mirror of
https://github.com/ElCeejo/creatura.git
synced 2025-05-21 07:13:19 -04:00
Pathfinding Fixes
mob_meta.get_node_height: Moved to pathfinding, and made public (creatura.get_node_height). Now uses collision box rather than node box, if available, unless flag specifies not to. Fix for getting node height for nodes with connected node boxes pathfinding.get_ground_level: We now have one copy between pathfinding and mob_meta. Can check a larger range of nodes at different heights. Takes into account node height of both target node, and the height of the node we're coming from. pathfinding.get_neighbors: Get maximum distance mob can travel up/down from mob stepheight. Improved checking diagonals are clear. Improved checking vertical clearance, takes into account height of current and target node. Vertical clearance can cope with nodes that have a different collision and node boxes, like snow. Vertical clearance has a tiny height adjustment so a 2 node heigh entity can fit through a 2 node gap. Fixed bug where it was assumed a node was reachable if it's the end goal. methods.movement_theta_pathfind and movement_pathfind: Fixed bug that raised goal pos by 0.5 nodes.
This commit is contained in:
Jordan Leppert
Jordan Leppert
parent
23c61e0751
commit
35069011d6
3 changed files with 185 additions and 231 deletions
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@ -166,7 +166,6 @@ end
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local function movement_theta_pathfind(self, pos2, speed)
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local pos = self.object:get_pos()
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local goal = pos2
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self._path = self._path or {}
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local temp_goal = self._movement_data.temp_goal
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if not temp_goal
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@ -182,7 +181,6 @@ local function movement_theta_pathfind(self, pos2, speed)
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table.remove(self._path, 1)
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end
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end
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goal.y = pos.y + 0.5
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local dir = vector.direction(self.object:get_pos(), pos2)
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local tyaw = minetest.dir_to_yaw(dir)
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local turn_rate = self.turn_rate or 10
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@ -201,7 +199,7 @@ local function movement_theta_pathfind(self, pos2, speed)
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self:animate("walk")
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self:set_gravity(-9.8)
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self:set_forward_velocity(speed or 2)
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if self:pos_in_box(goal) then
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if self:pos_in_box(pos2) then
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self:halt()
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end
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end
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@ -210,7 +208,6 @@ creatura.register_movement_method("creatura:theta_pathfind", movement_theta_path
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local function movement_pathfind(self, pos2, speed)
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local pos = self.object:get_pos()
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local goal = pos2
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local temp_goal = self._movement_data.temp_goal
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self._path = self._path or {}
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if (not temp_goal
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@ -227,7 +224,6 @@ local function movement_pathfind(self, pos2, speed)
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table.remove(self._path, 1)
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end
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end
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goal.y = pos.y + 0.5
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local dir = vector.direction(self.object:get_pos(), pos2)
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local tyaw = minetest.dir_to_yaw(dir)
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local turn_rate = self.turn_rate or 10
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82
mob_meta.lua
82
mob_meta.lua
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@ -62,79 +62,15 @@ end
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local default_node_def = {walkable = true} -- both ignore and unknown nodes are walkable
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local function get_node_height(name)
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local def = minetest.registered_nodes[name]
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if not def then return 0.5 end
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if def.walkable then
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if def.drawtype == "nodebox" then
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if def.node_box
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and def.node_box.type == "fixed" then
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if type(def.node_box.fixed[1]) == "number" then
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return 0.5 + def.node_box.fixed[5]
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elseif type(def.node_box.fixed[1]) == "table" then
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return 0.5 + def.node_box.fixed[1][5]
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else
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return 1
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end
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else
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return 1
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end
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else
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return 1
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end
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else
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return 1
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end
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end
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local function get_node_def(name)
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local def = minetest.registered_nodes[name] or default_node_def
