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https://git.minetest.land/VoxeLibre/VoxeLibre.git
synced 2025-01-03 13:49:32 +01:00
pathfinding improvements
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kno10
parent
230cd5154c
commit
f377f97348
4 changed files with 58 additions and 40 deletions
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@ -18,7 +18,6 @@ local sin = math.sin
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local cos = math.cos
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local abs = math.abs
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local floor = math.floor
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local atan2 = math.atan2
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local PI = math.pi
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local TWOPI = 2 * math.pi
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local HALFPI = 0.5 * math.pi
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@ -662,8 +661,8 @@ function mob_class:go_to_pos(b)
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if not self then return end
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if not b then return end
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local s = self.object:get_pos()
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if vector_distance(b,s) < .5 then return true end
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if b.y > s.y then self:do_jump() end
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if vector_distance(b,s) < .4 then return true end
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if b.y > s.y + 0.2 then self:do_jump() end
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self:turn_in_direction(b.x - s.x, b.z - s.z, 2)
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self:set_velocity(self.walk_velocity)
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self:set_animation("walk")
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@ -1,11 +1,11 @@
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local math, vector, minetest, mcl_mobs = math, vector, minetest, mcl_mobs
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local mob_class = mcl_mobs.mob_class
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local PATHFINDING_FAIL_THRESHOLD = 100 -- no. of ticks to fail before giving up. 20p/s. 5s helps them get through door
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local PATHFINDING_FAIL_THRESHOLD = 200 -- no. of ticks to fail before giving up. 20p/s. 5s helps them get through door
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local PATHFINDING_FAIL_WAIT = 30 -- how long to wait before trying to path again
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local PATHING_START_DELAY = 4 -- When doing non-prioritised pathing, how long to wait until last mob pathed
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local PATHFINDING_SEARCH_DISTANCE = 50 -- How big the square is that pathfinding will look
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local PATHFINDING_SEARCH_DISTANCE = 25 -- How big the square is that pathfinding will look
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local PATHFINDING = "gowp"
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@ -20,6 +20,7 @@ local plane_adjacents = {
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}
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local LOGGING_ON = minetest.settings:get_bool("mcl_logging_mobs_pathfinding",false)
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local visualize = minetest.settings:get_bool("mcl_mobs_pathfinding_visualize",false)
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local LOG_MODULE = "[Mobs Pathfinding]"
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local function mcl_log (message)
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@ -75,7 +76,7 @@ local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_
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for i, cur_pos in pairs(wp_in) do
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local action = nil
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local cur_pos_to_add = vector.add(cur_pos, one_down)
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local cur_pos_to_add -- = vector.add(cur_pos, one_down)
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if door_open_pos and vector.equals (cur_pos, door_open_pos) then
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mcl_log ("Door open match")
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action = {type = "door", action = "open", target = cur_door_pos}
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@ -93,6 +94,11 @@ local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_
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--mcl_log ("Pos doesn't match")
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end
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if visualize then
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core.add_particle({pos = cur_pos_to_add, 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_to_add
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wp_out[i]["failed_attempts"] = 0
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@ -204,8 +210,8 @@ function mob_class:gopath(target, callback_arrived, prioritised)
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self.order = nil
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local p = self.object:get_pos()
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local t = vector.offset(target,0,1,0)
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local p = vector.round(self.object:get_pos())
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local t = vector.round(vector.offset(target,0,1,0))
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--Check direct route
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local wp = minetest.find_path(p, t, PATHFINDING_SEARCH_DISTANCE, 1, 4)
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@ -231,7 +237,7 @@ function mob_class:gopath(target, callback_arrived, prioritised)
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local pos_after_door_entry = path_through_closest_door[#path_through_closest_door]
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if pos_after_door_entry then
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local pos_after_door = vector.add(pos_after_door_entry["pos"], one_up)
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local pos_after_door = pos_after_door_entry["pos"]
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mcl_log("pos_after_door: " .. minetest.pos_to_string(pos_after_door))
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local path_after_door = calculate_path_through_door(pos_after_door, door_near_target, t)
