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advanced_npc/actions/actions.lua
zorman2000 554fde4643 Adds pathfinding library Jumper by Ronald Yonaba. This includes an implementation of the A* pathfinding algorithm which makes NPC now always get to their goal node. 
Pathfinding: Adds functions that allows to map the Minetest 3D map to a 2D array to use by the pathfinding algorithm.
Actions: Use new code for find_path function. Improves door opening while walking on paths, and also now close them. Cottages fence gates and doors are also now supported in addition to the default doors and gates.
Changes to the Readme and the License.
2017-01-06 07:57:42 -05:00

729 lines
27 KiB
Lua
Raw Blame History

-- Actions code for Advanced NPC by Zorman2000
---------------------------------------------------------------------------------------
-- Action functionality
---------------------------------------------------------------------------------------
-- The NPCs will be able to perform five fundamental actions that will allow
-- for them to perform any other kind of interaction in the world. These
-- fundamental actions are: place a node, dig a node, put items on an inventory,
-- take items from an inventory, find a node closeby (radius 3) and
-- walk a step on specific direction. These actions will be set on an action queue.
-- The queue will have the specific steps, in order, for the NPC to be able to do
-- something (example, go to a specific place and put a chest there). The
-- fundamental actions are added to the action queue to make a complete task for the NPC.
npc.actions = {}
-- Describes actions with doors or openable nodes
npc.actions.const = {
doors = {
action = {
OPEN = 1,
CLOSE = 2
},
state = {
OPEN = 1,
CLOSED = 2
}
},
beds = {
LAY = 1,
GET_UP = 2
},
sittable = {
SIT = 1,
GET_UP = 2
}
}
function npc.actions.rotate(args)
local self = args.self
local dir = args.dir
local yaw = 0
self.rotate = 0
if dir == npc.direction.north then
yaw = 0
elseif dir == npc.direction.north_east then
yaw = (7 * math.pi) / 4
elseif dir == npc.direction.east then
yaw = (3 * math.pi) / 2
elseif dir == npc.direction.south_east then
yaw = (5 * math.pi) / 4
elseif dir == npc.direction.south then
yaw = math.pi
elseif dir == npc.direction.south_west then
yaw = (3 * math.pi) / 4
elseif dir == npc.direction.west then
yaw = math.pi / 2
elseif dir == npc.direction.north_west then
yaw = math.pi / 4
end
self.object:setyaw(yaw)
end
-- This function will make the NPC walk one step on a
-- specifc direction. One step means one node. It returns
-- true if it can move on that direction, and false if there is an obstacle
function npc.actions.walk_step(args)
local self = args.self
local dir = args.dir
local vel = {}
if dir == npc.direction.north then
vel = {x=0, y=0, z=0.98}
elseif dir == npc.direction.east then
vel = {x=0.98, y=0, z=0}
elseif dir == npc.direction.south then
vel = {x=0, y=0, z=-0.98}
elseif dir == npc.direction.west then
vel = {x=-0.98, y=0, z=0}
end
set_animation(self, "walk")
npc.actions.rotate({self=self, dir=dir})
self.object:setvelocity(vel)
end
-- This action makes the NPC stand and remain like that
function npc.actions.stand(args)
local self = args.self
-- Stop NPC
self.object:setvelocity({x=0, y=0, z=0})
-- Set stand animation
set_animation(self, "stand")
end
-- This action makes the NPC sit on the node where it is
function npc.actions.sit(args)
local self = args.self
local pos = args.pos
-- Stop NPC
self.object:setvelocity({x=0, y=0, z=0})
-- If position give, set to that position
if pos ~= nil then
self.object:setpos(pos)
end
-- Set sit animation
self.object:set_animation({
x = npc.ANIMATION_SIT_START,
y = npc.ANIMATION_SIT_END},
self.animation.speed_normal, 0)
end
-- This action makes the NPC lay on the node where it is
function npc.actions.lay(args)
local self = args.self
local pos = args.pos
-- Stop NPC
self.object:setvelocity({x=0, y=0, z=0})
-- If position give, set to that position
