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Pathfinder: Fix indentation.

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Improve path decorator to avoid jumping NPCs (in Minetest 0.5-dev)
This commit is contained in:
Hector Franqui 2017-09-13 09:09:08 -04:00
parent 70fd62825c
commit 866b25c63c
1 changed files with 131 additions and 130 deletions
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261
actions/pathfinder.lua
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@ -14,60 +14,61 @@ npc.pathfinder = {}
local pathfinder = {} local pathfinder = {}
npc.pathfinder.node_types = { npc.pathfinder.node_types = {
start = 0, start = 0,
goal = 1, goal = 1,
walkable = 2, walkable = 2,
openable = 3, openable = 3,
non_walkable = 4 non_walkable = 4
} }
npc.pathfinder.nodes = { npc.pathfinder.nodes = {
openable_prefix = { openable_prefix = {
"doors:", "doors:",
"cottages:gate", "cottages:gate",
"cottages:half_door" "cottages:half_door"
} }
} }
-- This function is used to determine if a node is walkable -- This function is used to determine if a node is walkable
-- or openable, in which case is good to use when finding a path -- or openable, in which case is good to use when finding a path
function pathfinder.is_good_node(node, exceptions) function pathfinder.is_good_node(node, exceptions)
--local function is_good_node(node, exceptions) --local function is_good_node(node, exceptions)
-- Is openable is to support doors, fence gates and other -- Is openable is to support doors, fence gates and other
-- doors from other mods. Currently, default doors, gates -- doors from other mods. Currently, default doors, gates
-- and cottages doors are supported. -- and cottages doors are supported.
local is_openable = false local is_openable = false
for _,node_prefix in pairs(npc.pathfinder.nodes.openable_prefix) do for _,node_prefix in pairs(npc.pathfinder.nodes.openable_prefix) do
local start_i,end_i = string.find(node.name, node_prefix) local start_i,end_i = string.find(node.name, node_prefix)
if start_i ~= nil then if start_i ~= nil then
is_openable = true is_openable = true
break break
end end
end end
if node ~= nil and node.name ~= nil and not minetest.registered_nodes[node.name].walkable then if node ~= nil and node.name ~= nil and not minetest.registered_nodes[node.name].walkable then
return npc.pathfinder.node_types.walkable return npc.pathfinder.node_types.walkable
elseif is_openable then elseif is_openable then
return npc.pathfinder.node_types.openable return npc.pathfinder.node_types.openable
else else
for i = 1, #exceptions do for i = 1, #exceptions do
if node.name == exceptions[i] then if node.name == exceptions[i] then
return npc.pathfinder.node_types.walkable return npc.pathfinder.node_types.walkable
end end
end end
return npc.pathfinder.node_types.non_walkable return npc.pathfinder.node_types.non_walkable
end end
end end
function pathfinder.get_decorated_path(path) function pathfinder.get_decorated_path(path)
-- Get details from path nodes -- Get details from path nodes
local path_detail = {} local path_detail = {}
for i = 1, #path do for i = 1, #path do
local node = minetest.get_node(path[i]) local node = minetest.get_node(path[i])
table.insert(path_detail, {pos=path[i], type=pathfinder.is_good_node(node, {})}) table.insert(path_detail, {pos={x=path[i].x, y=path[i].y-0.5, z=path[i].z},
end type=pathfinder.is_good_node(node, {})})
end
npc.log("DEBUG", "Detailed path: "..dump(path_detail)) npc.log("DEBUG", "Detailed path: "..dump(path_detail))
return path_detail return path_detail
end end
function npc.pathfinder.find_path(start_pos, end_pos, entity, decorate_path) function npc.pathfinder.find_path(start_pos, end_pos, entity, decorate_path)
@ -78,7 +79,7 @@ function npc.pathfinder.find_path(start_pos, end_pos, entity, decorate_path)
end end
else else
npc.log("ERROR", "Couldn't find path from "..minetest.pos_to_string(start_pos) npc.log("ERROR", "Couldn't find path from "..minetest.pos_to_string(start_pos)
.." to "..minetest.pos_to_string(end_pos)) .." to "..minetest.pos_to_string(end_pos))
end end
return path return path
end end
@ -135,42 +136,42 @@ end
-- or openable, in which case is good to use when finding a path -- or openable, in which case is good to use when finding a path
local function walkable(node, exceptions) local function walkable(node, exceptions)
local exceptions = exceptions or {} local exceptions = exceptions or {}
-- Is openable is to support doors, fence gates and other -- Is openable is to support doors, fence gates and other
-- doors from other mods. Currently, default doors, gates -- doors from other mods. Currently, default doors, gates
-- and cottages doors are supported. -- and cottages doors are supported.
