diff --git a/mods/ENTITIES/mcl_mobs/pathfinding.lua b/mods/ENTITIES/mcl_mobs/pathfinding.lua index 6cb37434f..ee39d28ad 100644 --- a/mods/ENTITIES/mcl_mobs/pathfinding.lua +++ b/mods/ENTITIES/mcl_mobs/pathfinding.lua @@ -1,11 +1,24 @@ local math, vector, minetest, mcl_mobs = math, vector, minetest, mcl_mobs local mob_class = mcl_mobs.mob_class -local LOGGING_ON = minetest.settings:get_bool("mcl_logging_mobs_villager",false) -local PATHFINDING = "gowp" -local enable_pathfinding = true +local PATHFINDING_FAIL_THRESHOLD = 100 -- no. of ticks to fail before giving up. 20p/s. 5s helps them get through door +local PATHFINDING_FAIL_WAIT = 30 -- how long to wait before trying to path again -local LOG_MODULE = "[Mobs]" +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), + vector.new(0,0,1), + vector.new(0,0,-1), +} + +local LOGGING_ON = minetest.settings:get_bool("mcl_logging_mobs_pathfinding",false) + +local LOG_MODULE = "[Mobs Pathfinding]" local function mcl_log (message) if LOGGING_ON and message then minetest.log(LOG_MODULE .. " " .. message) @@ -21,7 +34,7 @@ function output_table (wp) end function append_paths (wp1, wp2) - mcl_log("Start append") + --mcl_log("Start append") if not wp1 or not wp2 then mcl_log("Cannot append wp's") return @@ -31,7 +44,7 @@ function append_paths (wp1, wp2) for _,a in pairs (wp2) do table.insert(wp1, a) end - mcl_log("End append") + --mcl_log("End append") end local function output_enriched (wp_out) @@ -43,11 +56,12 @@ local function output_enriched (wp_out) local action = outy["action"] if action then + --mcl_log("Pos ".. i ..":" .. minetest.pos_to_string(outy["pos"])) mcl_log("type: " .. action["type"]) mcl_log("action: " .. action["action"]) mcl_log("target: " .. minetest.pos_to_string(action["target"])) end - mcl_log("failed attempts: " .. outy["failed_attempts"]) + --mcl_log("failed attempts: " .. outy["failed_attempts"]) end end @@ -56,34 +70,26 @@ 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 one_down = vector.new(0,-1,0) local cur_pos_to_add = vector.add(cur_pos, one_down) if door_open_pos and vector.equals (cur_pos, door_open_pos) then mcl_log ("Door open match") - --action = {type = "door", action = "open"} - action = {} - action["type"] = "door" - action["action"] = "open" - action["target"] = cur_door_pos + 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 = "closed"} - action = {} - action["type"] = "door" - action["action"] = "close" - action["target"] = cur_door_pos + 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) - action = {} - action["type"] = "door" - action["action"] = "open" - action["target"] = cur_door_pos else cur_pos_to_add = cur_pos --mcl_log ("Pos doesn't match") @@ -101,106 +107,156 @@ local function generate_enriched_path(wp_in, door_open_pos, door_close_pos, cur_ return wp_out end -local plane_adjacents = { - vector.new(1,0,0), - vector.new(-1,0,0), - vector.new(0,0,1), - vector.new(0,0,-1), -} +function mob_class:ready_to_path() + mcl_log("Check ready to path") + if self._pf_last_failed and (os.time() - self._pf_last_failed) < PATHFINDING_FAIL_WAIT then + mcl_log("Not ready to path as last fail is less than threshold: " .. (os.time() - self._pf_last_failed)) + return false + else + mcl_log("We are ready to pathfind, no previous fail or we are past threshold") + return true + end +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, t, target) - -- target is the same as t, just 1 square difference. Maybe we don't need target - mcl_log("Plot route from mob: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t)) +local function calculate_path_through_door (p, cur_door_pos, t) + if t then + mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p) .. ", to target: " .. minetest.pos_to_string(t)) + else + mcl_log("Plot route through door from pos: " .. minetest.pos_to_string(p)) + end local enriched_path = nil + local wp, prospective_wp - local cur_door_pos = nil local pos_closest_to_door = nil local