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if path_after_door and #path_after_door > 1 then
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@ -268,15 +274,22 @@ function mob_class:gopath(target, callback_arrived, prioritised)
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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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self.waypoints = wp
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self.state = PATHFINDING
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return true
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else
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self.state = "walk"
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self.waypoints = nil
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self.current_target = nil
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-- minetest.log("no path found")
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while self.current_target and self.current_target.pos and vector.distance(p, self.current_target.pos) < 0.5 do
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--mcl_log("Skipping close initial waypoint")
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self.current_target = table.remove(wp,1)
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end
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if self.current_target and self.current_target.pos then
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self:turn_in_direction(self.current_target.pos.x - p.x, self.current_target.pos.z - p.z, 2)
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self.waypoints = wp
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self.state = PATHFINDING
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return true
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end
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end
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self:turn_in_direction(target.x - p.x, target.z - p.z, 4)
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self.state = "walk"
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self.waypoints = nil
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self.current_target = nil
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--minetest.log("no path found")
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end
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function mob_class:interact_with_door(action, target)
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@ -355,53 +368,55 @@ function mob_class:check_gowp(dtime)
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-- More pathing to be done
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local distance_to_current_target = 50
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if self.current_target and self.current_target["pos"] then
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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
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distance_to_current_target = (dx*dx+dy*dy*0.25+dz*dz)^0.5 -- reduced weight on y
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--distance_to_current_target = vector.distance(p,self.current_target["pos"])
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if self.current_target and self.current_target.pos then
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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
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distance_to_current_target = (dx*dx+dy*dy*0.5+dz*dz)^0.5 -- reduced weight on y
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--distance_to_current_target = vector.distance(p,self.current_target.pos)
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end
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-- also check next target, maybe we were too fast
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local next_target = #self.waypoints > 1 and self.waypoints[1]
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if not self.current_target["action"] and next_target and next_target["pos"] and distance_to_current_target < 1.5 then
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local dx, dy, dz = next_target["pos"].x-p.x, next_target["pos"].y-p.y, next_target["pos"].z-p.z
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local distance_to_next_target = (dx*dx+dy*dy*0.25+dz*dz)^0.5 -- reduced weight on y
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if not self.current_target["action"] and next_target and next_target.pos and distance_to_current_target < 1.5 then
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local dx, dy, dz = next_target.pos.x-p.x, next_target.pos.y-p.y, next_target.pos.z-p.z
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local distance_to_next_target = (dx*dx+dy*dy*0.5+dz*dz)^0.5 -- reduced weight on y
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if distance_to_next_target < distance_to_current_target then
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mcl_log("Skipped one waypoint.")
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self.current_target = table.remove(self.waypoints, 1) -- pop waypoint already
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distance_to_current_target = distance_to_next_target
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end
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end
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-- debugging tool
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if visualize and self.current_target and self.current_target.pos then
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core.add_particle({pos = self.current_target.pos, expirationtime=.1, size=3, velocity=vector.new(0,-0.2,0), texture="mcl_particles_flame.png"})
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end
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-- 0.6 is working but too sensitive. sends villager back too frequently. 0.7 is quite good, but not with heights
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-- 0.8 is optimal for 0.025 frequency checks and also 1... Actually. 0.8 is winning
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-- 0.9 and 1.0 is also good. Stick with unless door open or closing issues
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local threshold = self.current_target["action"] and 0.8 or 1.2
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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
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local threshold = self.current_target["action"] and 0.7 or 0.9
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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
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-- We have waypoints, and are at current_target or have no current target. We need a new current_target.
