minecraft-bot/mosfet/path.py

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import importlib
import functools
import time
from astar import AStar
from mosfet.info import blocks
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from mosfet import utils
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class AStarTimeout(Exception):
pass
BLOCK_ABOVE = (0, +1, 0)
BLOCK_ABOVE2 = (0, +2, 0)
BLOCK_ABOVE3 = (0, +3, 0)
BLOCK_ABOVE4 = (0, +4, 0)
BLOCK_BELOW = (0, -1, 0)
BLOCK_BELOW2 = (0, -2, 0)
TRAVERSE_NORTH = (0, 0, -1)
TRAVERSE_SOUTH = (0, 0, +1)
TRAVERSE_EAST = (+1, 0, 0)
TRAVERSE_WEST = (-1, 0, 0)
ASCEND_NORTH = (0, +1, -1)
ASCEND_SOUTH = (0, +1, +1)
ASCEND_EAST = (+1, +1, 0)
ASCEND_WEST = (-1, +1, 0)
DESCEND_EAST = (+1, -1, 0)
DESCEND_WEST = (-1, -1, 0)
DESCEND_NORTH = (0, -1, -1)
DESCEND_SOUTH = (0, -1, +1)
DESCEND2_EAST = (+1, -2, 0)
DESCEND2_WEST = (-1, -2, 0)
DESCEND2_NORTH = (0, -2, -1)
DESCEND2_SOUTH = (0, -2, +1)
DESCEND3_EAST = (+1, -3, 0)
DESCEND3_WEST = (-1, -3, 0)
DESCEND3_NORTH = (0, -3, -1)
DESCEND3_SOUTH = (0, -3, +1)
DIAGONAL_NORTHEAST = (+1, 0, -1)
DIAGONAL_NORTHWEST = (-1, 0, -1)
DIAGONAL_SOUTHEAST = (+1, 0, +1)
DIAGONAL_SOUTHWEST = (-1, 0, +1)
PARKOUR_NORTH = (0, 0, -2)
PARKOUR_SOUTH = (0, 0, +2)
PARKOUR_EAST = (+2, 0, 0)
PARKOUR_WEST = (-2, 0, 0)
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CHECK_NORTH = (0, 0, -1)
CHECK_SOUTH = (0, 0, +1)
CHECK_EAST = (+1, 0, 0)
CHECK_WEST = (-1, 0, 0)
CHECK_DIRECTIONS = [
CHECK_NORTH,
CHECK_SOUTH,
CHECK_EAST,
CHECK_WEST,
]
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TRAVERSE = [
TRAVERSE_NORTH,
TRAVERSE_SOUTH,
TRAVERSE_EAST,
TRAVERSE_WEST,
]
ASCEND = [
ASCEND_NORTH,
ASCEND_SOUTH,
ASCEND_EAST,
ASCEND_WEST,
]
DESCEND = [
DESCEND_EAST,
DESCEND_WEST,
DESCEND_NORTH,
DESCEND_SOUTH,
]
DESCEND2 = [
DESCEND2_EAST,
DESCEND2_WEST,
DESCEND2_NORTH,
DESCEND2_SOUTH,
]
DESCEND3 = [
DESCEND3_EAST,
DESCEND3_WEST,
DESCEND3_NORTH,
DESCEND3_SOUTH,
]
DIAGONAL = [
DIAGONAL_NORTHEAST,
DIAGONAL_NORTHWEST,
DIAGONAL_SOUTHEAST,
DIAGONAL_SOUTHWEST,
]
PARKOUR = [
PARKOUR_NORTH,
PARKOUR_SOUTH,
PARKOUR_EAST,
PARKOUR_WEST,
]
HALF_PARKOUR = {
(0, 0, -2): (0, 0, -1),
(0, 0, 2): (0, 0, 1),
(2, 0, 0): (1, 0, 0),
(-2, 0, 0): (-1, 0, 0),
}
# larger started being slower
BLOCK_CACHE_SIZE = 2**14
class Pathfinder(AStar):
def __init__(self, g):
self.g = g
self.chunks = g.chunks
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self.start_time = time.time()
@functools.lru_cache(maxsize=BLOCK_CACHE_SIZE)
def bair(self, p):
return self.chunks.get_block_at(*p) in blocks.NON_SOLID_IDS
@functools.lru_cache(maxsize=BLOCK_CACHE_SIZE)
def bavoid(self, p):
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return self.chunks.get_block_at(*p) in blocks.AVOID_IDS or p[1] < 0
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def check_traverse_crawling(self, node, offset):
dest = utils.padd(node, offset)
if not self.bair(dest):
return False
if self.bair(utils.padd(dest, BLOCK_BELOW)):
return False
if self.bavoid(dest):
return False
if self.bavoid(utils.padd(dest, BLOCK_BELOW)):
return False
return True
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def check_traverse(self, node, offset):
dest = utils.padd(node, offset)
if not self.bair(dest):
return False
if self.bair(utils.padd(dest, BLOCK_BELOW)):
return False
if not self.bair(utils.padd(dest, BLOCK_ABOVE)):
return False
if self.bavoid(dest):
return False
if self.bavoid(utils.padd(dest, BLOCK_BELOW)):
return False
