Port over physics and pathfinding
This commit is contained in:
216
blocks.py
Normal file
216
blocks.py
Normal file
@@ -0,0 +1,216 @@
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import json
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with open('mcdata/blocks.json') as f:
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BLOCKS = json.load(f)
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AVOID = [
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'minecraft:lava',
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'minecraft:water',
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'minecraft:fire',
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'minecraft:magma_block',
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'minecraft:oak_fence',
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'minecraft:oak_fence_gate',
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'minecraft:nether_brick_fence',
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'minecraft:spruce_fence_gate',
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'minecraft:birch_fence_gate',
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'minecraft:jungle_fence_gate',
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'minecraft:acacia_fence_gate',
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'minecraft:dark_oak_fence_gate',
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'minecraft:spruce_fence',
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'minecraft:birch_fence',
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'minecraft:jungle_fence',
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'minecraft:acacia_fence',
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'minecraft:dark_oak_fence',
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'minecraft:sweet_berry_bush',
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'minecraft:nether_portal',
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'minecraft:end_portal',
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'minecraft:cobblestone_wall',
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'minecraft:mossy_cobblestone_wall',
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'minecraft:brick_wall',
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'minecraft:prismarine_wall',
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'minecraft:red_sandstone_wall',
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'minecraft:mossy_stone_brick_wall',
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'minecraft:granite_wall',
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'minecraft:stone_brick_wall',
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'minecraft:nether_brick_wall',
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'minecraft:andesite_wall',
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'minecraft:red_nether_brick_wall',
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'minecraft:sandstone_wall',
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'minecraft:end_stone_brick_wall',
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'minecraft:diorite_wall',
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]
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NON_SOLID = [
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'minecraft:air',
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'minecraft:powered_rail',
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'minecraft:detector_rail',
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'minecraft:grass',
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'minecraft:fern',
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'minecraft:dead_bush',
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'minecraft:seagrass',
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'minecraft:tall_seagrass',
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'minecraft:dandelion',
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'minecraft:poppy',
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'minecraft:blue_orchid',
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'minecraft:allium',
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'minecraft:azure_bluet',
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'minecraft:red_tulip',
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'minecraft:orange_tulip',
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'minecraft:white_tulip',
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'minecraft:pink_tulip',
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'minecraft:oxeye_daisy',
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'minecraft:cornflower',
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'minecraft:wither_rose',
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'minecraft:lily_of_the_valley',
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'minecraft:brown_mushroom',
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'minecraft:red_mushroom',
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'minecraft:torch',
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'minecraft:wall_torch',
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'minecraft:redstone_wire',
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'minecraft:wheat',
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'minecraft:oak_sign',
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'minecraft:spruce_sign',
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'minecraft:birch_sign',
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'minecraft:acacia_sign',
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'minecraft:jungle_sign',
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'minecraft:dark_oak_sign',
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'minecraft:rail',
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'minecraft:oak_wall_sign',
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'minecraft:spruce_wall_sign',
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'minecraft:birch_wall_sign',
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'minecraft:acacia_wall_sign',
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'minecraft:jungle_wall_sign',
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'minecraft:dark_oak_wall_sign',
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'minecraft:lever',
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'minecraft:stone_pressure_plate',
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'minecraft:oak_pressure_plate',
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'minecraft:spruce_pressure_plate',
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'minecraft:birch_pressure_plate',
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'minecraft:jungle_pressure_plate',
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'minecraft:acacia_pressure_plate',
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'minecraft:dark_oak_pressure_plate',
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'minecraft:redstone_torch',
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'minecraft:redstone_wall_torch',
