Program the bot to crawl, fix wood farming bugs

bot.py

@@ -142,9 +142,11 @@ def tick(global_state):
         g.y_v += g.y_a * utils.TICK
 
     block_below = g.chunks.get_block_at(floor(p.x), ceil(p.y-1), floor(p.z))
+    block_above = g.chunks.get_block_at(floor(p.x), ceil(p.y+1), floor(p.z))
     in_void = p.y < 0
     in_air = block_below in blocks.NON_SOLID_IDS or in_void
     in_water = block_below in blocks.WATER_IDS
+    g.crawling = block_above not in blocks.NON_SOLID_IDS
 
     if in_air:
         g.y_a = -36.0
@@ -204,6 +206,7 @@ def init(global_state):
     g.y_a = 0
     g.yaw = 360
     g.pitch = 0
+    g.crawling = False
 
     g.breaking = None
     g.break_time = 0

game.py

@@ -117,9 +117,7 @@ class MCWorld:
                 log_count += 1
 
                 for offset in path.CHECK_DIRECTIONS:
-                    if self.block_at(*utils.padd(log, offset)) not in blocks.LEAF_IDS:
-                        break
-                else: # for:
+                    if self.block_at(*utils.padd(log, offset)) in blocks.LEAF_IDS:
                         good_leaves = True
 
             # make sure it's a good tree
@@ -132,7 +130,7 @@ class MCWorld:
 
     def find_tree_openings(self, tree):
         # returns coords in a cardinal direction where we can stand by tree
-        maze_solver = path.Pathfinder(self.g.chunks)
+        maze_solver = path.Pathfinder(self.g)
         result = []
 
         # TODO: make sure only non-solid and leaves between
@@ -146,7 +144,7 @@ class MCWorld:
         return result
 
     def path_to_place(self, start, place):
-        maze_solver = path.Pathfinder(self.g.chunks)
+        maze_solver = path.Pathfinder(self.g)
 
         try:
             s = maze_solver.astar(start, place)
@@ -155,8 +153,8 @@ class MCWorld:
             return None
 
     def find_bed_areas(self, center, distance):
-        bed_clearance = 25  # 5x5 area
-        clear_distance = 3
+        bed_clearance = 9  # 5x5 area
+        clear_distance = 2
 
         for a in self.find_blocks_3d(center, [0], distance, 50):
             # check for air around the area
@@ -324,7 +322,7 @@ class MCWorld:
 
     def find_villager_openings(self, villager):
         # returns coords in a cardinal direction where we can stand by a villager
-        maze_solver = path.Pathfinder(self.g.chunks)
+        maze_solver = path.Pathfinder(self.g)
         result = []
 
         for distance in range(3):
@@ -398,7 +396,7 @@ class Game:
                 print('new waypoint:', self.g.goal)
 
                 start = time.time()
-                solution = path.Pathfinder(self.g.chunks).astar(utils.pint(self.g.pos), utils.pint(self.g.goal))
+                solution = path.Pathfinder(self.g).astar(utils.pint(self.g.pos), utils.pint(self.g.goal))
                 if solution:
                     solution = list(solution)
                     self.g.path = solution

path.py

@@ -121,8 +121,9 @@ HALF_PARKOUR = {
 BLOCK_CACHE_SIZE = 2**14
 
 class Pathfinder(AStar):
-    def __init__(self, chunks):
-        self.chunks = chunks
+    def __init__(self, g):
+        self.g = g
+        self.chunks = g.chunks
         self.start_time = time.time()
 
     @functools.lru_cache(maxsize=BLOCK_CACHE_SIZE)
@@ -133,6 +134,23 @@ class Pathfinder(AStar):
     def bavoid(self, p):
         return self.chunks.get_block_at(*p) in blocks.AVOID_IDS or p[1] < 0
 
+    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
+
     def check_traverse(self, node, offset):
         dest = utils.padd(node, offset)
 
@@ -254,6 +272,11 @@ class Pathfinder(AStar):
     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))