More tweaks to pathfinding

mods/ENTITIES/mcl_mobs/movement.lua

@@ -368,6 +368,10 @@ function mob_class:do_jump()
 
 	-- what is in front of mob?
 	local nod = node_ok(vector_offset(pos, dir_x, 0.5, dir_z))
+	local ndef = minetest.registered_nodes[nod.name]
+
+	-- thin blocks that do not need to be jumped
+	if nod.name == node_snow or (ndef and ndef.groups.carpet or 0) > 0 then return false end
 
 	-- this is used to detect if there's a block on top of the block in front of the mob.
 	-- If there is, there is no point in jumping as we won't manage.
@@ -378,15 +382,9 @@ function mob_class:do_jump()
 	local ntdef = minetest.registered_nodes[node_top.name]
 	if ntdef and ntdef.walkable == true and not (self.attack and self.state == "attack") then return false end
 
-	-- thin blocks that do not need to be jumped
-	if nod.name == node_snow then return false end
-
-	local ndef = minetest.registered_nodes[nod.name]
 	if self.walk_chance ~= 0 and not (ndef and ndef.walkable) and not self._can_jump_cliff then return false end
 
-	if minetest.get_item_group(nod.name, "fence") ~= 0
-	or minetest.get_item_group(nod.name, "fence_gate") ~= 0
-	or minetest.get_item_group(nod.name, "wall") ~= 0 then
+	if (ndef.groups.fence or 0) ~= 0 or (ndef.groups.fence_gate or 0) ~= 0 or (ndef.groups.wall or 0) ~= 0 then
 		self.facing_fence = true
 		return false
 	end
@@ -657,15 +655,16 @@ function mob_class:flop()
 	end
 end
 
-function mob_class:go_to_pos(b)
+function mob_class:go_to_pos(b, speed)
 	if not self then return end
 	if not b then return end
 	local s = self.object:get_pos()
 	if vector_distance(b,s) < .4 then return true end
 	if b.y > s.y + 0.2 then self:do_jump() end
 	self:turn_in_direction(b.x - s.x, b.z - s.z, 2)
-	self:set_velocity(self.walk_velocity)
-	self:set_animation("walk")
+	speed = speed or self.walk_velocity
+	self:set_velocity(speed)
+	self:set_animation(speed <= self.walk_velocity and "walk" or "run")
 end
 
 local check_herd_timer = 0

mods/ENTITIES/mcl_mobs/pathfinding.lua

@@ -9,9 +9,6 @@ local PATHFINDING_SEARCH_DISTANCE = 25 -- How big the square is that pathfinding
 
 local PATHFINDING = "gowp"
 
-local one_down = vector.new(0,-1,0)
-local one_up = vector.new(0,1,0)
-
 local plane_adjacents = {
 	vector.new(1,0,0),
 	vector.new(-1,0,0),
@@ -69,38 +66,22 @@ end
 -- an action, such as to open or close a door where we know that pos requires that action
 local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_door_pos)
 	local wp_out = {}
-
-	-- TODO  Just pass in door position and the index before is open, the index after is close
-	local current_door_index = -1
-
 	for i, cur_pos in pairs(wp_in) do
 		local action = nil
 
-		local cur_pos_to_add -- = vector.add(cur_pos, one_down)
-		if door_open_pos and vector.equals (cur_pos, door_open_pos) then
+		if door_open_pos and vector.equals(cur_pos, door_open_pos) then
 			mcl_log ("Door open match")
 			action = {type = "door", action = "open", target = cur_door_pos}
-			cur_pos_to_add = vector.add(cur_pos, one_down)
 		elseif door_close_pos and vector.equals(cur_pos, door_close_pos) then
 			mcl_log ("Door close match")
 			action = {type = "door", action = "close", target = cur_door_pos}
-			cur_pos_to_add = vector.add(cur_pos, one_down)
 		elseif cur_door_pos and vector.equals(cur_pos, cur_door_pos) then
 			mcl_log("Current door pos")
 			action = {type = "door", action = "open", target = cur_door_pos}
-			cur_pos_to_add = vector.add(cur_pos, one_down)
-		else
-			cur_pos_to_add = cur_pos
-			--mcl_log ("Pos doesn't match")
-		end
-
-		if visualize then
-			core.add_particle({pos = cur_pos_to_add, expirationtime=5+i/4, size=3+2/i, velocity=vector.new(0,-0.01,0),
-				texture="mcl_copper_anti_oxidation_particle.png"}) -- white stars
 		end
 
 		wp_out[i] = {}
-		wp_out[i]["pos"] = cur_pos_to_add
+		wp_out[i]["pos"] = cur_pos
 		wp_out[i]["failed_attempts"] = 0
 		wp_out[i]["action"] = action
 