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'minecraft:stone_button',
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'minecraft:sugar_cane',
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'minecraft:repeater',
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'minecraft:attached_pumpkin_stem',
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'minecraft:attached_melon_stem',
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'minecraft:pumpkin_stem',
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'minecraft:melon_stem',
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'minecraft:nether_wart',
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'minecraft:tripwire_hook',
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'minecraft:tripwire',
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'minecraft:carrots',
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'minecraft:potatoes',
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'minecraft:oak_button',
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'minecraft:spruce_button',
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'minecraft:birch_button',
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'minecraft:jungle_button',
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'minecraft:acacia_button',
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'minecraft:dark_oak_button',
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'minecraft:light_weighted_pressure_plate',
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'minecraft:heavy_weighted_pressure_plate',
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'minecraft:comparator',
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'minecraft:activator_rail',
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'minecraft:white_carpet',
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'minecraft:orange_carpet',
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'minecraft:magenta_carpet',
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'minecraft:light_blue_carpet',
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'minecraft:yellow_carpet',
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'minecraft:lime_carpet',
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'minecraft:pink_carpet',
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'minecraft:gray_carpet',
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'minecraft:light_gray_carpet',
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'minecraft:cyan_carpet',
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'minecraft:purple_carpet',
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'minecraft:blue_carpet',
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'minecraft:brown_carpet',
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'minecraft:green_carpet',
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'minecraft:red_carpet',
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'minecraft:black_carpet',
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'minecraft:sunflower',
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'minecraft:lilac',
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'minecraft:rose_bush',
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'minecraft:peony',
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'minecraft:tall_grass',
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'minecraft:large_fern',
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'minecraft:white_banner',
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'minecraft:orange_banner',
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'minecraft:magenta_banner',
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'minecraft:light_blue_banner',
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'minecraft:yellow_banner',
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'minecraft:lime_banner',
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'minecraft:pink_banner',
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'minecraft:gray_banner',
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'minecraft:light_gray_banner',
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'minecraft:cyan_banner',
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'minecraft:purple_banner',
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'minecraft:blue_banner',
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'minecraft:brown_banner',
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'minecraft:green_banner',
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'minecraft:red_banner',
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'minecraft:black_banner',
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'minecraft:white_wall_banner',
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'minecraft:orange_wall_banner',
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'minecraft:magenta_wall_banner',
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'minecraft:light_blue_wall_banner',
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'minecraft:yellow_wall_banner',
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'minecraft:lime_wall_banner',
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'minecraft:pink_wall_banner',
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'minecraft:gray_wall_banner',
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'minecraft:light_gray_wall_banner',
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'minecraft:cyan_wall_banner',
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'minecraft:purple_wall_banner',
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'minecraft:blue_wall_banner',
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'minecraft:brown_wall_banner',
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'minecraft:green_wall_banner',
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'minecraft:red_wall_banner',
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'minecraft:black_wall_banner',
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'minecraft:beetroots',
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'minecraft:bamboo_sapling',
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'minecraft:void_air',
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'minecraft:cave_air',
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'minecraft:lantern',
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]
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SINGLE_SNOW = 3919
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LOGS = [
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'minecraft:oak_log',
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'minecraft:spruce_log',
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'minecraft:birch_log',
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'minecraft:jungle_log',
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'minecraft:acacia_log',
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'minecraft:dark_oak_log',
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]
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LEAVES = [
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'minecraft:oak_leaves',