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if def.walkable
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and get_node_height(name) < 0.26 then
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and creatura.get_node_height(name) < 0.26 then
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def.walkable = false -- workaround for nodes like snow
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end
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return def
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end
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local function get_ground_level(pos2, max_diff)
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local node = minetest.get_node(pos2)
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local node_under = minetest.get_node({
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x = pos2.x,
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y = pos2.y - 1,
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z = pos2.z
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})
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local walkable = get_node_def(node_under.name) and not get_node_def(node.name)
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if walkable then
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return pos2
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end
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local diff = 0
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if not get_node_def(node_under.name) then
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for i = 1, max_diff do
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pos2.y = pos2.y - 1
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node = minetest.get_node(pos2)
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node_under = minetest.get_node({
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x = pos2.x,
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y = pos2.y - 1,
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z = pos2.z
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})
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walkable = get_node_def(node_under.name) and not get_node_def(node.name)
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if walkable then break end
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end
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else
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for i = 1, max_diff do
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pos2.y = pos2.y + 1
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node = minetest.get_node(pos2)
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node_under = minetest.get_node({
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x = pos2.x,
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y = pos2.y - 1,
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z = pos2.z
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})
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walkable = get_node_def(node_under.name) and not get_node_def(node.name)
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if walkable then break end
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end
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end
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return pos2
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end
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-------------------------
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-- Physics/Vitals Tick --
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@ -247,12 +183,12 @@ function mob:turn_to(tyaw, rate)
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yaw = yaw + pi
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tyaw = (tyaw + pi) % pi2
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local step = math.min(self.dtime * weight, abs(tyaw - yaw) % pi2)
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local dir = abs(tyaw - yaw) > pi and -1 or 1
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dir = tyaw > yaw and dir * 1 or dir * -1
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local nyaw = (yaw + step * dir) % pi2
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self.object:set_yaw(nyaw - pi)
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self.last_yaw = self.object:get_yaw()
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@ -297,7 +233,7 @@ end
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-- Punch 'target'
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function mob:punch_target(target) --
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function mob:punch_target(target) --
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target:punch(self.object, 1.0, {
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full_punch_interval = 1.0,
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damage_groups = {fleshy = self.damage or 5},
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@ -371,7 +307,7 @@ function mob:get_wander_pos(min_range, max_range, dir)
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local offset = vector.add(pos, vec_multi(vec_dir(pos, self.object:get_pos()), 1.5))
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pos.x = floor(offset.x + 0.5)
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pos.z = floor(offset.z + 0.5)
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pos = get_ground_level(pos, 1)
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pos = creatura.get_ground_level(pos, 1, 1, 0)
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end
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local width = self.width
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local outset = random(min_range, max_range)
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@ -595,7 +531,7 @@ end
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function mob:get_height()
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local hitbox = self:get_hitbox()
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return hitbox[5] - hitbox[2]
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return hitbox[5] - hitbox[2]
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end
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-- Return current visual size
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@ -628,7 +564,7 @@ function mob:follow_wielded_item(player)
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and (is_value_in_table(self.follow, name)
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or is_group_in_table(self.follow, name)) then
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return item, name