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self:do_pathfind_action (self.current_target["action"])
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local failed_attempts = self.current_target["failed_attempts"]
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mcl_log("There after " .. failed_attempts .. " failed attempts. current target:".. minetest.pos_to_string(self.current_target["pos"]) .. ". Distance: " .. distance_to_current_target)
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mcl_log("There after " .. failed_attempts .. " failed attempts. current target:".. minetest.pos_to_string(self.current_target.pos) .. ". Distance: " .. distance_to_current_target)
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self.current_target = table.remove(self.waypoints, 1)
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-- use smoothing
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--[[if #self.waypoints > 0 and not self.current_target["action"] then
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local curwp, nextwp = self.current_target["pos"], self.waypoints[1]["pos"]
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-- use smoothing -- TODO: check for blockers before cutting corners?
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if #self.waypoints > 0 and not self.current_target["action"] then
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local curwp, nextwp = self.current_target.pos, self.waypoints[1].pos
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self:go_to_pos(vector.new(curwp.x*0.7+nextwp.x*0.3,curwp.y,curwp.z*0.7+nextwp.z*0.3))
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return
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end]]--
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self:go_to_pos(self.current_target["pos"])
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if self.current_target["action"] then
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self:set_velocity(self.walk_velocity * 0.25)
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end
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self:go_to_pos(self.current_target.pos)
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--if self.current_target["action"] then self:set_velocity(self.walk_velocity * 0.5) end
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return
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elseif self.current_target and self.current_target["pos"] then
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elseif self.current_target and self.current_target.pos then
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-- No waypoints left, but have current target and not close enough. Potentially last waypoint to go to.
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self.current_target["failed_attempts"] = self.current_target["failed_attempts"] + 1
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local failed_attempts = self.current_target["failed_attempts"]
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if failed_attempts >= PATHFINDING_FAIL_THRESHOLD then
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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)
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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)
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self.state = "stand"
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self.current_target = nil
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self.waypoints = nil
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@ -412,9 +427,8 @@ function mob_class:check_gowp(dtime)
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return
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end
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--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)
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--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)
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self:go_to_pos(self.current_target["pos"])
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self:turn_by((math.random() - 0.5), 2) -- but try turning left or right
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-- Do i just delete current_target, and return so we can find final path.
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else
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-- Not at target, no current waypoints or current_target. Through the door and should be able to path to target.
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@ -447,6 +461,7 @@ function mob_class:check_gowp(dtime)
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-- I don't think we need the following anymore, but test first.
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-- Maybe just need something to path to target if no waypoints left
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--[[ ok, let's try
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if self.current_target and self.current_target["pos"] and (self.waypoints and #self.waypoints == 0) then
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local updated_p = self.object:get_pos()
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local distance_to_cur_targ = vector.distance(updated_p,self.current_target["pos"])
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@ -465,4 +480,5 @@ function mob_class:check_gowp(dtime)
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end
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return
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end
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--]]--
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end
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@ -246,7 +246,7 @@ end
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-- @param dtime deprecated: ignored now, because of smooth rotations
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function mob_class:turn_in_direction(dx, dz, delay, dtime)
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if abs(dx) == 0 and abs(dz) == 0 then return self.object:get_yaw() + self.rotate end
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return self:set_yaw(-atan2(dx, dz) - self.rotate, delay, dtime)
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return self:set_yaw(-atan2(dx, dz) - self.rotate, delay, dtime) + self.rotate
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end
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-- set and return valid yaw
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-- @param dtime deprecated: ignored now, because of smooth rotations
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@ -952,6 +952,9 @@ local function go_home(entity, sleep)
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entity.order = nil
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return
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end
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-- in case pathfinding fails, turn into the right direction anyways
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local p = entity.object:get_pos()
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entity:turn_in_direction(b.x - p.x, b.z - p.z, 8)
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entity:gopath(b,function(entity,b)
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local b = entity._bed
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@ -1331,7 +1334,7 @@ local function do_work (self)
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--mcl_log("Jobsite not valid")
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return false
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end
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if vector.distance(self.object:get_pos(),self._jobsite) < 2 then
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if vector.distance(self.object:get_pos(),self._jobsite) < 1.5 then
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--mcl_log("Made it to work ok callback!")
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return true
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else
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