Locate nearest tree and pathfind to it

blocks.py

@@ -183,6 +183,26 @@ NON_SOLID = [
 ]
 SINGLE_SNOW = 3919
 
+
+LOGS = [
+    'minecraft:oak_log',
+    'minecraft:spruce_log',
+    'minecraft:birch_log',
+    'minecraft:jungle_log',
+    'minecraft:acacia_log',
+    'minecraft:dark_oak_log',
+]
+
+LEAVES = [
+    'minecraft:oak_leaves',
+    'minecraft:spruce_leaves',
+    'minecraft:birch_leaves',
+    'minecraft:jungle_leaves',
+    'minecraft:acacia_leaves',
+    'minecraft:dark_oak_leaves',
+]
+
+
 NON_SOLID_IDS = set([SINGLE_SNOW])
 for block_name in NON_SOLID:
     for state in BLOCKS[block_name]['states']:
@@ -192,3 +212,13 @@ AVOID_IDS = set()
 for block_name in AVOID:
     for state in BLOCKS[block_name]['states']:
         AVOID_IDS.add(state['id'])
+
+LOG_IDS = set()
+for block_name in LOGS:
+    for state in BLOCKS[block_name]['states']:
+        LOG_IDS.add(state['id'])
+
+LEAF_IDS = set()
+for block_name in LEAVES:
+    for state in BLOCKS[block_name]['states']:
+        LEAF_IDS.add(state['id'])

bot.py

@@ -1,7 +1,9 @@
 import os
 import time
 import functools
-from math import ceil, floor, hypot
+from math import ceil, floor, hypot, sqrt
+from itertools import count
+
 
 import blocks
 
@@ -318,6 +320,116 @@ class MazeSolver(AStar):
         (x2, y2, z2) = n2
         return hypot(x2 - x1, z2 - z1)
 
+
+def spiral(n):
+    # return x, 0, z coords along a spiral at step n
+    n += 1
+    k = ceil((sqrt(n)-1)/2)
+    t = 2 * k + 1
+    m = t**2
+    t = t - 1
+    if n >= m-t:
+        return k-(m-n), 0, -k
+    else:
+        m = m-t
+    if n >= m-t:
+        return -k, 0, -k+(m-n)
+    else:
+        m = m-t
+    if n >= m-t:
+        return -k+(m-n), 0, k
+    else:
+        return k, 0, k-(m-n-t)
+
+def alternate(n, amount):
+    # return 0, y, 0 where y alternates +/- by amount
+    # example: 0, 2, -2, 4, -4, 6, -6 for amount = 2
+    sign = 1 if n % 2 else -1
+    return (0, ceil(n/2) * sign * amount, 0)
+
+BLOCK_ABOVE = (0, +1, 0)
+BLOCK_BELOW = (0, -1, 0)
+
+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,
+]
+
+class MCWorld:
+    def __init__(self, chunks):
+        self.chunks = chunks
+
+    def block_at(self, x, y, z):
+        return self.chunks.get_block_at(x, y, z)
+
+    def find_blocks(self, center, distance, block_ids, limit=0):
+        # search in a spiral from center to all blocks with ID
+        result = []
+        for n in count():
+            offset = spiral(n)
+            check = padd(center, offset)
+            if self.block_at(*check) in block_ids:
+                if hypot(*offset) < distance:
+                    result.append(check)
+            if limit and len(result) == limit:
+                return result
+            if offset[0] > distance:
+                return result
+
+    def find_tree(self, center, distance):
+        logs = []
+        for i in range(5):
+            check = padd(center, alternate(i, 4))
+            logs.extend(self.find_blocks(center, distance, blocks.LOG_IDS, 5))
+
+        for log in logs:
+            # crawl to the top log
+            while self.block_at(*padd(log, BLOCK_ABOVE)) in blocks.LOG_IDS:
+                log = padd(log, BLOCK_ABOVE)
+
+            # make sure it's a tree
+            if self.block_at(*padd(log, BLOCK_ABOVE)) in blocks.LEAF_IDS:
+                break
+        else: # for
+            return None
+
+        # crawl to the bottom log
+        while self.block_at(*padd(log, BLOCK_BELOW)) in blocks.LOG_IDS:
+            log = padd(log, BLOCK_BELOW)
+
+        return log
+
+    def find_tree_openings(self, tree):
+        # returns coords in a cardinal direction where we can stand by tree
+        maze_solver = MazeSolver(self.chunks)
+        result = []
+
+        for distance in range(5):
+            for direction in CHECK_DIRECTIONS:
+                offset = (0, 0, 0)
+                for _ in range(distance):
+                    offset = padd(offset, direction)
+                if maze_solver.check_traverse(tree, offset):
+                    result.append(padd(tree, offset))
+        return result
+
+    def navigate_to_opening(self, start, opening):
+        maze_solver = MazeSolver(self.chunks)
+
+        try:
+            return list(maze_solver.astar(start, opening))
+        except AStarTimeout:
+            return None
+
+
+
 TICK = 0.05
 ANGLE_DIR = LVector3f(x=0, y=0, z=-1)
 ANGLE_REF = LVector3f(x=0, y=1, z=0)
@@ -497,6 +609,20 @@ def main(connection, player_info):
             except BaseException as e:
                 import traceback
                 print(traceback.format_exc())
+        elif '!tree' in chat_packet.json_data:
+            try:
+                mc_world = MCWorld(player_info.chunks)
+                start = time.time()
+                coords = mc_world.find_tree(pint(player_info.pos), 100)
+                print(coords)
+                openings = mc_world.find_tree_openings(coords)
+                print(openings)
+                path = mc_world.navigate_to_opening(pint(player_info.pos), openings[0])
+                print(path)
+                print(round(time.time() - start, 3), 'seconds')
+            except BaseException as e:
+                import traceback
+                print(traceback.format_exc())
 	
 
     connection.register_packet_listener(