if pos ~= nil then
self.object:setpos(pos)
end
-- Set sit animation
self.object:set_animation({
x = npc.ANIMATION_LAY_START,
y = npc.ANIMATION_LAY_END},
self.animation.speed_normal, 0)
end
-- Inventory functions for players and for nodes
-- This function is a convenience function to make it easy to put
-- and get items from another inventory (be it a player inv or
-- a node inv)
function npc.actions.put_item_on_external_inventory(args)
local self = args.self
local player = args.player
local pos = args.pos
local inv_list = args.inv_list
local item_name = args.item_name
local count = args.count
local is_furnace = args.is_furnace
local inv
if player ~= nil then
inv = minetest.get_inventory({type="player", name=player})
else
inv = minetest.get_inventory({type="node", pos=pos})
end
-- Create ItemStack to put on external inventory
local item = ItemStack(item_name.." "..count)
-- Check if there is enough room to add the item on external invenotry
if inv:room_for_item(inv_list, item) then
-- Take item from NPC's inventory
if npc.take_item_from_inventory_itemstring(self, item) then
-- NPC doesn't have item and/or specified quantity
return false
end
-- Add items to external inventory
inv:add_item(inv_list, item)
-- If this is a furnace, start furnace timer
if is_furnace == true then
minetest.get_node_timer(pos):start(1.0)
end
return true
end
-- Not able to put on external inventory
return false
end
function npc.actions.take_item_from_external_inventory(args)
local self = args.self
local player = args.player
local pos = args.pos
local inv_list = args.inv_list
local item_name = args.item_name
local count = args.count
local inv
if player ~= nil then
inv = minetest.get_inventory({type="player", name=player})
else
inv = minetest.get_inventory({type="node", pos})
end
-- Create ItemSTack to take from external inventory
local item = ItemStack(item_name.." "..count)
-- Check if there is enough of the item to take
if inv:contains_item(inv_list, item) then
-- Add item to NPC's inventory
npc.add_item_to_inventory_itemstring(self, item)
-- Add items to external inventory
inv:remove_item(inv_list, item)
return true
end
-- Not able to put on external inventory
return false
end
function npc.actions.check_external_inventory_contains_item(args)
local self = args.self
local player = args.player
local pos = args.pos
local inv_list = args.inv_list
local item_name = args.item_name
local count = args.count
local inv
if player ~= nil then
inv = minetest.get_inventory({type="player", name=player})
else
inv = minetest.get_inventory({type="node", pos})
end
-- Create ItemStack for checking the external inventory
local item = ItemStack(item_name.." "..count)
-- Check if inventory contains item
return inv:contains_item(inv_list, item)
end
function npc.actions.get_openable_node_state(node)
minetest.log("Node name: "..dump(node.name))
local state = npc.actions.const.doors.state.CLOSED
local a_i1, a_i2 = string.find(node.name, "_a")
local open_i1, open_i2 = string.find(node.name, "_close")
if a_i1 == nil and open_i1 == nil then
state = npc.actions.const.doors.state.OPEN
end
minetest.log("Door state: "..dump(state))
return state
end
-- This function is used to open or close doors from
-- that use the default doors mod
function npc.actions.use_door(args)
local self = args.self
local pos = args.pos
local action = args.action
local node = minetest.get_node(pos)
local state = npc.actions.get_openable_node_state(node)
local clicker = self.object
if action ~= state then
minetest.registered_nodes[node.name].on_rightclick(pos, node, clicker, nil, nil)
end
end
---------------------------------------------------------------------------------------
-- Tasks functionality
---------------------------------------------------------------------------------------
-- Tasks are operations that require many actions to perform. Basic tasks, like
-- walking from one place to another, operating a furnace, storing or taking
-- items from a chest, are provided here.