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end
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end
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end
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function mob:get_target(target)
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@ -719,7 +655,7 @@ function mob:activate(staticdata, dtime)
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-- Staticdata
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if staticdata then
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local data = minetest.deserialize(staticdata)
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if data then
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if data then
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for k, v in pairs(data) do
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self[k] = v
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end
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328
pathfinder.lua
328
pathfinder.lua
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@ -44,39 +44,55 @@ local function moveable(pos, width, height)
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return true
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end
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local function get_ground_level(pos2, max_height)
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local node = minetest.get_node(pos2)
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local node_under = minetest.get_node({
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x = pos2.x,
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y = pos2.y - 1,
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z = pos2.z
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})
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local height = 0
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local walkable = is_node_walkable(node_under.name) and not is_node_walkable(node.name)
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if walkable then
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return pos2
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elseif not walkable then
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if not is_node_walkable(node_under.name) then
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while not is_node_walkable(node_under.name)
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and height < max_height do
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pos2.y = pos2.y - 1
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node_under = minetest.get_node({
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x = pos2.x,
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y = pos2.y - 1,
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z = pos2.z
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})
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height = height + 1
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creatura.get_node_height = function(name, force_node_box)
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local def = minetest.registered_nodes[name]
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if not def then return 0.5 end
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if def.walkable then
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if def.drawtype == "nodebox" then
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if def.collision_box and not force_node_box
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and (def.collision_box.type == "fixed" or def.collision_box.type == "connected") then
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if type(def.collision_box.fixed[1]) == "number" then
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return 0.5 + def.collision_box.fixed[5]
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elseif type(def.collision_box.fixed[1]) == "table" then
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return 0.5 + def.collision_box.fixed[1][5]
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else
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return 1
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end
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elseif def.node_box
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and (def.node_box.type == "fixed" or def.node_box.type == "connected") then
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if type(def.node_box.fixed[1]) == "number" then
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return 0.5 + def.node_box.fixed[5]
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elseif type(def.node_box.fixed[1]) == "table" then
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return 0.5 + def.node_box.fixed[1][5]
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else
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return 1
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end
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else
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return 1
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end
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else
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while is_node_walkable(node.name)
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and height < max_height do
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pos2.y = pos2.y + 1
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node = minetest.get_node(pos2)
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height = height + 1
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return 1
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end
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else
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return 1
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end
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end
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creatura.get_ground_level = function(pos, max_up, max_down, current_node_height)
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for y = math.ceil(max_up) + 1, -(math.ceil(max_down)) - 1, -1 do
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local pos2 = vector.new(pos.x, pos.y + y, pos.z)
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local node = minetest.get_node(pos2)
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local node_under = minetest.get_node(pos2 + vector.new(0, -1, 0))
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if not is_node_walkable(node.name) and is_node_walkable(node_under.name) then
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local node_height = creatura.get_node_height(node_under.name)
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local y_diff = y - 1 + node_height - current_node_height
