Add Context Based Steering, ABM Spawning fixes

api.lua

@@ -121,9 +121,11 @@ function creatura.get_node_height_from_def(name)
 	end
 end
 
+local get_node = minetest.get_node
+
 function creatura.get_node_def(node) -- Node can be name or pos
 	if type(node) == "table" then
-		node = minetest.get_node(node).name
+		node = get_node(node).name
 	end
 	local def = minetest.registered_nodes[node] or default_node_def
 	if def.walkable
@@ -133,45 +135,28 @@ function creatura.get_node_def(node) -- Node can be name or pos
 	return def
 end
 
-function creatura.get_ground_level(pos, max_diff)
+local get_node_def = creatura.get_node_def
-	local pos2 = pos -- Prevent modifying table that shouldn't be changed
+
-	pos2.y = math.floor(pos2.y - 0.49)
+function creatura.get_ground_level(pos, range)
-	local node = minetest.get_node(pos2)
+	range = range or 2
-	local node_under = minetest.get_node({
+	local above = vector.round(pos)
-		x = pos2.x,
+	local under = {x = above.x, y = above.y - 1, z = above.z}
-		y = pos2.y - 1,
+	if not get_node_def(above).walkable and get_node_def(under).walkable then return above end
-		z = pos2.z
+	if get_node_def(above).walkable then
-	})
+		for i = 1, range do
-	local walkable = creatura.get_node_def(node_under.name).walkable and not creatura.get_node_def(node.name).walkable
+			under = above
-	if walkable then
+			above = {x = above.x, y = above.y + 1, z = above.z}
-		return pos2
+			if not get_node_def(above).walkable and get_node_def(under).walkable then return above end
-	end
-	if not creatura.get_node_def(node_under.name).walkable then
-		for _ = 1, max_diff do
-			pos2.y = pos2.y - 1
-			node = minetest.get_node(pos2)
-			node_under = minetest.get_node({
-				x = pos2.x,
-				y = pos2.y - 1,
-				z = pos2.z
-			})
-			walkable = creatura.get_node_def(node_under.name).walkable and not creatura.get_node_def(node.name).walkable
-			if walkable then break end
-		end
-	else
-		for _ = 1, max_diff do
-			pos2.y = pos2.y + 1
-			node = minetest.get_node(pos2)
-			node_under = minetest.get_node({
-				x = pos2.x,
-				y = pos2.y - 1,
-				z = pos2.z
-			})
-			walkable = creatura.get_node_def(node_under.name).walkable and not creatura.get_node_def(node.name).walkable
-			if walkable then break end
 		end
 	end
-	return pos2
+	if not get_node_def(under).walkable then
+		for i = 1, range do
+			above = under
+			under = {x = under.x, y = under.y - 1, z = under.z}
+			if not get_node_def(above).walkable and get_node_def(under).walkable then return above end
+		end
+	end
+	return above
 end
 
 function creatura.is_pos_moveable(pos, width, height)
@@ -192,7 +177,7 @@ function creatura.is_pos_moveable(pos, width, height)
 			local ray = minetest.raycast(pos3, pos4, false, false)
 			for pointed_thing in ray do
 				if pointed_thing.type == "node" then
-					local name = minetest.get_node(pointed_thing.under).name
+					local name = get_node(pointed_thing.under).name
 					if creatura.get_node_def(name).walkable then
 						return false
 					end

methods.lua

@@ -14,25 +14,27 @@ local function diff(a, b) -- Get difference between 2 angles
 	return atan2(sin(b - a), cos(b - a))
 end
 
-local function clamp(val, min, max)
+local function clamp(val, _min, _max)
-	if val < min then
+	if val < _min then
-		val = min
+		val = _min
-	elseif max < val then
+	elseif _max < val then
-		val = max
+		val = _max
 	end
 	return val
 end
 
+local vec_add = vector.add
 local vec_normal = vector.normalize
 local vec_len = vector.length
 local vec_dist = vector.distance
 local vec_dir = vector.direction
+local vec_dot = vector.dot
 local vec_multi = vector.multiply
-local vec_add = vector.add
+local vec_sub = vector.subtract
 local yaw2dir = minetest.yaw_to_dir
 local dir2yaw = minetest.dir_to_yaw
 
