528 lines
14 KiB
Python
528 lines
14 KiB
Python
import os
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import time
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import functools
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from math import ceil, floor, hypot
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import blocks
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from minecraft import authentication
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from minecraft.exceptions import YggdrasilError
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from minecraft.networking.connection import Connection
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from minecraft.networking.packets import Packet, clientbound, serverbound
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from minecraft.compat import input
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from minecraft.managers import ChunksManager
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class AStarTimeout(Exception):
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pass
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class DataManager:
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def __init__(self):
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self.blocks_states = {}
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self.blocks_properties = {}
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self.registries = {}
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self.biomes = {}
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self.entity_type = {}
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self.blocks = {}
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from panda3d.core import *
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from astar import AStar
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BLOCK_ABOVE = (0, +1, 0)
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BLOCK_BELOW = (0, -1, 0)
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TRAVERSE_NORTH = (0, 0, -1)
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TRAVERSE_SOUTH = (0, 0, +1)
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TRAVERSE_EAST = (+1, 0, 0)
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TRAVERSE_WEST = (-1, 0, 0)
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ASCEND_NORTH = (0, +1, -1)
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ASCEND_SOUTH = (0, +1, +1)
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ASCEND_EAST = (+1, +1, 0)
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ASCEND_WEST = (-1, +1, 0)
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DESCEND_EAST = (+1, -1, 0)
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DESCEND_WEST = (-1, -1, 0)
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DESCEND_NORTH = (0, -1, -1)
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DESCEND_SOUTH = (0, -1, +1)
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DESCEND2_EAST = (+1, -2, 0)
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DESCEND2_WEST = (-1, -2, 0)
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DESCEND2_NORTH = (0, -2, -1)
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DESCEND2_SOUTH = (0, -2, +1)
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DESCEND3_EAST = (+1, -3, 0)
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DESCEND3_WEST = (-1, -3, 0)
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DESCEND3_NORTH = (0, -3, -1)
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DESCEND3_SOUTH = (0, -3, +1)
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DIAGONAL_NORTHEAST = (+1, 0, -1)
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DIAGONAL_NORTHWEST = (-1, 0, -1)
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DIAGONAL_SOUTHEAST = (+1, 0, +1)
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DIAGONAL_SOUTHWEST = (-1, 0, +1)
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PARKOUR_NORTH = (0, 0, -2)
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PARKOUR_SOUTH = (0, 0, +2)
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PARKOUR_EAST = (+2, 0, 0)
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PARKOUR_WEST = (-2, 0, 0)
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TRAVERSE = [
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TRAVERSE_NORTH,
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TRAVERSE_SOUTH,
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TRAVERSE_EAST,
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TRAVERSE_WEST,
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]
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ASCEND = [
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ASCEND_NORTH,
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ASCEND_SOUTH,
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ASCEND_EAST,
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ASCEND_WEST,
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]
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DESCEND = [
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DESCEND_EAST,
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DESCEND_WEST,
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DESCEND_NORTH,
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DESCEND_SOUTH,
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]
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DESCEND2 = [
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DESCEND2_EAST,
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DESCEND2_WEST,
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DESCEND2_NORTH,
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DESCEND2_SOUTH,
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]
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DESCEND3 = [
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DESCEND3_EAST,
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DESCEND3_WEST,
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DESCEND3_NORTH,
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DESCEND3_SOUTH,
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]
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DIAGONAL = [
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DIAGONAL_NORTHEAST,
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DIAGONAL_NORTHWEST,
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DIAGONAL_SOUTHEAST,
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DIAGONAL_SOUTHWEST,
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]
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PARKOUR = [
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PARKOUR_NORTH,
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PARKOUR_SOUTH,
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PARKOUR_EAST,
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PARKOUR_WEST,
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]
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HYPOT_LUT = {
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(0, -1): 1.0,
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(0, 1): 1.0,
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(1, 0): 1.0,
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(-1, 0): 1.0,
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(1, -1): 1.414,
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(-1, -1): 1.414,
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(1, 1): 1.414,
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(-1, 1): 1.414,
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(0, 2): 2.0,
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(-2, 0): 2.0,
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(2, 0): 2.0,
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(0, -2): 2.0,
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}
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def padd(p1, p2):
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return (p1[0] + p2[0], p1[1] + p2[1], p1[2] + p2[2])
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def pint(p):
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return (int(p[0]), int(p[1]), int(p[2]))
