Handle door navigation and turnarounds

mosfet/bot.py

@@ -79,6 +79,18 @@ def update_pitch(g, look_at_d):
     g.pitch += utils.cap(target_pitch - g.pitch, 10)
 
 
+def update_yaw(g, look_at_d, max_turn=30, fixed_target=None):
+    if fixed_target is not None:
+        g.yaw += utils.cap(fixed_target - g.yaw, max_turn)
+        return
+    if look_at_d.length() <= 0.6:
+        return
+    target_yaw = look_at_d.normalized().signedAngleDeg(
+        other=YAW_ANGLE_DIR, ref=YAW_ANGLE_REF)
+    delta = (target_yaw - g.yaw + 180) % 360 - 180
+    g.yaw = (g.yaw + utils.cap(delta, max_turn) + 180) % 360 - 180
+
+
 def missing_movement_chunks(g):
     """Return chunks needed for local physics and the next path steps only."""
     position = g.get('pos')
@@ -142,6 +154,10 @@ def tick(global_state):
             print('[movement] status={}'.format(status), flush=True)
         g.movement_status = status
 
+    door_pause = (g.game.handle_path_doors()
+                  if g.get('game') and
+                  hasattr(g.game, 'handle_path_doors') else False)
+
     ########## object physics ##########
     # note: it's possible the chunk data is out of date when this runs
 
@@ -176,7 +192,7 @@ def tick(global_state):
 
     ########## player physics ##########
 
-    if g.path and len(g.path):
+    if g.path and len(g.path) and not door_pause:
         target = vector.Point3D(g.path[0])
         target.x += 0.5
         target.z += 0.5
@@ -247,14 +263,13 @@ def tick(global_state):
 
         # remove vertical component for yaw calculation
         look_at_d.y = 0
-
-        if look_at_d.length() > 0.6:
-            target_yaw = look_at_d.normalized().signedAngleDeg(other=YAW_ANGLE_DIR, ref=YAW_ANGLE_REF)
-            target_yaw_d = target_yaw - g.yaw
-            target_yaw_d = (target_yaw_d + 180) % 360 - 180
-            g.yaw += utils.cap(target_yaw_d, 30)
+        update_yaw(g, look_at_d,
+                   fixed_target=g.get('yaw_target_override'))
     else:
         update_pitch(g, None)
+        if g.get('yaw_target_override') is not None:
+            update_yaw(g, None,
+                       fixed_target=g.yaw_target_override)
 
     from minecraft.networking.modern import (
         ClientTickEnd, PlayerPositionRotation,