---[[local function debugpart(pos, time, tex)
+local function debugpart(pos, time, tex)
 	minetest.add_particle({
 		pos = pos,
 		texture = tex or "creatura_particle_red.png",
@@ -40,7 +42,7 @@ local dir2yaw = minetest.dir_to_yaw
 		glow = 16,
 		size = 16
 	})
-end]]
+end
 
 ---------------------
 -- Local Utilities --
@@ -101,35 +103,50 @@ end]]
 	return false
 end]]
 
-function creatura.get_collision_ranged(self, range)
+local get_node_def = creatura.get_node_def
-	local yaw = self.object:get_yaw()
+local get_node_height = creatura.get_node_height_from_def
-	local pos = self.object:get_pos()
+
+function creatura.get_collision_ranged(self, dir, range)
+	local pos, yaw = self.object:get_pos(), self.object:get_yaw()
 	if not pos then return end
-	local width = self.width
+	local width = self.width + 0.1
-	local height = self.height
+	local height = self.height + self.stepheight
 	pos.y = pos.y + 0.01
-	local m_dir = vec_normal(yaw2dir(yaw))
+	dir = vec_normal(dir or yaw2dir(yaw))
-	m_dir.x, m_dir.z = m_dir.x * 0.5, m_dir.z * 0.5
+	yaw = dir2yaw(dir)
-	local ahead = vec_add(pos, vec_multi(m_dir, width + 0.5))
+	local ahead = vec_add(pos, vec_multi(dir, width))
 	-- Loop
+	local cos_yaw = cos(yaw)
+	local sin_yaw = sin(yaw)
 	local pos_x, pos_y, pos_z = ahead.x, ahead.y, ahead.z
+	local dir_x, dir_y, dir_z = dir.x, dir.y, dir.z
+	local dist
+	local collision
 	for i = 0, range or 4 do
-		pos_x = pos_x + m_dir.x * i
+		pos_x = pos_x + dir_x
-		pos_y = pos_y + m_dir.y * i
+		pos_y = pos_y + dir_y
-		pos_z = pos_z + m_dir.z * i
+		pos_z = pos_z + dir_z
+		local pos2
 		for x = -width, width, width / ceil(width) do
+			pos2 = {
+				x = cos_yaw * ((pos_x + x) - pos_x) + pos_x,
+				y = pos_y,
+				z = sin_yaw * ((pos_x + x) - pos_x) + pos_z
+			}
 			for y = 0, height, height / ceil(height) do
-				local pos2 = {
+				pos2.y = pos_y + y
-					x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
+				local dist2 = vec_dist(pos, pos2)
-					y = pos.y + y,
+				if not dist
-					z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
+				or dist2 < dist then
-				}
+					if pos2.y - pos_y > (self.stepheight or 1.1)
-				if pos2.y - pos.y > (self.stepheight or 1.1)
+					and get_node_def(pos2).walkable then
-				and creatura.get_node_def(pos2).walkable then
+						collision = pos2
-					return true, pos2
+						dist = dist2
+					end
 				end
 			end
 		end
+		if collision then return true, collision end
 	end
 	return false
 end
@@ -144,16 +161,19 @@ function creatura.get_collision(self)
 	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 cos_yaw = cos(yaw)
+	local sin_yaw = sin(yaw)
 	local pos_x, pos_z = ahead.x, ahead.z
 	for x = -width, width, width / ceil(width) do
+		local pos2 = {
+			x = cos_yaw * ((pos_x + x) - pos_x) + pos_x,
+			y = pos.y,
+			z = sin_yaw * ((pos_x + x) - pos_x) + pos_z
+		}
 		for y = 0, height, height / ceil(height) do
-			local pos2 = {
+			pos2.y = pos.y + y
-				x = cos(yaw) * ((pos_x + x) - pos_x) + pos_x,
-				y = pos.y + y,
-				z = sin(yaw) * ((pos_x + x) - pos_x) + pos_z
-			}
 			if pos2.y - pos.y > (self.stepheight or 1.1)
-			and creatura.get_node_def(pos2).walkable then
+			and get_node_def(pos2).walkable then
 				return true, pos2
 			end
 		end
@@ -179,6 +199,65 @@ local function get_avoidance_dir(self)
 	end
 end
 
