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Fix yaw spinning bug and optimize pathfinding more

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This commit is contained in:
Tanner Collin 2020-05-20 19:42:56 -06:00
parent ccdd51aad3
commit e124983414
1 changed files with 41 additions and 26 deletions
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67
bot.py
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@ -30,6 +30,9 @@ from astar import AStar
BLOCK_ABOVE = (0, +1, 0) 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_BELOW = (0, -1, 0)
TRAVERSE_NORTH = (0, 0, -1) TRAVERSE_NORTH = (0, 0, -1)
@ -111,6 +114,13 @@ PARKOUR = [
PARKOUR_WEST, 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 = { HYPOT_LUT = {
(0, -1): 1.0, (0, -1): 1.0,
(0, 1): 1.0, (0, 1): 1.0,
@ -186,27 +196,30 @@ class MazeSolver(AStar):
if not self.bair(padd(thru1, BLOCK_ABOVE)): if not self.bair(padd(thru1, BLOCK_ABOVE)):
return False return False
if self.bavoid(padd(thru1, BLOCK_BELOW)):
return False
if not self.bair(thru2): if not self.bair(thru2):
return False return False
if not self.bair(padd(thru2, BLOCK_ABOVE)): if not self.bair(padd(thru2, BLOCK_ABOVE)):
return False return False
if self.bavoid(padd(thru2, BLOCK_BELOW)):
return False
return True return True
def check_ascend(self, node, offset): def check_ascend(self, node, offset):
if not self.check_traverse(node, offset): if not self.check_traverse(node, offset):
return False return False
head = padd(node, BLOCK_ABOVE)
dest = padd(node, offset) dest = padd(node, offset)
dest_head = padd(dest, BLOCK_ABOVE)
if not self.bair(padd(head, BLOCK_ABOVE)): if not self.bair(padd(node, BLOCK_ABOVE2)):
return False return False
if not self.bair(padd(dest_head, BLOCK_ABOVE)): if not self.bair(padd(dest, BLOCK_ABOVE2)):
return False return False
return True return True
@ -216,9 +229,8 @@ class MazeSolver(AStar):
return False return False
dest = padd(node, offset) dest = padd(node, offset)
dest_head = padd(dest, BLOCK_ABOVE)
if not self.bair(padd(dest_head, BLOCK_ABOVE)): if not self.bair(padd(dest, BLOCK_ABOVE2)):
return False return False
return True return True
@ -228,10 +240,8 @@ class MazeSolver(AStar):
return False return False
dest = padd(node, offset) dest = padd(node, offset)
dest_head = padd(dest, BLOCK_ABOVE)
dest_head_above = padd(dest_head, BLOCK_ABOVE)
if not self.bair(padd(dest_head_above, BLOCK_ABOVE)): if not self.bair(padd(dest, BLOCK_ABOVE3)):
return False return False
return True return True
@ -241,18 +251,15 @@ class MazeSolver(AStar):
return False return False
dest = padd(node, offset) dest = padd(node, offset)
dest_head = padd(dest, BLOCK_ABOVE)
dest_head_above = padd(dest_head, BLOCK_ABOVE)
dest_head_above_above = padd(dest_head_above, BLOCK_ABOVE)
if not self.bair(padd(dest_head_above_above, BLOCK_ABOVE)): if not self.bair(padd(dest, BLOCK_ABOVE4)):
return False return False
return True return True
def check_parkour(self, node, offset): def check_parkour(self, node, offset):
dest = padd(node, offset) dest = padd(node, offset)
half_offset = (int(offset[0]/2), offset[1], int(offset[2]/2)) half_offset = HALF_PARKOUR[offset]
middle = padd(node, half_offset) middle = padd(node, half_offset)
# dont jump if we can walk instead # dont jump if we can walk instead
@ -262,12 +269,10 @@ class MazeSolver(AStar):
if not self.check_ascend(node, offset): if not self.check_ascend(node, offset):
return False return False
middle_head = padd(middle, BLOCK_ABOVE) if not self.bair(padd(middle, BLOCK_ABOVE)):
if not self.bair(middle_head):
return False return False
if not self.bair(padd(middle_head, BLOCK_ABOVE)): if not self.bair(padd(middle, BLOCK_ABOVE2)):
return False return False
return True return True
@ -391,12 +396,9 @@ def tick(connection, player_info):
if look_at_d.length() > 0.6: if look_at_d.length() > 0.6:
target_yaw = look_at_d.normalized().signedAngleDeg(other=ANGLE_DIR, ref=ANGLE_REF) target_yaw = look_at_d.normalized().signedAngleDeg(other=ANGLE_DIR, ref=ANGLE_REF)
target_yaw_d = s['yaw'] - target_yaw target_yaw_d = target_yaw - s['yaw']
#print('target', target_yaw, 'd', target_yaw_d) target_yaw_d = (target_yaw_d + 180) % 360 - 180
#if target_yaw_d > 270: s['yaw'] += cap(target_yaw_d, 30)
# target_yaw += 360
#target_yaw_d = s['yaw'] - target_yaw
s['yaw'] -= cap(target_yaw_d, 50)
@ -442,7 +444,7 @@ def main(connection, player_info):
solution = MazeSolver(player_info.chunks).astar(pint(player_info.pos), pint(s['goal'])) solution = MazeSolver(player_info.chunks).astar(pint(player_info.pos), pint(s['goal']))
if solution: if solution:
solution = list(solution) solution = list(solution)
s['path'] = solution #s['path'] = solution
print(len(solution)) print(len(solution))
print(round(time.time() - start, 3), 'seconds') print(round(time.time() - start, 3), 'seconds')
else: else:
@ -482,6 +484,19 @@ def main(connection, player_info):
packet = serverbound.play.ChatPacket() packet = serverbound.play.ChatPacket()
packet.message = str(block) packet.message = str(block)
connection.write_packet(packet) connection.write_packet(packet)
elif '!path' in chat_packet.json_data:
try:
s['goal'] = LPoint3f(655, 86, 341)
print('new waypoint:', s['goal'])
start = time.time()
solution = MazeSolver(player_info.chunks).astar(pint(player_info.pos), pint(s['goal']))
solution = list(solution)
#s['path'] = solution
print(len(solution))
print(round(time.time() - start, 3), 'seconds')
except BaseException as e:
import traceback
print(traceback.format_exc())
connection.register_packet_listener( connection.register_packet_listener(