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# larger started being slower
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BLOCK_CACHE_SIZE = 2**14
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class MazeSolver(AStar):
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def __init__(self, chunks):
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self.chunks = chunks
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self.start_time = time.time()
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@functools.lru_cache(maxsize=BLOCK_CACHE_SIZE)
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def bair(self, p):
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return self.chunks.get_block_at(*p) in blocks.NON_SOLID_IDS
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@functools.lru_cache(maxsize=BLOCK_CACHE_SIZE)
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def bavoid(self, p):
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return self.chunks.get_block_at(*p) in blocks.AVOID_IDS
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def check_traverse(self, node, offset):
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dest = padd(node, offset)
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if not self.bair(dest):
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return False
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if self.bair(padd(dest, BLOCK_BELOW)):
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return False
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if not self.bair(padd(dest, BLOCK_ABOVE)):
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return False
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if self.bavoid(dest):
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return False
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if self.bavoid(padd(dest, BLOCK_BELOW)):
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return False
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if self.bavoid(padd(dest, BLOCK_ABOVE)):
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return False
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return True
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def check_diagonal(self, node, offset):
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if not self.check_traverse(node, offset):
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return False
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dest = padd(node, offset)
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thru1 = (node[0], node[1], dest[2])
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thru2 = (dest[0], node[1], node[2])
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if not self.bair(thru1):
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return False
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if not self.bair(padd(thru1, BLOCK_ABOVE)):
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return False
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if not self.bair(thru2):
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return False
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if not self.bair(padd(thru2, BLOCK_ABOVE)):
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return False
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return True
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def check_ascend(self, node, offset):
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if not self.check_traverse(node, offset):
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return False
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head = padd(node, BLOCK_ABOVE)
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dest = padd(node, offset)
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dest_head = padd(dest, BLOCK_ABOVE)
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if not self.bair(padd(head, BLOCK_ABOVE)):
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return False
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if not self.bair(padd(dest_head, BLOCK_ABOVE)):
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return False
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return True
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def check_descend(self, node, offset):
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if not self.check_traverse(node, offset):
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return False
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dest = padd(node, offset)
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dest_head = padd(dest, BLOCK_ABOVE)
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if not self.bair(padd(dest_head, BLOCK_ABOVE)):
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return False
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return True
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def check_descend2(self, node, offset):
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if not self.check_descend(node, offset):
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return False
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dest = padd(node, offset)
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dest_head = padd(dest, BLOCK_ABOVE)
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dest_head_above = padd(dest_head, BLOCK_ABOVE)
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if not self.bair(padd(dest_head_above, BLOCK_ABOVE)):
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return False
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return True
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def check_descend3(self, node, offset):
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if not self.check_descend2(node, offset):
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return False
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dest = padd(node, offset)
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dest_head = padd(dest, BLOCK_ABOVE)
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dest_head_above = padd(dest_head, BLOCK_ABOVE)
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dest_head_above_above = padd(dest_head_above, BLOCK_ABOVE)
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if not self.bair(padd(dest_head_above_above, BLOCK_ABOVE)):
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return False
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return True
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def check_parkour(self, node, offset):
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dest = padd(node, offset)
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half_offset = (int(offset[0]/2), offset[1], int(offset[2]/2))
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middle = padd(node, half_offset)
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# dont jump if we can walk instead
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if not self.bair(padd(middle, BLOCK_BELOW)):
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return False
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if not self.check_ascend(node, offset):
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return False
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middle_head = padd(middle, BLOCK_ABOVE)
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if not self.bair(middle_head):
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return False
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if not self.bair(padd(middle_head, BLOCK_ABOVE)):
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return False
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return True
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def neighbors(self, node):
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results = []
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for offset in TRAVERSE:
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if self.check_traverse(node, offset):
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results.append(padd(node, offset))