--minetest.log("Is good node: "..dump(node)) --minetest.log("Is good node: "..dump(node))
local is_openable = false local is_openable = false
for _,node_prefix in pairs(npc.pathfinder.nodes.openable_prefix) do for _,node_prefix in pairs(npc.pathfinder.nodes.openable_prefix) do
local start_i,end_i = string.find(node.name, node_prefix) local start_i,end_i = string.find(node.name, node_prefix)
if start_i ~= nil then if start_i ~= nil then
is_openable = true is_openable = true
break break
end end
end end
-- Detect mg_villages ceilings usage of thin wood nodeboxes -- Detect mg_villages ceilings usage of thin wood nodeboxes
-- TODO: Improve -- TODO: Improve
local is_mg_villages_ceiling = false local is_mg_villages_ceiling = false
if node.name == "cottages:wood_flat" then if node.name == "cottages:wood_flat" then
is_mg_villages_ceiling = true is_mg_villages_ceiling = true
end end
if node ~= nil if node ~= nil
and node.name ~= nil and node.name ~= nil
and node.name ~= "ignore" and node.name ~= "ignore"
and minetest.registered_nodes[node.name] and minetest.registered_nodes[node.name]
and not minetest.registered_nodes[node.name].walkable then and not minetest.registered_nodes[node.name].walkable then
return false return false
elseif is_openable then elseif is_openable then
return false return false
elseif is_mg_villages_ceiling then elseif is_mg_villages_ceiling then
return false return false
else else
for i = 1, #exceptions do for i = 1, #exceptions do
if node.name == exceptions[i] then if node.name == exceptions[i] then
return false return false
end end
end end
return true return true
end end
end end
local function check_clearance(cpos, x, z, height) local function check_clearance(cpos, x, z, height)
@ -277,65 +278,65 @@ function pathfinder.find_path(pos, endpos, entity)
local neighbors = {} local neighbors = {}
local neighbors_index = 1 local neighbors_index = 1
for z = -1, 1 do for z = -1, 1 do
for x = -1, 1 do for x = -1, 1 do
local neighbor_pos = {x = current_pos.x + x, y = current_pos.y, z = current_pos.z + z} local neighbor_pos = {x = current_pos.x + x, y = current_pos.y, z = current_pos.z + z}
local neighbor = minetest.get_node(neighbor_pos) local neighbor = minetest.get_node(neighbor_pos)
local neighbor_ground_level = get_neighbor_ground_level(neighbor_pos, entity_jump_height, entity_fear_height) local neighbor_ground_level = get_neighbor_ground_level(neighbor_pos, entity_jump_height, entity_fear_height)
local neighbor_clearance = false local neighbor_clearance = false
if neighbor_ground_level then if neighbor_ground_level then
-- print(neighbor_ground_level.y - current_pos.y) -- print(neighbor_ground_level.y - current_pos.y)
--minetest.set_node(neighbor_ground_level, {name = "default:dry_shrub"}) --minetest.set_node(neighbor_ground_level, {name = "default:dry_shrub"})
local node_above_head = minetest.get_node( local node_above_head = minetest.get_node(
{x = current_pos.x, y = current_pos.y + entity_height, z = current_pos.z}) {x = current_pos.x, y = current_pos.y + entity_height, z = current_pos.z})
if neighbor_ground_level.y - current_pos.y > 0 and not walkable(node_above_head) then if neighbor_ground_level.y - current_pos.y > 0 and not walkable(node_above_head) then
local height = -1 local height = -1
repeat repeat
height = height + 1 height = height + 1
local node = minetest.get_node( local node = minetest.get_node(
{x = neighbor_ground_level.x, {x = neighbor_ground_level.x,
y = neighbor_ground_level.y + height, y = neighbor_ground_level.y + height,
z = neighbor_ground_level.z}) z = neighbor_ground_level.z})
until walkable(node) or height > entity_height until walkable(node) or height > entity_height
