383 lines
13 KiB
Lua
383 lines
13 KiB
Lua
local math, vector, minetest, mcl_mobs = math, vector, minetest, mcl_mobs
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local mob_class = mcl_mobs.mob_class
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local LOGGING_ON = minetest.settings:get_bool("mcl_logging_mobs_villager",false)
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local PATHFINDING = "gowp"
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local enable_pathfinding = true
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local LOG_MODULE = "[Mobs]"
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local function mcl_log (message)
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if LOGGING_ON and message then
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minetest.log(LOG_MODULE .. " " .. message)
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end
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end
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function output_table (wp)
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if not wp then return end
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mcl_log("wp items: ".. tostring(#wp))
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for a,b in pairs(wp) do
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mcl_log(a.. ": ".. tostring(b))
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end
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end
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function append_paths (wp1, wp2)
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mcl_log("Start append")
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if not wp1 or not wp2 then
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mcl_log("Cannot append wp's")
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return
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end
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output_table(wp1)
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output_table(wp2)
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for _,a in pairs (wp2) do
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table.insert(wp1, a)
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end
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mcl_log("End append")
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end
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local function output_enriched (wp_out)
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mcl_log("Output enriched path")
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local i = 0
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for _,outy in pairs (wp_out) do
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i = i + 1
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mcl_log("Pos ".. i ..":" .. minetest.pos_to_string(outy["pos"]))
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local action = outy["action"]
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if action then
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mcl_log("type: " .. action["type"])
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mcl_log("action: " .. action["action"])
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mcl_log("target: " .. minetest.pos_to_string(action["target"]))
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end
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mcl_log("failed attempts: " .. outy["failed_attempts"])
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end
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end
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-- This function will take a list of paths, and enrich it with:
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-- a var for failed attempts
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-- an action, such as to open or close a door where we know that pos requires that action
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local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_door_pos)
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local wp_out = {}
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for i, cur_pos in pairs(wp_in) do
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local action = nil
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local one_down = vector.new(0,-1,0)
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local cur_pos_to_add = vector.add(cur_pos, one_down)
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if door_open_pos and vector.equals (cur_pos, door_open_pos) then
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mcl_log ("Door open match")
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--action = {type = "door", action = "open"}
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action = {}
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action["type"] = "door"
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action["action"] = "open"
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action["target"] = cur_door_pos
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cur_pos_to_add = vector.add(cur_pos, one_down)
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elseif door_close_pos and vector.equals(cur_pos, door_close_pos) then
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mcl_log ("Door close match")
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--action = {type = "door", action = "closed"}
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action = {}
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action["type"] = "door"
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action["action"] = "close"
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action["target"] = cur_door_pos
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cur_pos_to_add = vector.add(cur_pos, one_down)
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elseif cur_door_pos and vector.equals(cur_pos, cur_door_pos) then
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mcl_log("Current door pos")
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cur_pos_to_add = vector.add(cur_pos, one_down)
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action = {}
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action["type"] = "door"
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action["action"] = "open"
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action["target"] = cur_door_pos
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else
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cur_pos_to_add = cur_pos
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--mcl_log ("Pos doesn't match")
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end
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wp_out[i] = {}
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wp_out[i]["pos"] = cur_pos_to_add
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wp_out[i]["failed_attempts"] = 0
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wp_out[i]["action"] = action
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--wp_out[i] = {"pos" = cur_pos, "failed_attempts" = 0, "action" = action}
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--output_pos(cur_pos, i)
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end
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output_enriched(wp_out)
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return wp_out
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end
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local plane_adjacents = {
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vector.new(1,0,0),
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vector.new(-1,0,0),
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vector.new(0,0,1),
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vector.new(0,0,-1),
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}
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-- This function is used to see if we can path. We could use to check a route, rather than making people move.
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local function calculate_path_through_door (p, t, target)
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-- target is the same as t, just 1 square difference. Maybe we don't need target
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mcl_log("Plot route from mob: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t))
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local enriched_path = nil
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local cur_door_pos = nil
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local pos_closest_to_door = nil
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local other_side_of_door = nil
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--Path to door first
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local wp = minetest.find_path(p,t,150,1,4)
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if not wp then
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mcl_log("No direct path. Path through door")
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-- This could improve. There could be multiple doors. Check you can path from door to target first.