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for offset in DIAGONAL:
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if self.check_diagonal(node, offset):
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results.append(padd(node, offset))
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for offset in ASCEND:
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if self.check_ascend(node, offset):
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results.append(padd(node, offset))
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for offset in DESCEND:
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if self.check_descend(node, offset):
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results.append(padd(node, offset))
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for offset in DESCEND2:
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if self.check_descend2(node, offset):
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results.append(padd(node, offset))
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for offset in DESCEND3:
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if self.check_descend3(node, offset):
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results.append(padd(node, offset))
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for offset in PARKOUR:
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if self.check_parkour(node, offset):
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results.append(padd(node, offset))
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if not results:
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if time.time() - self.start_time > 2.0:
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raise(AStarTimeout)
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return results
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def distance_between(self, n1, n2):
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(x1, y1, z1) = n1
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(x2, y2, z2) = n2
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return HYPOT_LUT[x2 - x1, z2 - z1]
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def heuristic_cost_estimate(self, n1, n2):
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(x1, y1, z1) = n1
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(x2, y2, z2) = n2
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return hypot(x2 - x1, z2 - z1)
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TICK = 0.05
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ANGLE_DIR = LVector3f(x=0, y=0, z=-1)
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ANGLE_REF = LVector3f(x=0, y=1, z=0)
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YAW_LOOK_AHEAD = 4
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running = True
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get_mod_time = lambda: os.path.getmtime('bot.py')
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last_mod_time = get_mod_time()
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# state dictionary
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s = dict()
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pitch = 0
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def cap(x, amount):
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sign = 1 if x >= 0 else -1
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return sign * min(abs(x), amount)
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def tick(connection, player_info):
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target = None
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p = player_info.pos
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if len(s['path']):
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target = LPoint3f(s['path'][0])
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target.x += 0.5
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target.z += 0.5
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if target:
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d = p - target
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# jump up block
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if d.y < -0.9 and not s['y_v']:
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s['y_v'] = 10.0
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s['y_a'] = -36.0
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# jump gap
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if d.xz.length() > 1.9 and not s['y_v']:
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s['y_v'] = 10.0
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s['y_a'] = -36.0
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if d.length() > 0.2:
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if s['y_v'] < 5:
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p.x -= cap(d.x, 0.2)
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p.z -= cap(d.z, 0.2)
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else:
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s['path'].pop(0)
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if s['y_v'] or s['y_a']:
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p.y += s['y_v'] * TICK
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s['y_v'] += s['y_a'] * TICK
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if player_info.chunks.get_block_at(int(p.x), ceil(p.y-1), int(p.z)) not in blocks.NON_SOLID_IDS:
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p.y = ceil(p.y)
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s['y_v'] = 0
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s['y_a'] = 0
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else:
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s['y_a'] = -36.0
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look_at = None
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if len(s['path']) > YAW_LOOK_AHEAD:
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look_at = LPoint3f(s['path'][YAW_LOOK_AHEAD])
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elif len(s['path']):
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look_at = LPoint3f(s['path'][-1])
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if look_at:
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look_at.x += 0.5
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look_at.z += 0.5
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look_at_d = p - look_at
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if look_at_d.length() > 0.6:
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target_yaw = look_at_d.normalized().signedAngleDeg(other=ANGLE_DIR, ref=ANGLE_REF)
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target_yaw_d = s['yaw'] - target_yaw
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#print('target', target_yaw, 'd', target_yaw_d)
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#if target_yaw_d > 270:
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# target_yaw += 360
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#target_yaw_d = s['yaw'] - target_yaw
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s['yaw'] -= cap(target_yaw_d, 50)
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packet = serverbound.play.PositionAndLookPacket(x=p.x, feet_y=p.y, z=p.z, pitch=s['pitch'], yaw=s['yaw'], on_ground=True)
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connection.write_packet(packet, force=True)
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def init(connection, player_info):
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p = player_info.pos
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s['path'] = []
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s['y_v'] = 0
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s['y_a'] = 0
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s['yaw'] = 360
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s['pitch'] = 0
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def main(connection, player_info):
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def handle_join_game(join_game_packet):
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print('Connected.')