-- This function allows a NPC to use a furnace using only items from
-- its own inventory. Fuel is not provided. Once the furnace is finished
-- with the fuel items the NPC will take whatever was cooked and whatever
-- remained to cook. The function received the position of the furnace
-- to use, and the item to cook in furnace. Item is an itemstring
function npc.actions.use_furnace(self, pos, item)
-- Check if any item in the NPC inventory serve as fuel
-- For now, just use some specific items as fuels
local fuels = {"default:leaves", "default:tree", ""}
-- Check if NPC has a fuel item
for i = 1,2 do
local fuel_item = npc.inventory_contains(self, fuels[i])
local src_item = npc.inventory_contains(self, item)
if fuel_item ~= nil and src_item ~= nil then
-- Put this item on the fuel inventory list of the furnace
local args = {
self = self,
player = nil,
pos = pos,
inv_list = "fuel",
item_name = npc.get_item_name(fuel_item.item_string),
count = npc.get_item_count(fuel_item.item_string)
}
npc.add_action(self, npc.actions.put_item_on_external_inventory, args)
-- Put the item that we want to cook on the furnace
args = {
self = self,
player = nil,
pos = pos,
inv_list = "src",
item_name = npc.get_item_name(src_item.item_string),
count = npc.get_item_count(src_item.item_string),
is_furnace = true
}
npc.add_action(self, npc.actions.put_item_on_external_inventory, args)
-- TODO: Need to add a way to calculate how many seconds will pass
-- until the furnace is done, or at least the items that we expect
-- to get (assume all items to be cooked are the ones ewe expect back)
-- Then, add that many stand actions, then an action to take the items.
return true
end
end
-- Couldn't use the furnace due to lack of items
return false
end
-- This function makes the NPC lay or stand up from a bed. The
-- pos is the location of the bed, action can be lay or get up
function npc.actions.use_bed(self, pos, action)
local param2 = minetest.get_node(pos)
minetest.log(dump(param2))
local dir = minetest.facedir_to_dir(param2.param2)
if action == npc.actions.const.beds.LAY then
-- Calculate position (from beds mod)
local bed_pos = {x = pos.x + dir.x / 2, y = pos.y + 1, z = pos.z + dir.z / 2}
-- Sit down on bed
npc.add_action(self, npc.actions.sit, {self=self})
-- Rotate to the correct position
npc.add_action(self, npc.actions.rotate, {self=self, dir=param2.param2 + 2 % 4})
-- Lay down
npc.add_action(self, npc.actions.lay, {self=self, pos=bed_pos})
else
-- Calculate position to get up
local bed_pos = {x = pos.x, y = pos.y + 1, z = pos.z}
-- Sit up
npc.add_action(self, npc.actions.sit, {self=self, pos=bed_pos})
-- Walk up from bed
npc.add_action(self, npc.actions.walk_step, {self=self, dir=param2.param2 + 2 % 4})
-- Stand
npc.add_action(self, npc.actions.stand, {self=self})
end
end
-- This function makes the NPC lay or stand up from a bed. The
-- pos is the location of the bed, action can be lay or get up
function npc.actions.use_sittable(self, pos, action)
local node = minetest.get_node(pos)
if action == npc.actions.const.sittable.SIT then
-- Calculate position depending on bench
-- For cottages bench (code taken from Sokomine's cottages mod):
local p2 = {x=pos.x, y=pos.y, z=pos.z};
if not( node ) or node.param2 == 0 then
p2.z = p2.z+0.3;
elseif node.param2 == 1 then
p2.x = p2.x+0.3;
elseif node.param2 == 2 then
p2.z = p2.z-0.3;
elseif node.param2 == 3 then
p2.x = p2.x-0.3;
end
-- For stairs (based on the above code):
local p2 = {x=pos.x, y=pos.y, z=pos.z};
if not( node ) or node.param2 == 0 then
p2.z = p2.z-0.2;
elseif node.param2 == 1 then
p2.x = p2.x-0.2;
elseif node.param2 == 2 then
p2.z = p2.z+0.2;
elseif node.param2 == 3 then
p2.x = p2.x+0.2;
end
-- Sit down on bench/chair/stairs
npc.add_action(self, npc.actions.sit, {self=self, pos=p2})
-- Rotate to the correct position
npc.add_action(self, npc.actions.rotate, {self=self, dir=node.param2 + 2 % 4})
else
-- Walk up from bed
npc.add_action(self, npc.actions.walk_step, {self=self, dir=param2.param2 + 2 % 4})
-- Stand
npc.add_action(self, npc.actions.stand, {self=self})
end
end
-- This function returns the direction enum
-- for the moving from v1 to v2
function npc.actions.get_direction(v1, v2)
local dir = vector.subtract(v2, v1)
if dir.x ~= 0 then
if dir.x > 0 then
return npc.direction.east
else
return npc.direction.west
end
elseif dir.z ~= 0 then
if dir.z > 0 then
return npc.direction.north
else
return npc.direction.south
end
end
end
-- This function can be used to make the NPC walk from one
-- position to another.
