Obstacle Avoidance Optimization

api.lua

@@ -35,11 +35,9 @@ end
 -- Local API --
 ---------------
 
-local function is_value_in_table(tbl, val)
+local function contains_val(tbl, val)
 	for _, v in pairs(tbl) do
-		if v == val then
-			return true
-		end
+		if v == val then return true end
 	end
 	return false
 end
@@ -382,26 +380,27 @@ end
 function creatura.get_nearby_object(self, name, range)
 	local objects = minetest.get_objects_inside_radius(self:get_center_pos(), range or self.tracking_range)
 	for _, object in ipairs(objects) do
-		if creatura.is_alive(object)
-		and not object:is_player()
+		local ent = creatura.is_alive(ent) and object:get_luaentity()
+		if ent
 		and object ~= self.object
-		and not object:get_luaentity()._ignore
-		and object:get_luaentity().name == name then
+		and not ent._ignore
+		and ((type(name) == "table" and contains_val(name, ent.name))
+		or ent.name == name) then
 			return object
 		end
 	end
-	return
 end
 
 function creatura.get_nearby_objects(self, name, range)
 	local objects = minetest.get_objects_inside_radius(self:get_center_pos(), range or self.tracking_range)
 	local nearby = {}
 	for _, object in ipairs(objects) do
-		if creatura.is_alive(object)
-		and not object:is_player()
+		local ent = creatura.is_alive(ent) and object:get_luaentity()
+		if ent
 		and object ~= self.object
-		and not object:get_luaentity()._ignore
-		and object:get_luaentity().name == name then
+		and not ent._ignore
+		and ((type(name) == "table" and contains_val(name, ent.name))
+		or ent.name == name) then
 			table.insert(nearby, object)
 		end
 	end
@@ -450,7 +449,7 @@ function creatura.basic_punch_func(self, puncher, tflp, tool_caps, dir)
 		add_wear = not minetest.is_creative_enabled(puncher)
 	end
 	if (self.immune_to
-	and is_value_in_table(self.immune_to, tool_name)) then
+	and contains_val(self.immune_to, tool_name)) then
 		return
 	end
 	self:apply_knockback(dir, 12)

methods.lua

@@ -58,7 +58,7 @@ local function raycast(pos1, pos2, liquid)
 	end
 end
 
-local function get_collision(self, yaw)
+--[[local function get_collision(self, yaw)
 	local width = self.width
 	local height = self.height
 	local total_height = height + self.stepheight
@@ -98,22 +98,50 @@ local function get_collision(self, yaw)
 			end
 		end
 	end
-	--[[if width > 0.5
-	and height > 0.5 then
-	else
-		local ray = raycast(pos, pos2, true)
+	return false
+end]]
+
+local function get_collision(self)
+	local yaw = self.object:get_yaw()
+	local pos = self.object:get_pos()
+	if not pos then return end
+	local width = self.width
+	local height = self.height
+	pos.y = pos.y + 0.01
+	local m_dir = vec_normal(yaw2dir(yaw))
+	local ahead = vec_add(pos, vec_multi(m_dir, width + 1)) -- 1 node out from edge of box
+	-- Loop
+	local pos_x, pos_z = ahead.x, ahead.z
+	for x = -width, width, width / ceil(width) do
+		local vec1 = {
+			x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
+			y = pos.y + height,
+			z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
+		}
+		local vec2 = {
+			x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
+			y = pos.y,
+			z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
+		}
+		local ray = raycast(vec1, vec2, false)
 		if ray then
-			return true, ray.intersection_point
+			local collision = ray.intersection_point
+			if collision.y - pos.y <= (self.stepheight or 1.1) then
+				local step = creatura.get_node_def({x = vec1.x, y = vec1.y + 0.5, z = vec1.z})
+				if step.walkable then
+					return true, collision
+				end
+			end
 		end
-	end]]
+	end
 	return false
 end
 
 local function get_avoidance_dir(self)
 	local pos = self.object:get_pos()
 	if not pos then return end
-	local collide, col_pos = get_collision(self, self.object:get_yaw())
-	if collide then
+	local _, col_pos = get_collision(self)
+	if col_pos then
 		local vel = self.object:get_velocity()
 		local ahead = vec_add(pos, vec_normal(self.object:get_velocity()))
 		local avoidance_force = vector.subtract(ahead, col_pos)

mob_meta.lua

@@ -154,6 +154,7 @@ function mob:halt()
 	}
 	--self.object:set_velocity({x = 0, y = 0, z = 0})
 	self._path_data = {}
+	self._tyaw = self.object:get_yaw() or 0
 end
 
 -- Turn to specified yaw