other_side_of_door = nil - --Path to door first - local wp = minetest.find_path(p,t,150,1,4) - if not wp then - mcl_log("No direct path. Path through door") + if cur_door_pos then + mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos)) - -- This could improve. There could be multiple doors. Check you can path from door to target first. - local cur_door_pos = minetest.find_node_near(target,16,{"group:door"}) - if cur_door_pos then - mcl_log("Found a door near: " .. minetest.pos_to_string(cur_door_pos)) - for _,v in pairs(plane_adjacents) do - pos_closest_to_door = vector.add(cur_door_pos,v) + 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) - local n = minetest.get_node(pos_closest_to_door) - if n.name == "air" then - wp = minetest.find_path(p,pos_closest_to_door,150,1,4) - if wp then - mcl_log("Found a path to next to door".. minetest.pos_to_string(pos_closest_to_door)) - other_side_of_door = vector.add(cur_door_pos,-v) - mcl_log("Opposite is: ".. minetest.pos_to_string(other_side_of_door)) + local n = minetest.get_node(pos_closest_to_door) + 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,150,1,4) + + 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,150,1,4) + if wp_otherside_door_to_target and #wp_otherside_door_to_target > 0 then - table.insert(wp, cur_door_pos) - append_paths (wp, wp_otherside_door_to_target) - enriched_path = generate_enriched_path(wp, pos_closest_to_door, other_side_of_door, cur_door_pos) + 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 - break else - mcl_log("This block next to door doesn't work.") + 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 end else - mcl_log("Block is not air, it is: ".. n.name) + mcl_log("Cannot path to this air block next to door.") end - end - else - mcl_log("No door found") end else - mcl_log("We have a direct route") + 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 -local gopath_last = os.time() function mob_class:gopath(target,callback_arrived) if self.state == PATHFINDING then mcl_log("Already pathfinding, don't set another until done.") return end - - if self._pf_last_failed and (os.time() - self._pf_last_failed) < 30 then - mcl_log("We are not ready to path as last fail is less than threshold: " .. (os.time() - self._pf_last_failed)) - return - else - mcl_log("We are ready to pathfind, no previous fail or we are past threshold") - end - - --if os.time() - gopath_last < 5 then - -- mcl_log("Not ready to path yet") - -- return - --end - --gopath_last = os.time() + if not self:ready_to_path() then return end self.order = nil local p = self.object:get_pos() local t = vector.offset(target,0,1,0) - local wp = calculate_path_through_door(p, t, target) + --Check direct route + local wp = minetest.find_path(p,t,150,1,4) + + 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"}) + 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"}) + wp = calculate_path_through_door(p, door_closest, t) + + -- Path through 2 doors + if not wp then + mcl_log("### Still not wp. Need to path through 2 doors.") + local path_through_closest_door = calculate_path_through_door(p, door_closest) + + if path_through_closest_door and #path_through_closest_door > 0 then + mcl_log("We have path through first door") + mcl_log("Number of pos in path through door: " .. tostring(#path_through_closest_door)) + + local pos_after_door_entry = path_through_closest_door[#path_through_closest_door] + if pos_after_door_entry then + local pos_after_door = vector.add(pos_after_door_entry["pos"], one_up) + mcl_log("pos_after_door: " .. minetest.pos_to_string(pos_after_door)) + local path_after_door = calculate_path_through_door(pos_after_door, door_near_target, t) + if path_after_door and #path_after_door > 1 then + mcl_log("We have path after first door") + table.remove(path_after_door, 1) -- Remove duplicate + wp = path_through_closest_door + append_paths (wp, path_after_door) + else + mcl_log("Path after door is not