function npc.actions.walk_to_pos(self, end_pos)
local start_pos = self.object:getpos()
-- Find path
local path = pathfinder.find_path(start_pos, end_pos, 20)
if path ~= nil then
minetest.log("Found path to node: "..dump(end_pos))
-- Add a first step
--local dir = npc.actions.get_direction(start_pos, path[1].pos)
--minetest.log("Start_pos: "..dump(start_pos)..", First path step: "..dump(path[1].pos))
--minetest.log("Direction: "..dump(dir))
--npc.add_action(self, npc.actions.walk_step, {self = self, dir = dir})
-- Add subsequent steps
local door_opened = false
for i = 1, #path do
--minetest.log("Path: (i) "..dump(path[i])..": Path i+1 "..dump(path[i+1]))
-- Do not add an extra step
if (i+1) == #path then
-- Add direction to last node
local dir = npc.actions.get_direction(path[i].pos, end_pos)
-- Add stand animation at end
npc.add_action(self, npc.actions.stand, {self = self})
-- Rotate to face the end node
npc.actions.rotate({self = self, dir = dir})
break
end
-- Get direction to move from path[i] to path[i+1]
local dir = npc.actions.get_direction(path[i].pos, path[i+1].pos)
-- Check if next node is a door, if it is, open it, then walk
if path[i+1].type == pathfinder.node_types.openable then
-- Check if door is already open
local node = minetest.get_node(path[i+1].pos)
if npc.actions.get_openable_node_state(node) == npc.actions.const.doors.state.CLOSED then
minetest.log("Opening action to open door")
-- Stop to open door, this avoids misplaced movements later on
npc.add_action(self, npc.actions.stand, {self = self})
-- Open door
npc.add_action(self, npc.actions.use_door, {self=self, pos=path[i+1].pos, action=npc.actions.const.doors.action.OPEN})
door_opened = true
end
end
-- Add walk action to action queue
npc.add_action(self, npc.actions.walk_step, {self = self, dir = dir})
if door_opened then
-- Stop to close door, this avoids misplaced movements later on
npc.add_action(self, npc.actions.stand, {self = self})
-- Close door
npc.add_action(self, npc.actions.use_door, {self=self, pos=path[i+1].pos, action=npc.actions.const.doors.action.CLOSE})
door_opened = false
end
end
else
minetest.log("Unable to find path.")
end
end
-- ATTENTION:
-- Old, deprecated, non-functional code below:
---------------------------------------------------------------------------------------
-- Path-finding code
---------------------------------------------------------------------------------------
-- This is the limit to search for a path based on the goal node.