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print(join_game_packet)
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player_info.eid = join_game_packet
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connection.register_packet_listener(
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handle_join_game, clientbound.play.JoinGamePacket)
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def h_position_and_look(packet):
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print('pos and look:')
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print(packet)
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p = LPoint3f(x=packet.x, y=packet.y, z=packet.z)
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player_info.pos = p
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connection.register_packet_listener(
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h_position_and_look, clientbound.play.PlayerPositionAndLookPacket)
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def x(p):
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#print('block change:')
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#print(p)
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if p.block_state_id == 3885:
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try:
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s['goal'] = LPoint3f(x=p.location[0], y=p.location[1], z=p.location[2])
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print('new waypoint:', s['goal'])
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start = time.time()
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solution = MazeSolver(player_info.chunks).astar(pint(player_info.pos), pint(s['goal']))
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if solution:
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solution = list(solution)
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s['path'] = solution
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print(len(solution))
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print(round(time.time() - start, 3), 'seconds')
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else:
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packet = serverbound.play.ChatPacket()
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packet.message = 'No path found'
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connection.write_packet(packet)
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#s['y_v'] = 10.0
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#s['y_a'] = -36.0
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except BaseException as e:
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import traceback
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print(traceback.format_exc())
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connection.register_packet_listener(
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x, clientbound.play.BlockChangePacket)
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def print_chat(chat_packet):
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print("Message (%s): %s" % (
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chat_packet.field_string('position'), chat_packet.json_data))
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if '!reload' in chat_packet.json_data:
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global running
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running = False
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elif '!afk' in chat_packet.json_data:
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packet = serverbound.play.ChatPacket()
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packet.message = '/afk'
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connection.write_packet(packet)
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elif '!respawn' in chat_packet.json_data:
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packet = serverbound.play.ClientStatusPacket()
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packet.action_id = serverbound.play.ClientStatusPacket.RESPAWN
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connection.write_packet(packet)
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elif '!chunk' in chat_packet.json_data:
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print(len(player_info.chunks.chunks.keys()))
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print(player_info.chunks.chunks[(38, 4, 33)].__dict__)
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elif '!block' in chat_packet.json_data:
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block = player_info.chunks.get_block_at(616, 78, 496)
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packet = serverbound.play.ChatPacket()
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packet.message = str(block)
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connection.write_packet(packet)
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connection.register_packet_listener(
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print_chat, clientbound.play.ChatMessagePacket)
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if not player_info.chunks:
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player_info.mcdata = DataManager()
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player_info.chunks = ChunksManager(player_info.mcdata)
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player_info.chunks.register(connection)
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#packet = serverbound.play.ChatPacket()
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#packet.message = '> reloaded'
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#connection.write_packet(packet)
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print()
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print()
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print('Reloaded.')
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#if player_info.pos:
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# print('Loaded positions', player_info.pos)
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try:
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while not player_info.pos:
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time.sleep(TICK)
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print('Player loaded.')
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x, y, z = pint(player_info.pos)
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while (floor(x/16), floor(y/16), floor(z/16)) not in player_info.chunks.chunks:
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time.sleep(TICK)
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print('Chunks loaded.')
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init(connection, player_info)
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while running:
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tick(connection, player_info)
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time.sleep(TICK)
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if get_mod_time() != last_mod_time:
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break
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finally:
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connection.packet_listeners = []
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connection.early_packet_listeners = []
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connection.outgoing_packet_listeners = []
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connection.early_outgoing_packet_listeners = []
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