@@ -130,74 +111,49 @@ end
 
 -- This function is used to see if we can path. We could use to check a route, rather than making people move.
 local function calculate_path_through_door (p, cur_door_pos, t)
+	if not cur_door_pos then return end
 	if t then
-		mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t))
+		mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. " through " .. minetest.pos_to_string(cur_door_pos) .. ", to target: " .. minetest.pos_to_string(t))
 	else
-		mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p))
+		mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. " through " .. minetest.pos_to_string(cur_door_pos))
 	end
 
-	local enriched_path = nil
-	local wp, prospective_wp
+	for _,v in pairs(plane_adjacents) do
+		local pos_closest_to_door = vector.add(cur_door_pos,v)
+		local n = minetest.get_node(pos_closest_to_door)
+		if not n.walkable then
+			mcl_log("We have open space next to door at: " .. minetest.pos_to_string(pos_closest_to_door))
 
-	local pos_closest_to_door = nil
-	local other_side_of_door = nil
+			local prospective_wp = minetest.find_path(p, pos_closest_to_door, PATHFINDING_SEARCH_DISTANCE, 1, 4)
 
-	if cur_door_pos then
-		mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos))
+			if prospective_wp then
+				local other_side_of_door = vector.add(cur_door_pos,-v)
+				mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door))
+				mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door))
 
-		for _,v in pairs(plane_adjacents) do
-			pos_closest_to_door = vector.add(cur_door_pos,v)
-			other_side_of_door = vector.add(cur_door_pos,-v)
+				table.insert(prospective_wp, cur_door_pos)
 
-			local n = minetest.get_node(pos_closest_to_door)
+				if t then
+					mcl_log("We have t, lets go from door to target")
+					local wp_otherside_door_to_target = minetest.find_path(other_side_of_door, t, PATHFINDING_SEARCH_DISTANCE, 1, 4)
 
-			if n.name == "air" then
-				mcl_log("We have air space next to door at: " .. minetest.pos_to_string(pos_closest_to_door))
-
-				prospective_wp = minetest.find_path(p, pos_closest_to_door, PATHFINDING_SEARCH_DISTANCE, 1, 4)
-
-				if prospective_wp then
-					mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door))
-					mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door))
-
-					table.insert(prospective_wp, cur_door_pos)
-
-					if t then
-						mcl_log("We have t, lets go from door to target")
-						local wp_otherside_door_to_target = minetest.find_path(other_side_of_door, t, PATHFINDING_SEARCH_DISTANCE, 1, 4)
-
-						if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then
-							append_paths (prospective_wp, wp_otherside_door_to_target)
-
-							wp = prospective_wp
-							mcl_log("We have a path from outside door to target")
-						else
-							mcl_log("We cannot path from outside door to target")
-						end
+					if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then
+						append_paths (prospective_wp, wp_otherside_door_to_target)
+						mcl_log("We have a path from outside door to target")
+						return generate_enriched_path(prospective_wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
 					else
-						mcl_log("No t, just add other side of door")
-						table.insert(prospective_wp, other_side_of_door)
-						wp = prospective_wp
-					end
-
-					if wp then
-						enriched_path = generate_enriched_path(wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
-						break
+						mcl_log("We cannot path from outside door to target")
 					end
 				else
-					mcl_log("Cannot path to this air block next to door.")
+					mcl_log("No t, just add other side of door")
+					table.insert(prospective_wp, other_side_of_door)
+					return generate_enriched_path(prospective_wp, pos_closest_to_door, other_side_of_door, cur_door_pos)
 				end
+			else
+				mcl_log("Cannot path to this air block next to door.")
 			end
 		end
-	else
-		mcl_log("No door found")
 	end
-
-	if wp and not enriched_path then
-		mcl_log("Wp but not enriched")
-		enriched_path = generate_enriched_path(wp)
-	end
-	return enriched_path
 end
 