if self.bavoid(utils.padd(dest, BLOCK_ABOVE)):
return False
return True
def check_diagonal(self, node, offset):
if not self.check_traverse(node, offset):
return False
dest = utils.padd(node, offset)
thru1 = (node[0], node[1], dest[2])
thru2 = (dest[0], node[1], node[2])
if not self.bair(thru1):
return False
if not self.bair(utils.padd(thru1, BLOCK_ABOVE)):
return False
if self.bavoid(utils.padd(thru1, BLOCK_BELOW)):
return False
if not self.bair(thru2):
return False
if not self.bair(utils.padd(thru2, BLOCK_ABOVE)):
return False
if self.bavoid(utils.padd(thru2, BLOCK_BELOW)):
return False
return True
def check_ascend(self, node, offset):
dest = utils.padd(node, offset)
if not self.bair(utils.padd(node, BLOCK_ABOVE2)):
return False
if not self.check_traverse(node, offset):
return False
return True
def check_descend(self, node, offset):
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dest = utils.padd(node, offset)
if not self.bair(utils.padd(dest, BLOCK_ABOVE2)):
return False
if not self.check_traverse(node, offset):
return False
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return True
def check_descend2(self, node, offset):
dest = utils.padd(node, offset)
if not self.bair(utils.padd(dest, BLOCK_ABOVE3)):
return False
if not self.check_descend(node, offset):
return False
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return True
def check_descend3(self, node, offset):
dest = utils.padd(node, offset)
if not self.bair(utils.padd(dest, BLOCK_ABOVE4)):
return False
if not self.check_descend2(node, offset):
return False
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return True
def check_parkour(self, node, offset):
dest = utils.padd(node, offset)
half_offset = HALF_PARKOUR[offset]
middle = utils.padd(node, half_offset)
# dont jump if we can walk instead
if not self.bair(utils.padd(middle, BLOCK_BELOW)):
return False
if not self.check_ascend(node, offset):
return False
if not self.bair(utils.padd(dest, BLOCK_ABOVE2)):
return False
if not self.bair(utils.padd(middle, BLOCK_ABOVE)):
return False
if not self.bair(utils.padd(middle, BLOCK_ABOVE2)):
return False
return True
def neighbors(self, node):
results = []
if self.g.crawling:
for offset in TRAVERSE:
if self.check_traverse_crawling(node, offset):
results.append(utils.padd(node, offset))
else:
for offset in TRAVERSE:
if self.check_traverse(node, offset):
results.append(utils.padd(node, offset))
for offset in DIAGONAL:
if self.check_diagonal(node, offset):
results.append(utils.padd(node, offset))
for offset in ASCEND:
if self.check_ascend(node, offset):
results.append(utils.padd(node, offset))
for offset in DESCEND:
if self.check_descend(node, offset):
results.append(utils.padd(node, offset))
for offset in DESCEND2:
if self.check_descend2(node, offset):
results.append(utils.padd(node, offset))
for offset in DESCEND3:
if self.check_descend3(node, offset):
results.append(utils.padd(node, offset))
for offset in PARKOUR:
if self.check_parkour(node, offset):
results.append(utils.padd(node, offset))
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if not results:
if time.time() - self.start_time > 2.0:
raise(AStarTimeout)
return results
def distance_between(self, n1, n2):
(x1, y1, z1) = n1
(x2, y2, z2) = n2
return utils.hypot(x2-x1, y2-y1, z2-z1)
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def heuristic_cost_estimate(self, n1, n2):
(x1, y1, z1) = n1
(x2, y2, z2) = n2
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return abs(x2-x1) + abs(y2-y1) + abs(z2-z1)