if height >= entity_height then if height >= entity_height then
neighbor_clearance = true neighbor_clearance = true
end end
elseif neighbor_ground_level.y - current_pos.y > 0 and walkable(node_above_head) then elseif neighbor_ground_level.y - current_pos.y > 0 and walkable(node_above_head) then
neighbors[neighbors_index] = { neighbors[neighbors_index] = {
hash = nil, hash = nil,
pos = nil, pos = nil,
clear = nil, clear = nil,
walkable = nil, walkable = nil,
} }
else else
local height = -1 local height = -1
repeat repeat
height = height + 1 height = height + 1
local node = minetest.get_node( local node = minetest.get_node(
{x = neighbor_ground_level.x, {x = neighbor_ground_level.x,
y = current_pos.y + height, y = current_pos.y + height,
z = neighbor_ground_level.z}) z = neighbor_ground_level.z})
until walkable(node) or height > entity_height until walkable(node) or height > entity_height
if height >= entity_height then if height >= entity_height then
neighbor_clearance = true neighbor_clearance = true
end
end end
end
neighbors[neighbors_index] = { neighbors[neighbors_index] = {
hash = minetest.hash_node_position(neighbor_ground_level), hash = minetest.hash_node_position(neighbor_ground_level),
pos = neighbor_ground_level, pos = neighbor_ground_level,
clear = neighbor_clearance, clear = neighbor_clearance,
walkable = walkable(neighbor), walkable = walkable(neighbor),
} }
else else
neighbors[neighbors_index] = { neighbors[neighbors_index] = {
hash = nil, hash = nil,
pos = nil, pos = nil,
clear = nil, clear = nil,
walkable = nil, walkable = nil,
} }
end
neighbors_index = neighbors_index + 1
end end
neighbors_index = neighbors_index + 1
end
end end
for id, neighbor in pairs(neighbors) do for id, neighbor in pairs(neighbors) do
@ -343,22 +344,22 @@ function pathfinder.find_path(pos, endpos, entity)
local cut_corner = false local cut_corner = false
if id == 1 then if id == 1 then
if not neighbors[id + 1].clear or not neighbors[id + 3].clear if not neighbors[id + 1].clear or not neighbors[id + 3].clear
or neighbors[id + 1].walkable or neighbors[id + 3].walkable then or neighbors[id + 1].walkable or neighbors[id + 3].walkable then
cut_corner = true cut_corner = true
end end
elseif id == 3 then elseif id == 3 then
if not neighbors[id - 1].clear or not neighbors[id + 3].clear if not neighbors[id - 1].clear or not neighbors[id + 3].clear
or neighbors[id - 1].walkable or neighbors[id + 3].walkable then or neighbors[id - 1].walkable or neighbors[id + 3].walkable then
cut_corner = true cut_corner = true
end end
elseif id == 7 then elseif id == 7 then
if not neighbors[id + 1].clear or not neighbors[id - 3].clear if not neighbors[id + 1].clear or not neighbors[id - 3].clear
or neighbors[id + 1].walkable or neighbors[id - 3].walkable then or neighbors[id + 1].walkable or neighbors[id - 3].walkable then
cut_corner = true cut_corner = true
end end
elseif id == 9 then elseif id == 9 then
if not neighbors[id - 1].clear or not neighbors[id - 3].clear if not neighbors[id - 1].clear or not neighbors[id - 3].clear
or neighbors[id - 1].walkable or neighbors[id - 3].walkable then or neighbors[id - 1].walkable or neighbors[id - 3].walkable then
cut_corner = true cut_corner = true
end end
end end
@ -375,11 +376,11 @@ function pathfinder.find_path(pos, endpos, entity)
end end
local hCost = get_distance(neighbor.pos, endpos) local hCost = get_distance(neighbor.pos, endpos)
openSet[neighbor.hash] = { openSet[neighbor.hash] = {
gCost = move_cost_to_neighbor, gCost = move_cost_to_neighbor,
hCost = hCost, hCost = hCost,
fCost = move_cost_to_neighbor + hCost, fCost = move_cost_to_neighbor + hCost,
parent = current_index, parent = current_index,
pos = neighbor.pos pos = neighbor.pos
} }
end end
end end