-- If the path finder code goes beyond this limit in nodes away
-- on the x or z plane, it will stop looking for a path
-- npc.actions.PATH_DIFF_LIMIT = 125
-- -- Returns the opposite of a vector (scalar multiplication by -1)
-- local function vector_opposite(v)
-- return vector.multiply(v, -1)
-- end
-- -- Returns a unit direction vector based on the largest coordinate
-- local function get_unit_dir_vector_based_on_diff(v)
-- if math.abs(v.x) > math.abs(v.z) then
-- return {x=(v.x/math.abs(v.x)) * -1, y=0, z=0}
-- elseif math.abs(v.z) > math.abs(v.x) then
-- return {x=0, y=0, z=(v.z/math.abs(v.z)) * -1}
-- elseif math.abs(v.x) == math.abs(v.z) then
-- return {x=(v.x/math.abs(v.x)) * -1, y=0, z=(v.z/math.abs(v.z)) * -1}
-- end
-- end
-- -- This function is used to determine if a node is walkable
-- -- or openable, in which case is good to use when finding a path
-- local function is_good_node(node)
-- -- Is openable is to support doors, fence gates and other
-- -- doors from other mods. Currently, default doors and gates
-- -- will be supported. Cottages doors should also be supported.
-- --minetest.log("Node name: "..dump(node.name))
-- local is_openable = false
-- local start_i,end_i = string.find(node.name, "doors:")
-- is_openable = start_i ~= nil
-- --minetest.log("Is node openable: "..dump(is_openable))
-- --minetest.log("Is node walkable: "..dump(not minetest.registered_nodes[node.name].walkable))
-- if not minetest.registered_nodes[node.name].walkable then
-- return "W"
-- elseif is_openable then
-- return "O"
-- else
-- return "N"
-- end
-- end
-- -- Finds paths ignoring vertical obstacles
-- -- This function is recursive and attempts to move all the time on
-- -- the direction that will definetely lead to the end position.
-- local function find_path_recursive(start_pos, end_pos, path_nodes, last_dir, last_good_dir, last_good_try)
-- minetest.log("Start pos: "..dump(start_pos))
-- -- Find difference. The purpose of this is to weigh movement, attempting
-- -- the largest difference first, or both if equal.
-- local diff = vector.subtract(start_pos, end_pos)
-- minetest.log("Difference: "..dump(diff))
-- -- End if difference is larger than max difference possible (limit)
-- if math.abs(diff.x) > npc.actions.PATH_DIFF_LIMIT
-- or math.abs(diff.z) > npc.actions.PATH_DIFF_LIMIT then
-- minetest.log("Can't find feasable path.")
-- -- Cannot find feasable path
-- return nil
-- end
-- -- Determine direction to move
-- local dir_vector = get_unit_dir_vector_based_on_diff(diff)
-- minetest.log("Direction vector: "..dump(dir_vector))
-- if last_dir ~= nil then
-- if last_good_try == 4
-- or (dir_vector.x ~= 0 and dir_vector.z ~=0)
-- -- Attention: Hacks below! The magic number 3 could be just extremely wrong.
-- -- This is a terrible hack based on experimentations :(
-- or (dir_vector.x ~= 0 and last_dir.x == 0 and math.abs(diff.x) > math.abs(diff.z) and math.abs(diff.z) < 3)
-- or (dir_vector.z ~= 0 and last_dir.z == 0 and math.abs(diff.z) > math.abs(diff.x) and math.abs(diff.x) < 3) then
-- if last_dir.x ~= 0 and diff.x ~= 0
-- or last_dir.z ~= 0 and diff.z ~= 0 then
-- minetest.log("Using last dir as direction vector: "..dump(last_dir))
-- dir_vector = last_dir
-- end
-- end
-- end
-- if last_good_dir ~= nil then
-- minetest.log("Using last good dir as direction vector: "..dump(last_good_dir))
-- dir_vector = last_good_dir
-- end
-- -- Get next position based on direction
-- local next_pos = vector.add(start_pos, dir_vector)
-- minetest.log("Next pos: "..dump(next_pos))
-- -- Check if next_pos is actually within one block from the
-- -- expected position. If so, finish
-- local diff_to_end = vector.subtract(next_pos, end_pos)
-- if math.abs(diff_to_end.x) < 1 and math.abs(diff_to_end.y) < 1 and math.abs(diff_to_end.z) < 1 then
-- minetest.log("Diff to end: "..dump(diff_to_end))
-- table.insert(path_nodes, {pos=next_pos, type="E"})
-- minetest.log("Found path to end.")