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'minecraft:spruce_leaves',
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'minecraft:birch_leaves',
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'minecraft:jungle_leaves',
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'minecraft:acacia_leaves',
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'minecraft:dark_oak_leaves',
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]
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NON_SOLID_IDS = set([SINGLE_SNOW])
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for block_name in NON_SOLID:
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for state in BLOCKS[block_name]['states']:
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NON_SOLID_IDS.add(state['id'])
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AVOID_IDS = set()
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for block_name in AVOID:
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for state in BLOCKS[block_name]['states']:
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AVOID_IDS.add(state['id'])
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LOG_IDS = set()
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for block_name in LOGS:
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for state in BLOCKS[block_name]['states']:
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LOG_IDS.add(state['id'])
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LEAF_IDS = set()
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for block_name in LEAVES:
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for state in BLOCKS[block_name]['states']:
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LEAF_IDS.add(state['id'])
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166
bot.py
166
bot.py
@@ -5,6 +5,7 @@ if __name__ == '__main__':
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import os
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import time
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import importlib
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from math import floor, ceil
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USERNAME = os.environ['USERNAME']
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PASSWORD = os.environ['PASSWORD']
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@@ -21,19 +22,144 @@ from minecraft.networking.packets import Packet, clientbound, serverbound
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from custom.networking.packets.clientbound.play.block_change_packet import BlockChangePacket
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from panda3d.core import LPoint3f
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from bunch import Bunch
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from panda3d.core import LPoint3f, LVector3f
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import packet_handlers
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importlib.reload(packet_handlers)
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import blocks
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importlib.reload(blocks)
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import utils
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importlib.reload(utils)
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import path
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importlib.reload(path)
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TICK = 0.05
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last_tick = time.time()
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def tick():
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return
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PITCH_ANGLE_DIR = LVector3f(x=0, y=1, z=0)
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YAW_ANGLE_DIR = LVector3f(x=0, y=0, z=-1)
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YAW_ANGLE_REF = LVector3f(x=0, y=1, z=0)
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YAW_LOOK_AHEAD = 4
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def tick(global_state):
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g = global_state
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l = g.local_state
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p = g.pos
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target = None
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try:
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g.chunks.get_block_at(*utils.pint(p))
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except chunks.ChunkNotLoadedException:
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return
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#l.jobstate.run()
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if l.path and len(l.path):
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target = LPoint3f(l.path[0])
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target.x += 0.5
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target.z += 0.5
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if target:
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d = p - target
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# jump up block
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if d.y < -0.9 and not l.y_v:
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l.y_v = 8.5
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l.y_a = -36.0
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# jump gap
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if d.xz.length() > 1.6 and not l.y_v:
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l.y_v = 8.5
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l.y_a = -36.0
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if d.length() > 0:
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if l.y_v < 5:
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p.x -= utils.cap(d.x, 0.2)
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p.z -= utils.cap(d.z, 0.2)
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if len(l.path) > 1 and d.length() < 0.2:
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# removes some jitter in walking
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l.path.pop(0)
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elif d.length() == 0:
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l.path.pop(0)
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if l.y_v or l.y_a:
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p.y += l.y_v * TICK
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l.y_v += l.y_a * TICK
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block_below = g.chunks.get_block_at(floor(p.x), ceil(p.y-1), floor(p.z))
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in_air = block_below in blocks.NON_SOLID_IDS
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if in_air:
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l.y_a = -36.0
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else:
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p.y = ceil(p.y)
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l.y_v = 0