good") + end + else + mcl_log("No pos after door") + end + else + mcl_log("Path through closest door empty or null") + end + else + mcl_log("ok, we have a path through 1 door") + end + end + else + wp = generate_enriched_path(wp) + mcl_log("We have a direct route") + end + if not wp then mcl_log("Could not calculate path") self._pf_last_failed = os.time() - -- Cover for a flaw in pathfind where it chooses the wrong door and gets stuck. Take a break, allow others. + -- If cannot path, don't immediately try again end - --output_table(wp) if wp and #wp > 0 then + --output_table(wp) self._target = t self.callback_arrived = callback_arrived local current_location = table.remove(wp,1) @@ -269,17 +325,7 @@ function mob_class:do_pathfind_action(action) end end -local gowp_etime = 0 - function mob_class:check_gowp(dtime) - gowp_etime = gowp_etime + dtime - - -- 0.1 is optimal. - --less frequently = villager will get sent back after passing a point. - --more frequently = villager will fail points they shouldn't they just didn't get there yet - - --if gowp_etime < 0.05 then return end - --gowp_etime = 0 local p = self.object:get_pos() -- no destination @@ -292,7 +338,7 @@ function mob_class:check_gowp(dtime) -- arrived at location, finish gowp local distance_to_targ = vector.distance(p,self._target) --mcl_log("Distance to targ: ".. tostring(distance_to_targ)) - if distance_to_targ < 2 then + if distance_to_targ < 1.8 then mcl_log("Arrived at _target") self.waypoints = nil self._target = nil @@ -303,6 +349,8 @@ function mob_class:check_gowp(dtime) self.object:set_acceleration({x = 0, y = 0, z = 0}) if self.callback_arrived then return self.callback_arrived(self) end return true + elseif not self.current_target then + mcl_log("Not close enough to targ: ".. tostring(distance_to_targ)) end -- More pathing to be done @@ -315,7 +363,7 @@ function mob_class:check_gowp(dtime) -- 0.8 is optimal for 0.025 frequency checks and also 1... Actually. 0.8 is winning -- 0.9 and 1.0 is also good. Stick with unless door open or closing issues 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 - -- We have waypoints, and no current target, or we're at it. We need a new current_target. + -- We have waypoints, and are at current_target or have no current target. We need a new current_target. self:do_pathfind_action (self.current_target["action"]) local failed_attempts = self.current_target["failed_attempts"] @@ -325,10 +373,11 @@ function mob_class:check_gowp(dtime) self:go_to_pos(self.current_target["pos"]) return elseif self.current_target and self.current_target["pos"] then - -- No waypoints left, but have current target. Potentially last waypoint to go to. + -- No waypoints left, but have current target and not close enough. Potentially last waypoint to go to. + self.current_target["failed_attempts"] = self.current_target["failed_attempts"] + 1 local failed_attempts = self.current_target["failed_attempts"] - if failed_attempts >= 50 then + if failed_attempts >= PATHFINDING_FAIL_THRESHOLD then mcl_log("Failed to reach position (" .. minetest.pos_to_string(self.current_target["pos"]) .. ") too many times. Abandon route. Times tried: " .. failed_attempts) self.state = "stand" self.current_target = nil @@ -348,9 +397,22 @@ function mob_class:check_gowp(dtime) -- Is a little sensitive and could take 1 - 7 times. A 10 fail count might be a good exit condition. mcl_log("We don't have waypoints or a current target. Let's try to path to target") + + if self.waypoints then + mcl_log("WP: " .. tostring(self.waypoints)) + mcl_log("WP num: " .. tostring(#self.waypoints)) + else + mcl_log("No wp set") + end + if self.current_target then + mcl_log("Current target: " .. tostring(self.current_target)) + else + mcl_log("No current target") + end + local final_wp = minetest.find_path(p,self._target,150,1,4) if final_wp then - mcl_log("We might be able to get to target here.") + mcl_log("We can get to target here.") -- self.waypoints = final_wp self:go_to_pos(self._target) else @@ -374,9 +436,9 @@ function mob_class:check_gowp(dtime) self:go_to_pos(self._current_target) else mcl_log("close to current target: ".. minetest.pos_to_string(self.current_target["pos"])) + mcl_log("target is: ".. minetest.pos_to_string(self._target)) self.current_target = nil end - return end end diff --git a/mods/ENTITIES/mobs_mc/villager.lua b/mods/ENTITIES/mobs_mc/villager.lua index 9215416b8..bb23758c5 100644 --- a/mods/ENTITIES/mobs_mc/villager.lua +++ b/mods/ENTITIES/mobs_mc/villager.lua @@ -641,7 +641,7 @@ function get_activity(tod) else activity = "chill" end - mcl_log("Time is " .. tod ..". Activity is: ".. activity) + --mcl_log("Time is " .. tod ..". Activity is: ".. activity) return activity end @@ -770,7 +770,7 @@ local function check_bed (entity) local n = minetest.get_node(b) local is_bed_bottom = string.find(n.name,"_bottom") - mcl_log("" .. tostring(is_bed_bottom)) + --mcl_log("is bed bottom: " .. tostring(is_bed_bottom)) if n and not is_bed_bottom then mcl_log("Where did my bed go?!") entity._bed = nil --the stormtroopers have killed uncle owen @@ -836,6 +836,7 @@ end local function take_bed (entity) if not entity then return end + if not entity:ready_to_path() then return end local p = entity.object:get_pos() @@ -1059,9 +1060,9 @@ local function look_for_job(self, requested_jobsites) end - local function get_a_job(self) if self.order == WORK then self.order = nil end + if not self:ready_to_path() then return end mcl_log("I'm unemployed or lost my job block and have traded. Can I get a job?") @@ -1135,68 +1136,85 @@ local function validate_jobsite(self) end local function do_work (self) - --debug_trades(self) - if self.child then - mcl_log("A child so don't send to work") + + if not self or self.child then + mcl_log("No self, or a child so don't work") return end + --mcl_log("Time for work") + local jobsite_node = retrieve_my_jobsite (self) - -- Don't try if looking_for_work, or gowp possibly - if validate_jobsite(self) then - --mcl_log("My jobsite is valid. Do i need to travel?") - - local jobsite2 = retrieve_my_jobsite (self) + if jobsite_node then local jobsite = self._jobsite - if self and jobsite2 and self._jobsite then - local distance_to_jobsite = vector.distance(self.object:get_pos(),self._jobsite) - --mcl_log("Villager: ".. minetest.pos_to_string(self.object:get_pos()) .. ", jobsite: " .. minetest.pos_to_string(self._jobsite) .. ", distance to jobsite: ".. distance_to_jobsite) + local distance_to_jobsite = vector.distance(self.object:get_pos(), jobsite) + --mcl_log("Villager: ".. minetest.pos_to_string(self.object:get_pos()) .. ", jobsite: " .. minetest.pos_to_string(self._jobsite) .. ", distance to jobsite: ".. distance_to_jobsite) - if distance_to_jobsite < 2 then - if self.state ~= PATHFINDING and self.order ~= WORK then - mcl_log("Setting order to work.") - self.order = WORK - unlock_trades(self) - else - --mcl_log("Still pathfinding.") - end + if distance_to_jobsite < 2 then + if self.state ~= PATHFINDING and self.order ~= WORK then + mcl_log("Setting order to work.") + self.order = WORK + unlock_trades(self) else - mcl_log("Not at job block. Need to commute.") - if self.order == WORK then - self.order = nil - return - end - self:gopath(jobsite, function(self,jobsite) - if not self then - --mcl_log("missing self. not good") - return false - end - if not self._jobsite then - --mcl_log("Jobsite not valid") - return false - end - if vector.distance(self.object:get_pos(),self._jobsite) < 2 then - --mcl_log("Made it to work ok callback!") - return true - else - --mcl_log("Need to walk to work. Not sure we can get here.") - end - end) + --mcl_log("Still pathfinding.") end + else + mcl_log("Not at job block. Need to commute.") + if self.order == WORK then + self.order = nil + return + end + self:gopath(jobsite, function(self, jobsite) + if not self then + --mcl_log("missing self. not good") + return