 -- we treat ignore as solid, as we cannot path there
@@ -207,8 +163,9 @@ local function is_solid(pos)
 end
 
 local function find_open_node(pos, radius)
-	if not is_solid(pos) then return pos end
-	local above = vector.offset(pos, 0, 1, 0)
+	local r = vector.round(pos)
+	if not is_solid(r) then return r end
+	local above = vector.offset(r, 0, 1, 0)
 	if not is_solid(above) then return above, true end -- additional return: drop last
 	local n = minetest.find_node_near(pos, radius or 1, {"air"})
 	if n then return n end
@@ -225,7 +182,7 @@ function mob_class:gopath(target, callback_arrived, prioritised)
 
 	-- maybe feet are buried in solid?
 	local start = self.object:get_pos()
-	local p = find_open_node(vector.round(start), 1)
+	local p = find_open_node(start, 1)
 	if not p then -- buried?
 		minetest.log("action", "Cannot path from "..minetest.pos_to_string(start).." because it is solid. Nodetype: "..minetest.get_node(start).name)
 		return
@@ -243,15 +200,15 @@ function mob_class:gopath(target, callback_arrived, prioritised)
 	if not wp then
 		mcl_log("### No direct path. Path through door closest to target.")
 		local door_near_target = minetest.find_node_near(target, 16, {"group:door"})
-		local below = vector.offset(door_near_target, 0, -1, 0)
-		if minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_near_target = below end
+		local below = door_near_target and vector.offset(door_near_target, 0, -1, 0)
+		if below and minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_near_target = below end
 		wp = calculate_path_through_door(p, door_near_target, t)
 
 		if not wp then
 			mcl_log("### No path though door closest to target. Try door closest to origin.")
 			local door_closest = minetest.find_node_near(p, 16, {"group:door"})
-			local below = vector.offset(door_closest, 0, -1, 0)
-			if minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_closest = below end
+			local below = door_closest and vector.offset(door_closest, 0, -1, 0)
+			if below and minetest.get_item_group(minetest.get_node(below), "door") > 0 then door_closest = below end
 			wp = calculate_path_through_door(p, door_closest, t)
 
 			-- Path through 2 doors
@@ -297,9 +254,73 @@ function mob_class:gopath(target, callback_arrived, prioritised)
 		-- If cannot path, don't immediately try again
 	end
 