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local cur_door_pos = minetest.find_node_near(target,16,{"group:door"})
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if cur_door_pos then
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mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos))
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for _,v in pairs(plane_adjacents) do
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pos_closest_to_door = vector.add(cur_door_pos,v)
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local n = minetest.get_node(pos_closest_to_door)
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if n.name == "air" then
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wp = minetest.find_path(p,pos_closest_to_door,150,1,4)
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if wp then
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mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door))
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other_side_of_door = vector.add(cur_door_pos,-v)
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mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door))
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local wp_otherside_door_to_target = minetest.find_path(other_side_of_door,t,150,1,4)
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if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then
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table.insert(wp, cur_door_pos)
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append_paths (wp, wp_otherside_door_to_target)
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enriched_path = generate_enriched_path(wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
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mcl_log("We have a path from outside door to target")
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else
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mcl_log("We cannot path from outside door to target")
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end
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break
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else
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mcl_log("This block next to door doesn't work.")
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end
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else
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mcl_log("Block is not air, it is: ".. n.name)
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end
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end
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else
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mcl_log("No door found")
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end
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else
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mcl_log("We have a direct route")
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end
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if wp and not enriched_path then
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enriched_path = generate_enriched_path(wp)
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end
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return enriched_path
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end
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local gopath_last = os.time()
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function mob_class:gopath(target,callback_arrived)
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if self.state == PATHFINDING then mcl_log("Already pathfinding, don't set another until done.") return end
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if self._pf_last_failed and (os.time() - self._pf_last_failed) < 30 then
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mcl_log("We are not ready to path as last fail is less than threshold: " .. (os.time() - self._pf_last_failed))
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return
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else
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mcl_log("We are ready to pathfind, no previous fail or we are past threshold")
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end
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--if os.time() - gopath_last < 5 then
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-- mcl_log("Not ready to path yet")
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-- return
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--end
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--gopath_last = os.time()
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self.order = nil
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local p = self.object:get_pos()
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local t = vector.offset(target,0,1,0)
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local wp = calculate_path_through_door(p, t, target)
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if not wp then
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mcl_log("Could not calculate path")
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self._pf_last_failed = os.time()
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-- Cover for a flaw in pathfind where it chooses the wrong door and gets stuck. Take a break, allow others.
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end
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--output_table(wp)
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if wp and #wp > 0 then
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self._target = t
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self.callback_arrived = callback_arrived
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local current_location = table.remove(wp,1)
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if current_location and current_location["pos"] then
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mcl_log("Removing first co-ord? " .. tostring(current_location["pos"]))
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else
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mcl_log("Nil pos")
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end
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self.current_target = current_location
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self.waypoints = wp
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self.state = PATHFINDING
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return true
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else
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self.state = "walk"
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self.waypoints = nil
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self.current_target = nil
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-- minetest.log("no path found")
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end
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end
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function mob_class:interact_with_door(action, target)
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local p = self.object:get_pos()
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--local t = minetest.get_timeofday()
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--local dd = minetest.find_nodes_in_area(vector.offset(p,-1,-1,-1),vector.offset(p,1,1,1),{"group:door"})
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--for _,d in pairs(dd) do
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if target then
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mcl_log("Door target is: ".. minetest.pos_to_string(target))
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local n = minetest.get_node(target)
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if n.name:find("_b_") or n.name:find("_t_") then
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mcl_log("Door")
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local def = minetest.registered_nodes[n.name]
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local closed = n.name:find("_b_1") or n.name:find("_t_1")
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--if self.state == PATHFINDING then
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if closed and action == "open" and def.on_rightclick then
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mcl_log("Open door")
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def.on_rightclick(target,n,self)
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end
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if not closed and action == "close" and def.on_rightclick then
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mcl_log("Close door")
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def.on_rightclick(target,n,self)
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end
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--else
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else
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mcl_log("Not door")
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end
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else
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mcl_log("no target. cannot try and open or close door")
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end
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--end
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end
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function mob_class:do_pathfind_action(action)
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if action then
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mcl_log("Action present")
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local type = action["type"]
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local action_val = action["action"]
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local target = action["target"]
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if target then
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mcl_log("Target: ".. minetest.pos_to_string(target))
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end
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if type and type == "door" then
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mcl_log("Type is door")
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self:interact_with_door(action_val, target)
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end
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end
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end
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local gowp_etime = 0
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function mob_class:check_gowp(dtime)
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gowp_etime = gowp_etime + dtime
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-- 0.1 is optimal.
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--less frequently = villager will get sent back after passing a point.