+local steer_directions = {
+	vec_normal({x = 1, y = 0, z = 0}),
+	vec_normal({x = 1, y = 0, z = 1}),
+	vec_normal({x = 0, y = 0, z = 1}),
+	vec_normal({x = -1, y = 0, z = 0}),
+	vec_normal({x = -1, y = 0, z = -1}),
+	vec_normal({x = 0, y = 0, z = -1}),
+	vec_normal({x = 1, y = 0, z = -1}),
+	vec_normal({x = -1, y = 0, z = 1})
+}
+
+function creatura.get_context_steering(self, goal, range)
+	local pos, vel = self.object:get_pos(), self.object:get_velocity()
+	if not pos then return end
+	local heading = vec_normal(vel)
+	local dir2goal = vec_normal(vec_dir(pos, goal))
+	local output_dir = {x = 0, y = dir2goal.y, z = 0}
+	range = range or 8
+	if range < 2 then range = 2 end
+	for _, _dir in ipairs(steer_directions) do
+		local dir = table.copy(_dir)
+		local score = vec_dot(dir2goal, dir)
+		local interest = clamp(score, 0, 1)
+		local danger = 0
+		if interest >= 0 then
+			local width = self.width
+			local height = self.height
+			local collision
+			if width <= 0.5
+			and height <= 1 then
+				local pos2 = vec_add(pos, dir)
+				local pos2_name = minetest.get_node(pos2).name
+				collision = get_node_height(pos2_name) > self.stepheight and pos2
+				if not collision then
+					local above = {x = pos2.x, y = pos2.y + 1, z = pos2.z}
+					collision = get_node_def(above).walkable and pos2
+				end
+			else
+				local s_range = range * clamp(interest, 0.5, 1)
+				_, collision = creatura.get_collision_ranged(self, dir, s_range)
+			end
+			if collision then
+				local dir2col = vec_dir(pos, collision)
+				local dist2col = vec_dist(pos, collision) - self.width
+				local ahead = vec_add(pos, vec_multi(heading, self.width + dist2col))
+				local avd_force = vec_normal(vec_sub(ahead, collision))
+				dir.y = avd_force.y / 4
+				local dot_weight = vec_dot(vec_normal(dir2col), dir)
+				local dist_weight = (range - dist2col) / range
+				interest = interest - dot_weight
+				danger = dist_weight
+			end
+		end
+		score = clamp(interest - danger, 0, 1)
+		output_dir = vector.add(output_dir, vector.multiply(dir, score))
+	end
+	return output_dir
+end
+
 -------------
 -- Actions --
 -------------
@@ -414,4 +493,27 @@ creatura.register_movement_method("creatura:obstacle_avoidance", function(self)
 		_self:turn_to(goal_yaw, turn_rate)
 	end
 	return func
+end)
+
+creatura.register_movement_method("creatura:context_based_steering", function(self)
+	local steer_to
+	local steer_timer = 0.25
+	self:set_gravity(-9.8)
+	local function func(_self, goal, speed_factor)
+		local pos = _self.object:get_pos()
+		if not pos then return end
+		if vec_dist(pos, goal) < clamp(self.width, 0.5, 1) then
+			_self:halt()
+			return true
+		end
+		-- Calculate Movement
+		steer_timer = (steer_timer > 0 and steer_timer - self.dtime) or 0.25
+		steer_to = (steer_timer <= 0 and creatura.get_context_steering(self, goal, 2)) or steer_to
+		local speed = abs(_self.speed or 2) * speed_factor or 0.5
+		local turn_rate = abs(_self.turn_rate or 5)
+		-- Apply Movement
+		_self:set_forward_velocity(speed)
+		_self:turn_to(dir2yaw(steer_to or vec_dir(pos, goal)), turn_rate)
+	end
+	return func
 end)

mob_meta.lua

@@ -438,7 +438,7 @@ function mob:is_pos_safe(pos)
 		for i = 1, self.max_fall or 3 do
 			local fall_pos = {
 				x = pos.x,
-				y = floor(mob_pos.y + 0.5) - i,
+				y = floor(pos.y + 0.5) - i,
 				z = pos.z
 			}
 			if creatura.get_node_def(fall_pos).walkable then
@@ -695,6 +695,8 @@ end
 
 function mob:clear_action()
 	self._action = {}
+	self._movement_data.goal = nil
+	self._movement_data.func = nil
 end
 
