forked from VoxeLibre/VoxeLibre
Start writing new pathfinding algorithm
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local storage = minetest.get_mod_storage()
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local EXPAND_SIZE = 1
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local FALL_DAMAGE_DISTANCE = 3
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local MOB_HEIGHT_EXPAND_SIZE = 2
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local function get_node_at(state, pos, idx)
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if not idx then idx = state.area:index(pos.x, pos.y, pos.z) end
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local cid = state.data[idx]
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if not cid then return "unloaded" end
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if state.content_id_cache[cid] then return state.content_id_cache[cid] end
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local name = minetest.get_name_from_content_id(cid)
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state.content_id_cache[cid] = name
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return name
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end
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local air_height_topside_cache = {}
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local function get_node_air_height_topside(state, pos, name)
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if not name then name = get_node_at(state, pos) end
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if name == "air" then return 1 end
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local nodedef = minetest.registered_nodes[name]
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if not nodedef then
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print("Missing node definition for "..tostring(name)..", treating as solid")
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return 0
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end
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if nodedef.drawtype == "nodebox" then
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local max = -0.5
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if nodedef.node_box.type == "fixed" then
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for _,part in ipairs(nodedef.node_box.fixed) do
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if part[5] > max then
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max = part[5]
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end
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end
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local air_height_topside = 0.5 - max
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air_height_topside_cache[name] = air_height_topside
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return air_height_topside
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end
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else
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-- TODO: finish implement partial block heights
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end
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return 0
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end
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local air_height_underside_cache = {}
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local function get_node_air_height_underside(state, pos, name)
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if not name then name = get_node_at(state, pos) end
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if name == "air" then return 1 end
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local nodedef = minetest.registered_nodes[name]
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if not nodedef then
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print("Missing node definition for "..tostring(name)..", treating as solid")
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return 0
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end
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local node_air_height_underside = nodedef._mcl2_pathfinding_air_height_underside or air_height_underside_cache[name]
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if node_air_height_underside then return node_air_height_underside end
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if nodedef.drawtype == "nodebox" then
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local min = 0.5
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if nodedef.node_box.type == "fixed" then
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for _,part in ipairs(nodedef.node_box.fixed) do
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if part[5] < min then
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min = part[5]
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end
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end
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-- Cache for future use
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local air_height_underside = 0.5 + min
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air_height_underside_cache[name] = air_height_underside
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return air_height_underside
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end
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end
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-- TODO: implement partial block heights
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return 0
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end
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local RULE_NO_NAV = { no_nav = true }
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local NODE_NEIGHBORS = {
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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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local NODE_NEIGHBOR_JUMPS = {
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vector.new( 1,1, 0),
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vector.new(-1,1, 0),
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vector.new( 0,1, 1),
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vector.new( 0,1,-1),
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}
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local NODE_NEIGHBOR_DROP_ONE = {
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vector.new( 1,-1, 0),
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vector.new(-1,-1, 0),
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vector.new( 0,-1, 1),
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vector.new( 0,-1,-1),
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}
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local NODE_NEIGHBOR_DROP_TWO = {
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vector.new( 1,-1, 0),
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vector.new(-1,-1, 0),
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vector.new( 0,-1, 1),
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vector.new( 0,-1,-1),
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}
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local function get_navigation_rules_for_node(state, node_pos)
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local area = state.area
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local idx = area:index(node_pos.x,node_pos.y,node_pos.z)
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if not idx then return RULE_NO_NAV end
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-- Check if we already have generated rules for this node
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local navigation_rules = state.navigation_rules
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if navigation_rules[idx] then return navigation_rules[idx] end
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-- Bounds check
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if node_pos.x < state.bound.min.x then return RULE_NO_NAV end
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if node_pos.y < state.bound.min.y then return RULE_NO_NAV end
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if node_pos.z < state.bound.min.z then return RULE_NO_NAV end
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if node_pos.x > state.bound.max.x then return RULE_NO_NAV end
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if node_pos.y > state.bound.max.y then return RULE_NO_NAV end
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if node_pos.z > state.bound.max.z then return RULE_NO_NAV end
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-- Lookup node information
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local name = get_node_at(state, node_pos, idx)
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local nodedef = minetest.registered_nodes[name]
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-- Check if navigable: Need to have at least 2 height for horizontal travel thru this node
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local height = 0
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if name == "air" then
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-- Make sure we have a solid block below us
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if get_node_air_height_topside(state, vector.offset(node_pos,0,-1,0)) == 1 then
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-- Would fall thru and navigate thru node below here
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navigation_rules[idx] = RULE_NO_NAV
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return RULE_NO_NAV
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end
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height = 1
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end
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-- Handle solid and semi-solid block
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height = get_node_air_height_topside(state, node_pos, name)
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if height == 1 then
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-- Solid
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navigation_rules[idx] = RULE_NO_NAV
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return RULE_NO_NAV
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end
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local node_underside_height = 0
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local above_block = node_pos
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repeat