false + end + if not self._jobsite then + --mcl_log("Jobsite not valid") + return false + end + if vector.distance(self.object:get_pos(),self._jobsite) < 2 then + --mcl_log("Made it to work ok callback!") + return true + else + --mcl_log("Need to walk to work. Not sure we can get here.") + end + end) end - elseif self._profession == "unemployed" or has_traded(self) then - get_a_job(self) end + +end + +local below_vec = vector.new(0, -1, 0) + +local function get_ground_below_floating_object (float_pos) + local pos = float_pos + repeat + mcl_log("Current pos: " .. minetest.pos_to_string(pos)) + pos = vector.add(pos, below_vec) + local node = minetest.get_node(pos) + mcl_log("First non air materials: ".. tostring(node.name)) + until node.name ~= "air" + + -- If pos is 1 below float_pos, then just return float_pos as there is no air below it + if pos.y == float_pos.y - 1 then + --mcl_log("pos is only 1 lower than float pos so no air below") + return float_pos + else + --mcl_log("pos is more than 1 lower than float pos so air is below") + return pos + end + + return pos end local function go_to_town_bell(self) - if self.order == GATHERING then - mcl_log("Already gathering") - return - else - mcl_log("Current order" .. self.order) - end + if self.order == GATHERING then return + else mcl_log("Current order" .. self.order) end + + if not self:ready_to_path() then return end + mcl_log("Go to town bell") local looking_for_type={} @@ -1208,8 +1226,9 @@ local function go_to_town_bell(self) --Ideally should check for closest available. It'll make pathing easier. for _,n in pairs(nn) do mcl_log("Found bell") + local target_point = get_ground_below_floating_object(n) - local gp = self:gopath(n,function(self) + local gp = self:gopath(target_point,function(self) if self then self.order = GATHERING mcl_log("Callback has a self") @@ -1277,22 +1296,45 @@ local function validate_bed(self) end local function do_activity (self) - -- Maybe just check we're pathfinding first? + if self.following then mcl_log("Following, so do not do activity.") return end + if self.state == PATHFINDING then + mcl_log("Pathfinding, so do not do activity.") + return + end - if not validate_bed(self) and self.state ~= PATHFINDING then + local jobsite_valid = false + + if not mcl_beds.is_night() then if self.order == SLEEP then self.order = nil end - mcl_log("Villager has no bed. Currently at location: "..minetest.pos_to_string(self.object:get_pos())) - take_bed (self) + + if not validate_jobsite(self) then + --debug_trades(self) + if self._profession == "unemployed" or has_traded(self) then + get_a_job(self) + return + end + else + jobsite_valid = true + --mcl_log("My jobsite is valid. Do i need to travel?") + end + else + if self.order == WORK then self.order = nil end + + if not validate_bed(self) then + if self.order == SLEEP then self.order = nil end + mcl_log("Villager at this location has no bed: " .. minetest.pos_to_string(self.object:get_pos())) + take_bed (self) + end end -- Only check in day or during thunderstorm but wandered_too_far code won't work local wandered_too_far = false if check_bed (self) then - wandered_too_far = ( self.state ~= PATHFINDING ) and (vector.distance(self.object:get_pos(),self._bed) > 50 ) + wandered_too_far = vector.distance(self.object:get_pos(),self._bed) > 50 end if wandered_too_far then @@ -1300,7 +1342,7 @@ local function do_activity (self) go_home(self, false) elseif get_activity() == SLEEP then go_home(self, true) - elseif get_activity() == WORK then + elseif get_activity() == WORK and jobsite_valid then do_work(self) elseif get_activity() == GATHERING then go_to_town_bell(self) @@ -1309,13 +1351,6 @@ local function do_activity (self) self.order = nil end - -- Daytime is work and play time - if not mcl_beds.is_night() then - if self.order == SLEEP then self.order = nil end - else - if self.order == WORK then self.order = nil end - end - end local function update_max_tradenum(self)