_pos()))
take_bed (self)
if not validate_jobsite(self) then
--debug_trades(self)
if self._profession == "unemployed" or has_traded(self) then
get_a_job(self)
return
end
else
jobsite_valid = true
--mcl_log("My jobsite is valid. Do i need to travel?")
end
else
if self.order == WORK then self.order = nil end
if not validate_bed(self) then
if self.order == SLEEP then self.order = nil end
mcl_log("Villager at this location has no bed: " .. minetest.pos_to_string(self.object:get_pos()))
take_bed (self)
end
end
-- Only check in day or during thunderstorm but wandered_too_far code won't work
local wandered_too_far = false
if check_bed (self) then
wandered_too_far = ( self.state ~= PATHFINDING ) and (vector.distance(self.object:get_pos(),self._bed) > 50 )
wandered_too_far = vector.distance(self.object:get_pos(),self._bed) > 50
end
if wandered_too_far then
@ -1300,7 +1342,7 @@ local function do_activity (self)
go_home(self, false)
elseif get_activity() == SLEEP then
go_home(self, true)
elseif get_activity() == WORK then
elseif get_activity() == WORK and jobsite_valid then
do_work(self)
elseif get_activity() == GATHERING then
go_to_town_bell(self)
@ -1309,13 +1351,6 @@ local function do_activity (self)
self.order = nil
end
-- Daytime is work and play time
if not mcl_beds.is_night() then
if self.order == SLEEP then self.order = nil end
else
if self.order == WORK then self.order = nil end
end
end
local function update_max_tradenum(self)