+	-- todo: we would also need to avoid overhangs, but minetest.find_path cannot help us there
+	-- we really need a better pathfinder overall.
+
+	-- try to find a way around fences and walls. This is very barebones, but at least it should
+	-- help path around very simple fences *IF* there is a detour that does not require jumping or gates.
 	if wp and #wp > 0 then
+		local i = 1
+		while i < #wp do
+			-- fence or wall underneath?
+			local bdef = minetest.registered_nodes[minetest.get_node(vector.offset(wp[i].pos, 0, -1, 0)).name]
+			if not bdef then minetest.log("warning", "There must not be unknown nodes on path") end
+			-- carpets are fine
+			if bdef and (bdef.groups.carpet or 0) > 0 then
+				wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
+			-- target bottom of door
+			elseif bdef and (bdef.groups.door or 0) > 0 then
+				wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
+			-- not walkable?
+			elseif bdef and not bdef.walkable then
+				wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
+				i = i - 1
+			-- plan opening fence gates
+			elseif bdef and (bdef.groups.fence_gate or 0) > 0 then
+				wp[i].pos = vector.offset(wp[i].pos, 0, -1, 0)
+				wp[math.max(1,i-1)].action = {type = "door", action = "open", target = wp[i].pos}
+				if i+1 < #wp then
+					wp[i+1].action = {type = "door", action = "close", target = wp[i].pos}
+				end
+			-- do not jump on fences and walls, but try to walk around
+			elseif bdef and i > 1 and ((bdef.groups.fence or 0) > 0 or (bdef.groups.wall or 0) > 0) and wp[i].pos.y > wp[i-1].pos.y then
+				-- find end of wall(s)
+				local j = i + 1
+				while j <= #wp do
+					local below = vector.offset(wp[j].pos, 0, -1, 0)
+					local bdef = minetest.registered_nodes[minetest.get_node(below).name]
+					if not bdef or ((bdef.groups.fence or 0) == 0 and (bdef.groups.wall or 0) == 0) then
+						break
+					end
+					j = j + 1
+				end
+				-- minetest.log("warning", bdef.name .. " at "..tostring(i).." end at "..(j <= #wp and tostring(j) or "nil"))
+				if j <= #wp and wp[i-1].pos.y == wp[j].pos.y then
+					local swp = minetest.find_path(wp[i-1].pos, wp[j].pos, PATHFINDING_SEARCH_DISTANCE, 0, 0)
+					-- TODO: if we do not find a path here, consider pathing through a fence gate!
+					if swp and #swp > 0 then
+						for k = j-1,i,-1 do table.remove(wp, k) end
+						for k = 2, #swp-1 do table.insert(wp, i-2+k, {pos = swp[k], failed_attempts = 0}) end
+						--minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." successful.")
+						i = i + #swp - 4
+					else
+						--minetest.log("warning", "Monkey patch pathfinding around "..bdef.name.." failed.")
+					end
+				end
+			end
+			i = i + 1
+		end
+	end
+	if wp and drop_last_wp and vector.equals(wp[#wp], t) then table.remove(wp, #wp) end
+	if wp and #wp > 0 then
+		if visualize then
+			for i = 1,#wp do
+				core.add_particle({pos = wp[i].pos, expirationtime=3+i/3, size=3+2/i, velocity=vector.new(0,-0.02,0),
+					texture="mcl_copper_anti_oxidation_particle.png"}) -- white stars
+			end
+		end
+
 		--output_table(wp)
-		if drop_last_wp and #wp > 1 then table.remove(wp, #wp) end
 		self._target = t
 		self.callback_arrived = callback_arrived
 		self.current_target = table.remove(wp,1)
@@ -337,11 +358,21 @@ function mob_class:interact_with_door(action, target)
 			if closed and action == "open" and def.on_rightclick then
 				mcl_log("Open door")
 				def.on_rightclick(target,n,self)
-			end
-			if not closed and action == "close" and def.on_rightclick then
+			elseif not closed and action == "close" and def.on_rightclick then
 				mcl_log("Close door")
 				def.on_rightclick(target,n,self)
 			end
+		elseif n.name:find("_gate") then
+			local def = minetest.registered_nodes[n.name]
+			local meta = minetest.get_meta(target)
+			local closed = meta:get_int("state") == 0
+			if closed and action == "open" and def.on_rightclick then
+				mcl_log("Open gate")
+				def.on_rightclick(target,n,self)
+			elseif not closed and action == "close" and def.on_rightclick then
+				mcl_log("Close gate")
+				def.on_rightclick(target,n,self)
+			end
 		else
 			mcl_log("Not door")
 		end
@@ -429,14 +460,15 @@ function mob_class:check_gowp(dtime)
 		local failed_attempts = self.current_target["failed_attempts"]
 		mcl_log("There after " .. failed_attempts .. " failed attempts. current target:".. minetest.pos_to_string(self.current_target.pos) .. ". Distance: " ..  distance_to_current_target)
 
+		local hurry = (self.order == "sleep" or #self.waypoints > 15) and self.run_velocity or self.walk_velocity
 		self.current_target = table.remove(self.waypoints, 1)
 		-- use smoothing -- TODO: check for blockers before cutting corners?
 		if #self.waypoints > 0 and not self.current_target["action"] then
 			local curwp, nextwp = self.current_target.pos, self.waypoints[1].pos
-			self:go_to_pos(vector.new(curwp.x*0.7+nextwp.x*0.3,curwp.y,curwp.z*0.7+nextwp.z*0.3))
+			self:go_to_pos(vector.new(curwp.x*0.7+nextwp.x*0.3,curwp.y,curwp.z*0.7+nextwp.z*0.3), hurry)
 			return
 		end
-		self:go_to_pos(self.current_target.pos)
+		self:go_to_pos(self.current_target.pos, hurry)
 		--if self.current_target["action"] then self:set_velocity(self.walk_velocity * 0.5) end
 		return
 	elseif self.current_target and self.current_target.pos then