 function mob:set_utility(func)
@@ -1142,12 +1144,13 @@ function mob:_execute_utilities()
 	and is_alive then
 		for i = 1, #self.utility_stack do
 			local utility = self.utility_stack[i].utility
+			local util_data = self._utility_data
 			local get_score = self.utility_stack[i].get_score
 			local step_delay = self.utility_stack[i].step_delay
 			local score, args = get_score(self)
-			if self._utility_data.utility
+			if util_data.utility
-			and utility == self._utility_data.utility
+			and utility == util_data.utility
-			and self._utility_data.score > 0
+			and util_data.score > 0
 			and score <= 0 then
 				self._utility_data = {
 					utility = nil,
@@ -1155,9 +1158,10 @@ function mob:_execute_utilities()
 					step_delay = nil,
 					score = 0
 				}
+				util_data = self._utility_data
 			end
 			if score > 0
-			and score >= self._utility_data.score
+			and score >= util_data.score
 			and score >= loop_data.score then
 				loop_data = {
 					utility = utility,

spawning.lua

@@ -493,23 +493,16 @@ function creatura.register_abm_spawn(mob, def)
 
 	local function spawn_func(pos, _, _, aocw)
 
-		if spawn_on_load
-		and random(chance) > 1 then
-			return
-		end
-
-		if spawn_on_load
-		and not minetest.find_node_near(pos, 1, neighbors) then
-			return
-		end
-
-		if pos.y > max_height
-		or pos.y < min_height then
-			return
-		end
-
 		if not spawn_in_nodes then
-			pos = vec_raise(pos, 1)
+			pos.y = pos.y + 1
+		end
+
+		if spawn_on_load -- Manual checks for LBMs
+		and (random(chance) > 1
+		or not minetest.find_node_near(pos, 1, neighbors)
+		or pos.y > max_height
+		or pos.y < min_height) then
+			return
 		end
 
 		local light = minetest.get_node_light(pos) or 7
@@ -530,9 +523,7 @@ function creatura.register_abm_spawn(mob, def)
 		local objects = minetest.get_objects_inside_radius(pos, abr)
 
 		for _, object in ipairs(objects) do
-			local ent = object and object:get_luaentity()
+			local ent = object:get_luaentity()
-			local is_plyr = object and object:is_player()
-			plyr_found = plyr_found or is_plyr
 			if ent
 			and ent.name == mob then
 				mob_count = mob_count + 1
@@ -540,6 +531,7 @@ function creatura.register_abm_spawn(mob, def)
 					return
 				end
 			end
+			plyr_found = plyr_found or object:is_player()
 		end
 
 		if not plyr_found then
@@ -550,8 +542,6 @@ function creatura.register_abm_spawn(mob, def)
 		local mob_width = mob_def.collisionbox[4]
 		local mob_height = math.max(0, mob_def.collisionbox[5] - mob_def.collisionbox[2])
 
-		pos.y = pos.y - 0.49
-
 		if not creatura.is_pos_moveable(pos, mob_width, mob_height) then
 			return
 		end
@@ -560,10 +550,11 @@ function creatura.register_abm_spawn(mob, def)
 
 		if group_size > 1 then
 			for _ = 1, group_size do
+				local offset = math.ceil(mob_width)
 				local spawn_pos = creatura.get_ground_level({
-					x = pos.x + random(-mob_width, mob_width),
+					x = pos.x + random(-offset, offset),
 					y = pos.y,
-					z = pos.x + random(-mob_width, mob_width),
+					z = pos.x + random(-offset, offset),
 				}, 3)
 				if not creatura.is_pos_moveable(spawn_pos, mob_width, mob_height) then
 					spawn_pos = pos
@@ -589,11 +580,11 @@ function creatura.register_abm_spawn(mob, def)
 				end
 			end
 		end
+		
 
 		minetest.log("action",
 			"[Creatura] [ABM Spawning] Spawned " .. group_size .. " " .. mob .. " at " .. minetest.pos_to_string(pos))
 
-
 	end
 
 	if spawn_on_load then
@@ -613,6 +604,8 @@ function creatura.register_abm_spawn(mob, def)
 			neighbors = neighbors,
 			interval = interval,
 			chance = chance,
+			min_y = min_height,
+			max_y = max_height,
 			catch_up = false,
 			action = function(pos, ...)
 				spawn_func(pos, ...)