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if y_diff <= max_up and y_diff >= (-max_down) then
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return pos2
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end
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end
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return pos2
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end
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return nil
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end
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local function get_distance(start_pos, end_pos)
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@ -120,6 +136,99 @@ end
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-- Find a path from start to goal
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local function get_neighbors(self, pos, goal, swim, fly, climb, tbl, open, closed)
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local width = self.width
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local height = self.height
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local result = {}
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local max_up = self.stepheight or 1
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local max_down = self.stepheight or 1
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local node_name = minetest.get_node(pos).name
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-- Get the height of the node collision box (and of its node box, if different)
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local node_height = 0
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local node_height_node_box = 0
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if is_node_walkable(node_name) then
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node_height = creatura.get_node_height(node_name)
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node_height_node_box = creatura.get_node_height(node_name, true)
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else
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node_height = creatura.get_node_height(minetest.get_node(pos + vector.new(0, -1, 0)).name) - 1
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node_height_node_box = creatura.get_node_height(minetest.get_node(pos + vector.new(0, -1, 0)).name, true) - 1
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end
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-- Calculate the height difference between the collision and node boxes
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-- (This is because the mob will be standing on the collision box, but the
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-- raycast checks will collide with the node box, so we must avoid it)
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local node_height_diff = node_height_node_box - node_height
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for i = 1, #tbl do
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local neighbor = vector.add(pos, tbl[i])
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if not open[minetest.hash_node_position(neighbor)]
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and not closed[minetest.hash_node_position(neighbor)] then
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local neighbor_x
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local neighbor_z
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if tbl[i].y == 0
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and not fly
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and not swim then
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neighbor = creatura.get_ground_level(neighbor, max_up, max_down, node_height)
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if neighbor and tbl[i].x ~= 0 and tbl[i].z ~= 0 then
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-- This is a diagonal, check both corners are clear and same Y
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neighbor_x = creatura.get_ground_level(vector.new(neighbor.x, neighbor.y, pos.z), max_up, max_down, node_height)
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neighbor_z = creatura.get_ground_level(vector.new(pos.x, neighbor.y, neighbor.z), max_up, max_down, node_height)
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if not neighbor_x or not neighbor_z
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or neighbor_x.y ~= neighbor.y
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or neighbor_z.y ~= neighbor.y then
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neighbor = nil
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end
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end
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end
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if neighbor then
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local can_move = true
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if swim then
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local neighbor_node = minetest.get_node(neighbor)
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can_move = is_node_liquid(neighbor_node.name)
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end
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-- Adjust entity Y in clearance check by this much
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local y_adjustment = -0.49
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-- Adjust entity height in clearance check by this much
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local h_adjustment = -0.02
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-- Get the height of the node collision box, and the difference to the node box
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local neighbor_height = creatura.get_node_height(minetest.get_node(neighbor + vector.new(0, -1, 0)).name) - 1
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local neighbor_height_node_box = creatura.get_node_height(minetest.get_node(neighbor + vector.new(0, -1, 0)).name, true) - 1
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local neighbor_height_diff = neighbor_height_node_box - neighbor_height
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-- Check there is enough vertical clearance to move to this node
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local height_clearance = math.max(pos.y + node_height - neighbor.y - neighbor_height, 0)
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if not moveable(vec_raise(neighbor, y_adjustment + neighbor_height + neighbor_height_diff), width, height + h_adjustment + height_clearance - neighbor_height_diff) then
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can_move = false
