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Better non-climbing NPC pathfinding in rivers

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This commit is contained in:
Joshua Barretto
2020-11-14 17:00:32 +00:00
parent b352ef5d55
commit 71b7e1ef90
3 changed files with 41 additions and 27 deletions
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25
common/src/path.rs
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@ -69,6 +69,8 @@ pub struct TraversalConfig {
pub in_liquid: bool,
/// The distance to the target below which it is considered reached.
pub min_tgt_dist: f32,
/// Whether the agent can climb.
pub can_climb: bool,
}
const DIAGONALS: [Vec2<i32>; 8] = [
@ -389,7 +391,7 @@ impl Chaser {
{
self.last_search_tgt = Some(tgt);
let (path, complete) = find_path(&mut self.astar, vol, pos, tgt);
let (path, complete) = find_path(&mut self.astar, vol, pos, tgt, &traversal_cfg);
self.route = path.map(|path| {
let start_index = path
@ -455,6 +457,7 @@ fn find_path<V>(
vol: &V,
startf: Vec3<f32>,
endf: Vec3<f32>,
traversal_cfg: &TraversalConfig,
) -> (Option<Path<Vec3<i32>>>, bool)
where
V: BaseVol<Vox = Block> + ReadVol,
@ -483,30 +486,33 @@ where
let heuristic = |pos: &Vec3<i32>| (pos.distance_squared(end) as f32).sqrt();
let neighbors = |pos: &Vec3<i32>| {
let pos = *pos;
const DIRS: [Vec3<i32>; 21] = [
const DIRS: [Vec3<i32>; 17] = [
Vec3::new(0, 1, 0), // Forward
Vec3::new(0, 1, 1), // Forward upward
Vec3::new(0, 1, 2), // Forward Upwardx2
Vec3::new(0, 1, -1), // Forward downward
Vec3::new(0, 1, -2), // Forward downwardx2
Vec3::new(1, 0, 0), // Right
Vec3::new(1, 0, 1), // Right upward
Vec3::new(1, 0, 2), // Right Upwardx2
Vec3::new(1, 0, -1), // Right downward
Vec3::new(1, 0, -2), // Right downwardx2
Vec3::new(0, -1, 0), // Backwards
Vec3::new(0, -1, 1), // Backward Upward
Vec3::new(0, -1, 2), // Backward Upwardx2
Vec3::new(0, -1, -1), // Backward downward
Vec3::new(0, -1, -2), // Backward downwardx2
Vec3::new(-1, 0, 0), // Left
Vec3::new(-1, 0, 1), // Left upward
Vec3::new(-1, 0, 2), // Left Upwardx2
Vec3::new(-1, 0, -1), // Left downward
Vec3::new(-1, 0, -2), // Left downwardx2
Vec3::new(0, 0, -1), // Downwards
];
const JUMPS: [Vec3<i32>; 4] = [
Vec3::new(0, 1, 2), // Forward Upwardx2
Vec3::new(1, 0, 2), // Right Upwardx2
Vec3::new(0, -1, 2), // Backward Upwardx2
Vec3::new(-1, 0, 2), // Left Upwardx2
];
// let walkable = [
// is_walkable(&(pos + Vec3::new(1, 0, 0))),
// is_walkable(&(pos + Vec3::new(-1, 0, 0))),
@ -526,6 +532,13 @@ where
// ];
DIRS.iter()
.chain(Some(JUMPS.iter())
.filter(|_| vol
.get(pos)
.map(|b| !b.is_liquid())
.unwrap_or(true) || traversal_cfg.can_climb)
.into_iter()
.flatten())
.map(move |dir| (pos, dir))
.filter(move |(pos, dir)| {
is_walkable(pos)