-- return path_nodes
-- end
-- -- Check if movement is possible on the calculated direction
-- local next_node = minetest.get_node(next_pos)
-- -- If direction vector is opposite to the last dir, then do not attempt to walk into it
-- minetest.log("Next node is walkable: "..dump(not minetest.registered_nodes[next_node.name].walkable))
-- local attempted_to_go_opposite = false
-- if last_dir ~= nil and vector.equals(dir_vector, vector_opposite(last_dir)) then
-- attempted_to_go_opposite = true
-- minetest.log("Last dir: "..dump(last_dir))
-- minetest.log("Calculated dir vector is the opposite of last dir: "..dump(vector.equals(dir_vector, vector_opposite(last_dir))))
-- end
-- local node_type = is_good_node(next_node)
-- if node_type ~= "N" and (not attempted_to_go_opposite) then
-- table.insert(path_nodes, {pos=next_pos, type=node_type})
-- return find_path_recursive(next_pos, end_pos, path_nodes, dir_vector, nil, 1)
-- else
-- minetest.log("------------ Second attempt ------------")
-- -- If not walkable, attempt turn into the other coordinate
-- -- Determine this coordinate based on what was the last calculated direction
-- -- that didn't needed correction (last good dir). If this doesn't exists (e.g.
-- -- there has been no correction for a while) then select the direction by
-- -- trying to shorten the distance between NPC and the end node.
-- minetest.log("Last known good dir: "..dump(last_good_dir))
-- local step = 0
-- if last_good_dir == nil then
-- -- Store the current direction vector as the last non-corrected
-- -- calculated direction
-- last_good_dir = dir_vector
-- -- Determine which direction to move
-- if dir_vector.x == 0 then
-- minetest.log("Choosing x direction")
-- step = diff.x/math.abs(diff.x) * -1
-- if diff.x == 0 then
-- if last_dir ~= nil and last_dir.x ~= 0 then--and last_good_try == 2 then
-- step = last_dir.x
-- else
-- -- Set a default step to avoid locks
-- step = 1
-- end
-- end
-- dir_vector = {x = step, y = 0, z = 0}
-- elseif dir_vector.z == 0 then
-- step = diff.z/math.abs(diff.z) * -1
-- if diff.z == 0 then
-- if last_dir ~= nil and last_dir.z ~= 0 then -- and last_good_try == 2 then
-- step = last_dir.z
-- else
-- -- Set a default step to avoid locks
-- step = 1
-- end
-- end
-- dir_vector = {x = 0, y = 0, z = step}
-- end
-- minetest.log("Re-calculated dir vector: "..dump(dir_vector))
-- next_pos = vector.add(start_pos, dir_vector)
-- else
-- dir_vector = last_good_dir
-- if dir_vector.x == 0 then
-- minetest.log("Moving into x direction")
-- step = last_dir.x
-- elseif dir_vector.z == 0 then
-- minetest.log("Moving into z direction")
-- step = last_dir.z
-- end
-- dir_vector = last_dir
-- next_pos = vector.add(start_pos, dir_vector)
-- end
-- -- Check if new node is walkable
-- next_node = minetest.get_node(next_pos)
-- minetest.log("Next node is walkable: "..dump(not minetest.registered_nodes[next_node.name].walkable))
-- local node_type = is_good_node(next_node)
-- if node_type ~= "N" then
-- table.insert(path_nodes, {pos=next_pos, type=node_type})
-- return find_path_recursive(next_pos, end_pos, path_nodes, dir_vector, last_good_dir, 2)
-- else
-- minetest.log("Last known good dir: "..dump(last_good_dir))
-- -- Only pick the second attempt's dir if it was actually good (meaning,
-- -- it could step on that dir)
-- if last_good_try == 2 then
-- last_good_dir = dir_vector
-- end
-- minetest.log("------------ Third attempt ------------")
-- -- If not walkable, then try the next node by finding the original
-- -- direction vector, then choosing the opposite of that.