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l.y_a = 0
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if l.look_at:
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look_at = LPoint3f(l.look_at)
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elif l.path and len(l.path) > YAW_LOOK_AHEAD:
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look_at = LPoint3f(l.path[YAW_LOOK_AHEAD])
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elif l.path and len(l.path):
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look_at = LPoint3f(l.path[-1])
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else:
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look_at = None
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if look_at:
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look_at.x += 0.5
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look_at.z += 0.5
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look_at_d = p - look_at
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if look_at_d.length() > 0.6:
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target_pitch = look_at_d.normalized().angleDeg(PITCH_ANGLE_DIR)
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target_pitch = (target_pitch - 90) * -1
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target_pitch_d = target_pitch - l.pitch
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l.pitch += utils.cap(target_pitch_d, 10)
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# remove vertical component for yaw calculation
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look_at_d.y = 0
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target_yaw = look_at_d.normalized().signedAngleDeg(other=YAW_ANGLE_DIR, ref=YAW_ANGLE_REF)
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target_yaw_d = target_yaw - l.yaw
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target_yaw_d = (target_yaw_d + 180) % 360 - 180
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l.yaw += utils.cap(target_yaw_d, 30)
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else:
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target_pitch_d = 0 - l.pitch
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l.pitch += utils.cap(target_pitch_d, 10)
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packet = serverbound.play.PositionAndLookPacket(x=p.x, feet_y=p.y, z=p.z, pitch=l.pitch, yaw=l.yaw, on_ground=(not in_air))
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g.connection.write_packet(packet, force=True)
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def init(global_state):
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g = global_state
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l = g.local_state
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l.time = 0
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l.path = []
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l.look_at = None
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l.y_v = 0
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l.y_a = 0
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l.yaw = 360
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l.pitch = 0
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#l.break = None
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#l.break_time = 0
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#l.break_timeout = 0
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#l.break_finished_packet = None
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#l.jobstate = JobStates(connection, player_info)
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#l.jobstate.run()
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def bot(global_state):
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g = global_state
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g.local_state = Bunch()
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if 'mcdata' not in g:
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g.mcdata = DataManager('./mcdata')
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@@ -58,31 +184,35 @@ def bot(global_state):
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def packet_wrapper(handler):
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def wrapper(packet):
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print('called')
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print('Wrapper:', handler)
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handler(packet, g)
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return wrapper
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h = packet_wrapper(packet_handlers.handle_join_game)
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g.connection.register_packet_listener(h, clientbound.play.JoinGamePacket)
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h1 = packet_wrapper(packet_handlers.handle_join_game)
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g.connection.register_packet_listener(h1, clientbound.play.JoinGamePacket)
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h = packet_wrapper(packet_handlers.handle_block_change)
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g.connection.register_packet_listener(h, BlockChangePacket)
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h2 = packet_wrapper(packet_handlers.handle_position_and_look)
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g.connection.register_packet_listener(h2, clientbound.play.PlayerPositionAndLookPacket)
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h = packet_wrapper(packet_handlers.handle_position_and_look)
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g.connection.register_packet_listener(h, clientbound.play.PlayerPositionAndLookPacket)
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h3 = packet_wrapper(packet_handlers.handle_block_change)
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g.connection.register_packet_listener(h3, BlockChangePacket)
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try:
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#while not player_info.pos:
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# time.sleep(TICK)
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#print('Player loaded.')
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while not g.pos:
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time.sleep(TICK)
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print('Player loaded.')
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#x, y, z = pint(player_info.pos)
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#while (floor(x/16), floor(y/16), floor(z/16)) not in player_info.chunks.chunks:
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# time.sleep(TICK)
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#print('Chunks loaded.')
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x, y, z = utils.pint(g.pos)
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while (floor(x/16), floor(y/16), floor(z/16)) not in g.chunks.chunks:
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time.sleep(TICK)
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print('Chunks loaded.')