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end
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if tbl[i].x ~= 0 and tbl[i].z ~= 0 then
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-- If target node is diagonal, check the orthogonal nodes too
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if not moveable(vec_raise(neighbor_x, y_adjustment + neighbor_height + neighbor_height_diff), width, height + h_adjustment + height_clearance + neighbor_height_diff)
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or not moveable(vec_raise(neighbor_z, y_adjustment + neighbor_height + neighbor_height_diff), width, height + h_adjustment + height_clearance + neighbor_height_diff) then
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can_move = false
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end
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end
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-- If we're going upwards, check there's enough clearance above our head
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height_clearance = math.max(neighbor.y + neighbor_height - pos.y - node_height, 0)
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if height_clearance > 0 and not moveable(vec_raise(pos, y_adjustment + node_height + node_height_diff), width, height + h_adjustment + height_clearance - node_height_diff) then
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can_move = false
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end
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if (can_move
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or (climb
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and neighbor.x == pos.x
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and neighbor.z == pos.z))
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and (not swim
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or is_node_liquid(minetest.get_node(neighbor).name)) then
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table.insert(result, neighbor)
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end
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end
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end
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end
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return result
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end
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function creatura.find_path(self, start, goal, obj_width, obj_height, max_open, climb, fly, swim)
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climb = climb or false
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fly = fly or false
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@ -158,49 +267,7 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
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}
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end
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local function get_neighbors(pos, width, height, tbl, open, closed)
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local result = {}
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for i = 1, #tbl do
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local neighbor = vector.add(pos, tbl[i])
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if neighbor.y == pos.y
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and not fly
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and not swim then
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neighbor = get_ground_level(neighbor, 1)
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end
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local can_move = get_line_of_sight({x = pos.x, y = neighbor.y, z = pos.z}, neighbor)
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if swim then
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can_move = true
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end
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if not moveable(vec_raise(neighbor, -0.49), width, height) then
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can_move = false
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if neighbor.y == pos.y
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and moveable(vec_raise(neighbor, 0.51), width, height) then
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neighbor = vec_raise(neighbor, 1)
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can_move = true
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end
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end
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if vector.equals(neighbor, goal) then
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can_move = true
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end
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if open[minetest.hash_node_position(neighbor)]
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or closed[minetest.hash_node_position(neighbor)] then
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can_move = false
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end
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if can_move
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and ((is_on_ground(neighbor)
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or (fly or swim))
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or (neighbor.x == pos.x
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and neighbor.z == pos.z
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and climb))
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and (not swim
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or is_node_liquid(minetest.get_node(neighbor).name)) then
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table.insert(result, neighbor)
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end
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end
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return result
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end
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local function find_path(start, goal)
|
||||
local function find_path(self, start, goal)
|
||||
local us_time = minetest.get_us_time()
|
||||
|
||||
start = {
|
||||
|
|
@ -208,7 +275,7 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
y = floor(start.y + 0.5),
|
||||
z = floor(start.z + 0.5)
|
||||
}
|
||||
|
||||
|
||||
goal = {
|
||||
x = floor(goal.x + 0.5),
|
||||
y = floor(goal.y + 0.5),
|
||||
|
|
@ -219,22 +286,22 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
and goal.z == start.z then -- No path can be found
|
||||
return nil
|
||||
end
|
||||
|
||||
|
||||
local openSet = self._path_data.open or {}
|
||||
|
||||
|
||||
local closedSet = self._path_data.closed or {}
|
||||
|
||||
