import importlib import functools import time from astar import AStar from mosfet.info import blocks from mosfet import 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) 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, ] 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), } # larger started being slower BLOCK_CACHE_SIZE = 2**14 class Pathfinder(AStar): def __init__(self, g): self.g = g self.chunks = g.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 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) 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): dest = utils.padd(node, offset) if not self.bair(utils.padd(node, BLOCK_ABOVE2)): return False if not self.check_traverse(node, offset): return False return True def check_descend(self, node, offset): dest = utils.padd(node, offset) if not self.bair(utils.padd(dest, BLOCK_ABOVE2)): return False if not self.check_traverse(node, offset): return False return True def check_descend2(self, node, offset): dest = utils.padd(node, offset) if not self.bair(utils.padd(dest, BLOCK_ABOVE3)): return False if not self.check_descend(node, offset): return False return True def check_descend3(self, node, offset): dest = utils.padd(node, offset) if not self.bair(utils.padd(dest, BLOCK_ABOVE4)): return False if not self.check_descend2(node, offset): 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 = [] 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)) 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 utils.hypot(x2-x1, y2-y1, z2-z1) def heuristic_cost_estimate(self, n1, n2): (x1, y1, z1) = n1 (x2, y2, z2) = n2 return abs(x2-x1) + abs(y2-y1) + abs(z2-z1)