-- minetest.log("Last dir: "..dump(last_dir))
-- minetest.log("Last good try: "..dump(last_good_try))
-- minetest.log("Last attempted direction: "..dump(dir_vector))
-- if vector.equals(last_good_dir, last_dir) then
-- -- Go opposite the direction of second attempt
-- minetest.log("Moving opposite of last attempted")
-- dir_vector = vector.multiply(dir_vector, -1)
-- else
-- minetest.log("Moving opposite of last good dir")
-- dir_vector = vector.multiply(last_good_dir, -1)
-- last_good_dir = last_dir
-- end
-- -- if last_good_try > 1 or vector.equals(last_good_dir, last_dir) then
-- -- if dir_vector.x ~= 0 then
-- -- minetest.log("Move into opposite z dir")
-- -- dir_vector = get_unit_dir_vector_based_on_diff(diff)
-- -- dir_vector = vector.multiply(dir_vector, -1)
-- -- elseif dir_vector.z ~= 0 then
-- -- minetest.log("Move into opposite x dir")
-- -- dir_vector = get_unit_dir_vector_based_on_diff(diff)
-- -- dir_vector = vector.multiply(dir_vector, -1)
-- -- end
-- -- else
-- -- minetest.log("Stuck in corner, try to move out of corner")
-- -- dir_vector = vector.multiply(last_good_dir, -1)
-- -- last_good_dir = last_dir
-- -- end
-- minetest.log("New direction: "..dump(dir_vector))
-- minetest.log("New last good dir: "..dump(last_good_dir))
-- next_pos = vector.add(start_pos, dir_vector)
-- minetest.log("New next_pos: "..dump(next_pos))
-- next_node = minetest.get_node(next_pos)
-- minetest.log("Next node is walkable: "..dump(not minetest.registered_nodes[next_node.name].walkable))
-- local node_type = is_good_node(next_node)
-- if node_type ~= "N" then
-- table.insert(path_nodes, {pos=next_pos, type=node_type})
-- return find_path_recursive(next_pos, end_pos, path_nodes, dir_vector, last_good_dir, 3)
-- else
-- -- Move into the opposite of last good dir
-- minetest.log("------------ Fourth attempt ------------")
-- minetest.log("Last known good dir: "..dump(old_last_good_dir))
-- local old_dir_vector = dir_vector
-- -- If not walkable, then try moving into the opposite of last good dir
-- dir_vector = vector.multiply(last_good_dir, -1)
-- minetest.log("New direction: "..dump(dir_vector))
-- next_pos = vector.add(start_pos, dir_vector)
-- minetest.log("New next_pos: "..dump(next_pos))
-- next_node = minetest.get_node(next_pos)
-- minetest.log("Next node is walkable: "..dump(not minetest.registered_nodes[next_node.name].walkable))
-- local node_type = is_good_node(next_node)
-- if node_type ~= "N" then
-- table.insert(path_nodes, {pos=next_pos, type=node_type})
-- return find_path_recursive(next_pos, end_pos, path_nodes, dir_vector, old_dir_vector, 4)
-- else
-- minetest.log("Attempted to rotate 4 times, can't do anything else")
-- return nil
-- end
-- end
-- end
-- end
-- end
-- -- Calls the recursive function to calculate the path
-- function npc.actions.find_path(start_pos, end_pos)
-- return find_path_recursive(start_pos, end_pos, {}, nil, nil, 0)
-- end
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