|
||||
local start_index = minetest.hash_node_position(start)
|
||||
|
||||
|
||||
openSet[start_index] = {
|
||||
pos = start,
|
||||
parent = nil,
|
||||
gScore = 0,
|
||||
fScore = get_distance(start, goal)
|
||||
}
|
||||
|
||||
|
||||
local count = self._path_data.count or 1
|
||||
|
||||
|
||||
while count > 0 do
|
||||
if minetest.get_us_time() - us_time > a_star_alloted_time then
|
||||
self._path_data = {
|
||||
|
|
@ -248,14 +315,14 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
-- Initialize ID and data
|
||||
local current_id
|
||||
local current
|
||||
|
||||
|
||||
-- Get an initial id in open set
|
||||
for i, v in pairs(openSet) do
|
||||
current_id = i
|
||||
current = v
|
||||
break
|
||||
end
|
||||
|
||||
|
||||
-- Find lowest f cost
|
||||
for i, v in pairs(openSet) do
|
||||
if v.fScore < current.fScore then
|
||||
|
|
@ -263,7 +330,7 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
current = v
|
||||
end
|
||||
end
|
||||
|
||||
|
||||
-- Add lowest fScore to closedSet and remove from openSet
|
||||
openSet[current_id] = nil
|
||||
closedSet[current_id] = current
|
||||
|
|
@ -296,11 +363,11 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
self._path_data = {}
|
||||
return reverse_path
|
||||
end
|
||||
|
||||
|
||||
count = count - 1
|
||||
|
||||
local adjacent = get_neighbors(current.pos, obj_width, obj_height, path_neighbors, openSet, closedSet)
|
||||
|
||||
|
||||
local adjacent = get_neighbors(self, current.pos, goal, swim, fly, climb, path_neighbors, openSet, closedSet)
|
||||
|
||||
-- Go through neighboring nodes
|
||||
for i = 1, #adjacent do
|
||||
local neighbor = {
|
||||
|
|
@ -309,21 +376,18 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
gScore = 0,
|
||||
fScore = 0
|
||||
}
|
||||
local temp_gScore = current.gScore + get_distance_to_neighbor(current.pos, neighbor.pos)
|
||||
local new_gScore = 0
|
||||
if openSet[minetest.hash_node_position(neighbor.pos)] then
|
||||
new_gScore = openSet[minetest.hash_node_position(neighbor.pos)].gScore
|
||||
end
|
||||
if (temp_gScore < new_gScore
|
||||
or not openSet[minetest.hash_node_position(neighbor.pos)])
|
||||
and not closedSet[minetest.hash_node_position(neighbor.pos)] then
|
||||
if not openSet[minetest.hash_node_position(neighbor.pos)] then
|
||||
local neighbor_id = minetest.hash_node_position(neighbor.pos)
|
||||
local neighbour_gScore = current.gScore + get_distance_to_neighbor(current.pos, neighbor.pos)
|
||||
if (not openSet[neighbor_id]
|
||||
or neighbour_gScore < openSet[neighbor_id].gScore)
|
||||
and not closedSet[neighbor_id] then
|
||||
if not openSet[neighbor_id] then
|
||||
count = count + 1
|
||||
end
|
||||
local hCost = get_distance_to_neighbor(neighbor.pos, goal)
|
||||
neighbor.gScore = temp_gScore
|
||||
neighbor.fScore = temp_gScore + hCost
|
||||
openSet[minetest.hash_node_position(neighbor.pos)] = neighbor
|
||||
neighbor.gScore = neighbour_gScore
|
||||
neighbor.fScore = neighbour_gScore + hCost
|
||||
openSet[neighbor_id] = neighbor
|
||||
end
|
||||
end
|
||||
if count > (max_open or 100) then
|
||||
|
|
@ -334,7 +398,7 @@ function creatura.find_path(self, start, goal, obj_width, obj_height, max_open,
|
|||
self._path_data = {}
|
||||
return nil
|
||||
end
|
||||
return find_path(start, goal)
|
||||
return find_path(self, start, goal)
|
||||
end
|
||||
|
||||
|
||||
|
|
@ -408,49 +472,7 @@ function creatura.find_theta_path(self, start, goal, obj_width, obj_height, max_
|
|||
}
|
||||
end
|
||||
|
||||
local function get_neighbors(pos, width, height, tbl, open, closed)
|
||||
local result = {}
|
||||
for i = 1, #tbl do
|
||||
local neighbor = vector.add(pos, tbl[i])
|
||||
if neighbor.y == pos.y
|
||||
and not fly
|
||||
and not swim then
|
||||
neighbor = get_ground_level(neighbor, 1)
|
||||
end
|
||||
local can_move = get_line_of_sight({x = pos.x, y = neighbor.y, z = pos.z}, neighbor)
|
||||
if swim then
|
||||
can_move = true
|
||||
end
|
||||
if not moveable(vec_raise(neighbor, -0.49), width, height) then
|
||||
can_move = false
|
||||
if neighbor.y == pos.y
|
||||
and moveable(vec_raise(neighbor, 0.51), width, height) then
|
||||
neighbor = vec_raise(neighbor, 1)
|
||||
can_move = true
|
||||
end
|
||||
end
|
||||
if vector.equals(neighbor, goal) then
|
||||
can_move = true
|
||||
end
|
||||
if open[minetest.hash_node_position(neighbor)]
|
||||
or closed[minetest.hash_node_position(neighbor)] then
|
||||
can_move = false
|
||||
end
|
||||
if can_move
|
||||
and ((is_on_ground(neighbor)
|
||||
or (fly or swim))
|
||||
or (neighbor.x == pos.x
|
||||
and neighbor.z == pos.z
|
||||
and climb))
|
||||
and (not swim
|
||||
or is_node_liquid(minetest.get_node(neighbor).name)) then
|
||||
table.insert(result, neighbor)
|
||||
end
|
||||
end
|
||||
return result
|
||||
end
|
||||
|
||||
local function find_path(start, goal)
|
||||
local function find_path(self, start, goal)
|
||||
local us_time = minetest.get_us_time()
|
||||
|
||||
start = {
|
||||
|
|
@ -458,7 +480,7 @@ function creatura.find_theta_path(self, start, goal, obj_width, obj_height, max_
|
|||
y = floor(start.y + 0.5),
|
||||
z = floor(start.z + 0.5)
|
||||
}
|
||||
|
||||
|
||||
goal = {
|
||||
x = floor(goal.x + 0.5),
|
||||
y = floor(goal.y + 0.5),
|
||||
|
|
@ -469,22 +491,22 @@ function creatura.find_theta_path(self, start, goal, obj_width, obj_height, max_
|
|||
and goal.z == start.z then -- No path can be found
|
||||
return nil
|
||||
end
|
||||
|
||||
|
||||
local openSet = self._path_data.open or {}
|
||||
|
||||
|
||||
local closedSet = self._path_data.closed or {}
|
||||
|
||||
|
||||
local start_index = minetest.hash_node_position(start)
|
||||
|
||||
|
||||
openSet[start_index] = {
|
||||
pos = start,
|
||||
parent = nil,
|
||||
gScore = 0,
|
||||
fScore = get_distance(start, goal)
|
||||
}
|
||||
|
||||
|
||||
local count = self._path_data.count or 1
|
||||
|
||||
|
||||
while count > 0 do
|
||||
if minetest.get_us_time() - us_time > theta_star_alloted_time then
|
||||
self._path_data = {
|
||||
|
|
@ -542,11 +564,11 @@ function creatura.find_theta_path(self, start, goal, obj_width, obj_height, max_
|
|||
self._path_data = {}
|
||||
return reverse_path
|
||||
end
|
||||
|
||||
|
||||
count = count - 1
|
||||
|
||||
local adjacent = get_neighbors(current.pos, obj_width, obj_height, path_neighbors, openSet, closedSet)
|
||||
|
||||
|
||||
local adjacent = get_neighbors(self, current.pos, goal, swim, fly, climb, path_neighbors, openSet, closedSet)
|
||||
|
||||
-- Go through neighboring nodes
|
||||
for i = 1, #adjacent do
|
||||
local neighbor = {
|
||||
|
|
@ -606,5 +628,5 @@ function creatura.find_theta_path(self, start, goal, obj_width, obj_height, max_
|
|||
self._path_data = {}
|
||||
return nil
|
||||
end
|
||||
return find_path(start, goal)
|
||||
return find_path(self, start, goal)
|
||||
end
|
||||
Loading…
Add table
Reference in a new issue