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--more frequently = villager will fail points they shouldn't they just didn't get there yet
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--if gowp_etime < 0.05 then return end
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--gowp_etime = 0
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local p = self.object:get_pos()
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-- no destination
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if not p or not self._target then
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mcl_log("p: ".. tostring(p))
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mcl_log("self._target: ".. tostring(self._target))
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return
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end
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-- arrived at location, finish gowp
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local distance_to_targ = vector.distance(p,self._target)
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--mcl_log("Distance to targ: ".. tostring(distance_to_targ))
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if distance_to_targ < 2 then
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mcl_log("Arrived at _target")
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self.waypoints = nil
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self._target = nil
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self.current_target = nil
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self.state = "stand"
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self.order = "stand"
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self.object:set_velocity({x = 0, y = 0, z = 0})
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self.object:set_acceleration({x = 0, y = 0, z = 0})
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if self.callback_arrived then return self.callback_arrived(self) end
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return true
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end
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-- More pathing to be done
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local distance_to_current_target = 50
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if self.current_target and self.current_target["pos"] then
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distance_to_current_target = vector.distance(p,self.current_target["pos"])
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end
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-- 0.6 is working but too sensitive. sends villager back too frequently. 0.7 is quite good, but not with heights
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-- 0.8 is optimal for 0.025 frequency checks and also 1... Actually. 0.8 is winning
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-- 0.9 and 1.0 is also good. Stick with unless door open or closing issues
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if self.waypoints and #self.waypoints > 0 and ( not self.current_target or not self.current_target["pos"] or distance_to_current_target < 0.9 ) then
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-- We have waypoints, and no current target, or we're at it. We need a new current_target.
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self:do_pathfind_action (self.current_target["action"])
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local failed_attempts = self.current_target["failed_attempts"]
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mcl_log("There after " .. failed_attempts .. " failed attempts. current target:".. minetest.pos_to_string(self.current_target["pos"]) .. ". Distance: " .. distance_to_current_target)
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self.current_target = table.remove(self.waypoints, 1)
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self:go_to_pos(self.current_target["pos"])
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return
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elseif self.current_target and self.current_target["pos"] then
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-- No waypoints left, but have current target. Potentially last waypoint to go to.
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self.current_target["failed_attempts"] = self.current_target["failed_attempts"] + 1
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local failed_attempts = self.current_target["failed_attempts"]
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if failed_attempts >= 50 then
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mcl_log("Failed to reach position (" .. minetest.pos_to_string(self.current_target["pos"]) .. ") too many times. Abandon route. Times tried: " .. failed_attempts)
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self.state = "stand"
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self.current_target = nil
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self.waypoints = nil
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self._target = nil
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self._pf_last_failed = os.time()
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self.object:set_velocity({x = 0, y = 0, z = 0})
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self.object:set_acceleration({x = 0, y = 0, z = 0})
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return
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end
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--mcl_log("Not at pos with failed attempts ".. failed_attempts ..": ".. minetest.pos_to_string(p) .. "self.current_target: ".. minetest.pos_to_string(self.current_target["pos"]) .. ". Distance: ".. distance_to_current_target)
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self:go_to_pos(self.current_target["pos"])
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-- Do i just delete current_target, and return so we can find final path.
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else
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-- Not at target, no current waypoints or current_target. Through the door and should be able to path to target.
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-- Is a little sensitive and could take 1 - 7 times. A 10 fail count might be a good exit condition.
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mcl_log("We don't have waypoints or a current target. Let's try to path to target")
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local final_wp = minetest.find_path(p,self._target,150,1,4)
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if final_wp then
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mcl_log("We might be able to get to target here.")
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-- self.waypoints = final_wp
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self:go_to_pos(self._target)
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else
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-- Abandon route?
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mcl_log("Cannot plot final route to target")
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end
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end
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-- I don't think we need the following anymore, but test first.
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-- Maybe just need something to path to target if no waypoints left
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if self.current_target and self.current_target["pos"] and (self.waypoints and #self.waypoints == 0) then
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local updated_p = self.object:get_pos()
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local distance_to_cur_targ = vector.distance(updated_p,self.current_target["pos"])
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mcl_log("Distance to current target: ".. tostring(distance_to_cur_targ))
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mcl_log("Current p: ".. minetest.pos_to_string(updated_p))
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-- 1.6 is good. is 1.9 better? It could fail less, but will it path to door when it isn't after door
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if distance_to_cur_targ > 1.9 then
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mcl_log("not close to current target: ".. minetest.pos_to_string(self.current_target["pos"]))
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self:go_to_pos(self._current_target)
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else
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mcl_log("close to current target: ".. minetest.pos_to_string(self.current_target["pos"]))
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self.current_target = nil
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end
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return
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end
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end
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