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above_block = vector.offset(above_block,0,1,0)
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node_underside_height = get_node_air_height_underside(state, above_block)
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height = height + node_underside_height
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until node_underside_height ~= 1 or height >= 3
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-- Handle too small spaces
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if height < 2 then
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navigation_rules[idx] = RULE_NO_NAV
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return RULE_NO_NAV
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end
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-- We can navigate thru this node
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local rule = {
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height = height,
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walk = {},
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drop = {},
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jump = {},
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}
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navigation_rules[idx] = rule
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-- Now check neighbors to see if we can move there
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for i,dir in ipairs(NODE_NEIGHBORS) do
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-- Check direct neighbor
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local neighbor_pos = vector.add(node_pos, dir)
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local neighbor_rule = get_navigation_rules_for_node(state, neighbor_pos)
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if not neighbor_rule.no_nav then
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rule.walk[#rule.walk + 1] = dir
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else
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-- Check jumps
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neighbor_rule = get_navigation_rules_for_node(state, vector.offset(neighbor_pos,0,1,0))
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if not neighbor_rule.no_nav then
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rule.jump[#rule.jump + 1] = NODE_NEIGHBOR_JUMPS[i]
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else
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-- Check drop one block
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neighbor_rule = get_navigation_rules_for_node(state, vector.offset(neighbor_pos,0,-1,0))
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if not neighbor_rule.no_nav then
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rule.drop[#rule.drop + 1] = NODE_NEIGHBOR_DROP_ONE[i]
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else
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-- Check drop two blocks
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neighbor_rule = get_navigation_rules_for_node(state, vector.offset(neighbor_pos,0,-1,0))
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if not neighbor_rule.no_nav then
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rule.drop[#rule.drop + 1] = NODE_NEIGHBOR_DROP_TWO[i]
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end
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end
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end
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end
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end
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print("node_pos="..tostring(node_pos)..",name="..tostring(name)..",rule="..dump(rule))
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return rule
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end
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local function gen_navigation_rules(state)
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local node_base = state.node_base
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local area = state.area
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local navigation_rules = state.navigation_rules
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local miny = state.bound.min.y
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local maxy = state.bound.max.y
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local minx = state.bound.min.x
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local maxx = state.bound.max.x
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for z = (state.bound.min.z),(state.bound.max.z) do
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for y = miny,maxy do
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for x = minx,maxx do
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get_navigation_rules_for_node(state, vector.new(x,y,z))
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end
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end
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end
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end
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-- Precomputes a lookup table for each node to get the next direction to take to get to any other node
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-- in the map block. This will take some time, but shouldn't have to be done very often (only when a change
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-- in the map data makes it impossible to get to the target node)
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local function gen_navigation_lut(state)
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-- TODO: implement
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end
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mcl2_pathfinding.recalculate_pathfinding_data = function(pos, async)
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local state = {
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content_id_cache = {},
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navigation_rules = {},
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node_base = vector.new(
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math.floor(pos.x / 16) * 16,
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math.floor(pos.y / 16) * 16,
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math.floor(pos.z / 16) * 16
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)
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}
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local node_base = state.node_base
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local vm = minetest.get_voxel_manip(); state.vm = vm
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state.bound = {
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min = vector.offset(node_base, 0 - EXPAND_SIZE, 0 - FALL_DAMAGE_DISTANCE, 0 - EXPAND_SIZE),
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max = vector.offset(node_base, 16 + EXPAND_SIZE, 16 + MOB_HEIGHT_EXPAND_SIZE, 16 + EXPAND_SIZE)
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}
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local emin,emax = vm:read_from_map( state.bound.min, state.bound.max )
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state.min = emin
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state.max = emax
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local area = VoxelArea:new{ MinEdge = emin, MaxEdge = emax }; state.area = area
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local data = vm:get_data(); state.data = data
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local function process(state)
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gen_navigation_rules(state)
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gen_navigation_lut(state)
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return state.node_base,state.navigation_lut
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end
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local function finish(node_pos,navigation_lut)
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local data = minetest.serialize(navigation_lut)
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local hash = minetest.hash_node_position(node_pos)
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storage:set_string(tostring(hash),data)
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end
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-- use async environemt if request and supported
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if async and minetest.handle_async then
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minetest.handle_async(process,finish,state)
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else
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finish(process(state))
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end
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end
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@ -0,0 +1,18 @@
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local modname = minetest.get_current_modname()
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local modpath = minetest.get_modpath(modname)
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local S = minetest.get_translator(modname)
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mcl2_pathfinding = {}
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dofile(modpath.."/api.lua")
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minetest.register_chatcommand("test_pathfinding",{
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description = S("Test pathfinding"),
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params = "",
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privs = {},
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func = function(name)
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local player = minetest.get_player_by_name(name)
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mcl2_pathfinding.recalculate_pathfinding_data(player:get_pos(),false)
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end
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})
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@ -0,0 +1,3 @@
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name = mcl2_pathfinding
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author = teknomunk
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description = Adds a pathfinding API
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