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print('init..')
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init(g)
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print('done init')
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while g.running:
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tick()
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tick(g)
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global last_tick
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sleep_time = TICK + last_tick - time.time()
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3
main.py
3
main.py
@@ -10,9 +10,12 @@ from watchdog.observers import Observer
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from watchdog.events import PatternMatchingEventHandler
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import bot
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global_state = Bunch()
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g = global_state
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g.local_state = False
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g.connection = False
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g.pos = False
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@app.route('/')
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def hello_world():
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@@ -1,4 +1,12 @@
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from panda3d.core import *
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import time
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import importlib
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from panda3d.core import LPoint3f
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import utils
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importlib.reload(utils)
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import path
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importlib.reload(path)
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def handle_join_game(packet, g):
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print('Connected.')
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@@ -6,9 +14,34 @@ def handle_join_game(packet, g):
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g.info = packet
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def handle_block_change(packet, g):
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l = g.local_state
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print('block change:')
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print(packet)
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if packet.block_state_id == 3887:
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try:
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l.goal = LPoint3f(x=packet.location[0], y=packet.location[1], z=packet.location[2])
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print('new waypoint:', l.goal)
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start = time.time()
|
||||
solution = path.Pathfinder(g.chunks).astar(utils.pint(g.pos), utils.pint(l.goal))
|
||||
if solution:
|
||||
solution = list(solution)
|
||||
l.path = solution
|
||||
#l.jobstate.state = l.jobstate.stop
|
||||
print(len(solution))
|
||||
print(solution)
|
||||
print(round(time.time() - start, 3), 'seconds')
|
||||
else:
|
||||
print('No path found')
|
||||
#say(connection, 'No path found')
|
||||
|
||||
#l.y_v = 10.0
|
||||
#l.y_a = -36.0
|
||||
except BaseException as e:
|
||||
import traceback
|
||||
print(traceback.format_exc())
|
||||
|
||||
def handle_position_and_look(packet, g):
|
||||
print('pos and look:')
|
||||
print(packet)
|
||||
|
||||
296
path.py
Normal file
296
path.py
Normal file
@@ -0,0 +1,296 @@
|
||||
import importlib
|
||||
import functools
|
||||
import time
|
||||
from math import hypot
|
||||
|
||||
from astar import AStar
|
||||
|
||||
import blocks
|
||||
importlib.reload(blocks)
|
||||
import utils
|
||||
importlib.reload(utils)
|
||||
|
||||
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)
|
||||
|
||||
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),
|
||||
}
|
||||
|
||||
HYPOT_LUT = {
|
||||
(0, -1): 1.0,
|
||||
(0, 1): 1.0,
|
||||
(1, 0): 1.0,
|
||||
(-1, 0): 1.0,
|
||||
(1, -1): 1.414,
|
||||
(-1, -1): 1.414,
|
||||
(1, 1): 1.414,
|
||||
(-1, 1): 1.414,
|
||||
(0, 2): 2.0,
|
||||
(-2, 0): 2.0,
|
||||
(2, 0): 2.0,
|
||||
(0, -2): 2.0,
|
||||
}
|
||||
|
||||
# larger started being slower
|
||||
BLOCK_CACHE_SIZE = 2**14
|
||||
|
||||
class Pathfinder(AStar):
|
||||
def __init__(self, chunks):
|
||||
self.chunks = chunks
|
||||
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):
|
||||
return self.chunks.get_block_at(*p) in blocks.AVOID_IDS
|
||||
|
||||
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):
|
||||
if not self.check_traverse(node, offset):
|
||||
return False
|
||||
|
||||
dest = utils.padd(node, offset)
|
||||
|
||||
if not self.bair(utils.padd(node, BLOCK_ABOVE2)):
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def check_descend(self, node, offset):
|
||||
if not self.check_traverse(node, offset):
|
||||
return False
|
||||
|
||||
dest = utils.padd(node, offset)
|
||||
|
||||
if not self.bair(utils.padd(dest, BLOCK_ABOVE2)):
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def check_descend2(self, node, offset):
|
||||
if not self.check_descend(node, offset):
|
||||
return False
|
||||
|
||||
dest = utils.padd(node, offset)
|
||||
|
||||
if not self.bair(utils.padd(dest, BLOCK_ABOVE3)):
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def check_descend3(self, node, offset):
|
||||
if not self.check_descend2(node, offset):
|
||||
return False
|
||||
|
||||
dest = utils.padd(node, offset)
|
||||
|
||||
if not self.bair(utils.padd(dest, BLOCK_ABOVE4)):
|
||||
return False
|
||||
|
||||
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 = []
|
||||
|
||||
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))
|
||||
|
||||
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 HYPOT_LUT[x2 - x1, z2 - z1]
|
||||
|
||||
def heuristic_cost_estimate(self, n1, n2):
|
||||
(x1, y1, z1) = n1
|
||||
(x2, y2, z2) = n2
|
||||
return hypot(x2 - x1, z2 - z1)
|
||||
27
utils.py
Normal file
27
utils.py
Normal file
@@ -0,0 +1,27 @@
|
||||
from math import floor, ceil
|
||||
|
||||
def padd(p1, p2):
|
||||
return (p1[0] + p2[0], p1[1] + p2[1], p1[2] + p2[2])
|
||||
|
||||
def psub(p1, p2):
|
||||
return (p1[0] - p2[0], p1[1] - p2[1], p1[2] - p2[2])
|
||||
|
||||
def pmul(p, s):
|
||||
return (s*p[0], s*p[1], s*p[2])
|
||||
|
||||
def phyp(p1, p2):
|
||||
return hypot(p1[0] - p2[0], p1[1] - p2[1], p1[2] - p2[2])
|
||||
|
||||
def phyp_bias(p1, p2, origin):
|
||||
origin_distance = phyp(origin, p2)
|
||||
height_diff = p2[1] - p1[1]
|
||||
height_diff = height_diff*8 if height_diff < 0 else height_diff*0.5
|
||||
return hypot(p1[0] - p2[0], height_diff, p1[2] - p2[2]) + origin_distance*1.5
|
||||
|
||||
def pint(p):
|
||||
return (floor(p[0]), floor(p[1]), floor(p[2]))
|
||||
|
||||
def cap(x, amount):
|
||||
sign = 1 if x >= 0 else -1
|
||||
return sign * min(abs(x), amount)
|
||||
|
||||
Reference in New Issue
Block a user