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https://gitlab.com/veloren/veloren.git
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Improved water pathfinding
This commit is contained in:
Joshua Barretto
parent
71b7e1ef90
commit
de685b00b2
@ -139,6 +139,7 @@ void main() {
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// f_pos = v_pos + (model_offs - focus_off.xyz);
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f_pos = (inst_mat * vec4(v_pos_, 1.0)).xyz * SCALE + inst_offs;
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f_pos.z -= 250.0 * (1.0 - min(1.0001 - 0.02 / pow(tick.x - load_time, 10.0), 1.0));
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// f_pos = (inst_mat * v_pos_) * SCALE + sprite_pos;
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// f_pos = (inst_mat * vec4(v_pos * SCALE, 1)).xyz + (model_offs - focus_off.xyz);
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@ -131,17 +131,18 @@ impl Route {
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// Determine whether we're close enough to the next to to consider it completed
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let dist_sqrd = pos.xy().distance_squared(closest_tgt.xy());
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if dist_sqrd < traversal_cfg.node_tolerance.powf(2.0) * if be_precise { 0.25 } else { 1.0 }
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&& (pos.z - closest_tgt.z > 1.2 || (pos.z - closest_tgt.z > -0.2 && (traversal_cfg.on_ground || traversal_cfg.in_liquid)))
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&& (pos.z - closest_tgt.z < 1.2 || (pos.z - closest_tgt.z < 2.9 && vel.z < -0.05))
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&& vel.z <= 0.0
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// Only consider the node reached if there's nothing solid between us and it
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&& (vol
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.ray(pos + Vec3::unit_z() * 1.5, closest_tgt + Vec3::unit_z() * 1.5)
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.until(Block::is_solid)
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.cast()
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.0
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> pos.distance(closest_tgt) * 0.9 || dist_sqrd < 0.5)
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&& self.next_idx < self.path.len()
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&& (((pos.z - closest_tgt.z > 1.2 || (pos.z - closest_tgt.z > -0.2 && traversal_cfg.on_ground))
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&& (pos.z - closest_tgt.z < 1.2 || (pos.z - closest_tgt.z < 2.9 && vel.z < -0.05))
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&& vel.z <= 0.0
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// Only consider the node reached if there's nothing solid between us and it
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&& (vol
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.ray(pos + Vec3::unit_z() * 1.5, closest_tgt + Vec3::unit_z() * 1.5)
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.until(Block::is_solid)
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.cast()
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.0
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> pos.distance(closest_tgt) * 0.9 || dist_sqrd < 0.5)
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&& self.next_idx < self.path.len())
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|| (traversal_cfg.in_liquid && pos.z < closest_tgt.z + 0.8 && pos.z > closest_tgt.z))
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{
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// Node completed, move on to the next one
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self.next_idx += 1;
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@ -419,7 +420,7 @@ impl Chaser {
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vol.get(
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(pos + Vec3::<f32>::from(tgt_dir) * 2.5).map(|e| e as i32) + Vec3::unit_z() * z,
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)
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.map(|b| !b.is_solid())
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.map(|b| b.is_air())
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.unwrap_or(false)
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});
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@ -437,17 +438,22 @@ fn walkable<V>(vol: &V, pos: Vec3<i32>) -> bool
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where
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V: BaseVol<Vox = Block> + ReadVol,
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{
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vol.get(pos - Vec3::new(0, 0, 1))
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.map(|b| b.is_filled())
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.unwrap_or(false)
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&& vol
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.get(pos + Vec3::new(0, 0, 0))
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.map(|b| !b.is_filled())
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.unwrap_or(true)
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&& vol
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.get(pos + Vec3::new(0, 0, 1))
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.map(|b| !b.is_filled())
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.unwrap_or(true)
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let below = vol.get(pos - Vec3::unit_z())
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.ok()
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.copied()
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.unwrap_or_else(Block::empty);
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let a = vol.get(pos)
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.ok()
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.copied()
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.unwrap_or_else(Block::empty);
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let b = vol.get(pos + Vec3::unit_z())
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.ok()
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.copied()
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.unwrap_or_else(Block::empty);
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let on_ground = below.is_filled();
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let in_liquid = a.is_liquid();
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(on_ground || in_liquid) && !a.is_solid() && !b.is_solid()
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}
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/// Attempt to search for a path to a target, returning the path (if one was
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@ -546,17 +552,17 @@ where
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&& ((dir.z < 1
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|| vol
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.get(pos + Vec3::unit_z() * 2)
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.map(|b| !b.is_filled())
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.map(|b| !b.is_solid())
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.unwrap_or(true))
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&& (dir.z < 2
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|| vol
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.get(pos + Vec3::unit_z() * 3)
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.map(|b| !b.is_filled())
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.map(|b| !b.is_solid())
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.unwrap_or(true))
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&& (dir.z >= 0
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|| vol
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.get(pos + *dir + Vec3::unit_z() * 2)
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.map(|b| !b.is_filled())
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.map(|b| !b.is_solid())
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.unwrap_or(true)))
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})
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.map(move |(pos, dir)| pos + dir)
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@ -239,9 +239,9 @@ impl<'a> System<'a> for Sys {
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.unwrap_or(Vec2::zero())
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* speed.min(agent.rtsim_controller.speed_factor);
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inputs.jump.set_state(bearing.z > 1.5);
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inputs.climb = Some(comp::Climb::Up)
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.filter(|_| bearing.z > 1.5 || physics_state.in_liquid.is_some());
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inputs.move_z = bearing.z;
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inputs.climb = Some(comp::Climb::Up);
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//.filter(|_| bearing.z > 0.1 || physics_state.in_liquid.is_some());
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inputs.move_z = bearing.z + 0.05;
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}
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} else {
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*bearing += Vec2::new(
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@ -116,11 +116,15 @@ impl TerrainGrid {
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let mut z_diff = 0;
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for _ in 0..128 {
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let test_pos = pos + Vec3::unit_z() * z_diff;
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if (0..2)
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.all(|z| self
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.get(test_pos + Vec3::unit_z() * z)
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.map(|b| !b.is_solid())
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.unwrap_or(true))
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if self
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.get(test_pos - Vec3::unit_z())
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.map(|b| b.is_filled())
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.unwrap_or(false)
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&& (0..2)
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.all(|z| self
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.get(test_pos + Vec3::unit_z() * z)
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.map(|b| !b.is_solid())
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.unwrap_or(true))
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{
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return test_pos;
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}
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@ -101,7 +101,7 @@ impl Entity {
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let travel_to = self.pos.xy() + Vec3::from((wpos.map(|e| e as f32 + 0.5) - self.pos.xy())
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.try_normalized()
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.unwrap_or_else(Vec2::zero)) * 32.0;
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.unwrap_or_else(Vec2::zero)) * 64.0;
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let travel_to_alt = world.sim().get_alt_approx(travel_to.map(|e| e as i32)).unwrap_or(0.0) as i32;
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let travel_to = terrain.find_space(Vec3::new(travel_to.x as i32, travel_to.y as i32, travel_to_alt)).map(|e| e as f32) + Vec3::new(0.5, 0.5, 0.0);
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self.controller.travel_to = Some(travel_to);
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@ -87,7 +87,7 @@ pub fn add_server_systems(dispatch_builder: &mut DispatcherBuilder) {
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pub fn init(state: &mut State, world: &world::World) {
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let mut rtsim = RtSim::new(world.sim().get_size());
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for _ in 0..10000 {
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for _ in 0..2500 {
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let pos = rtsim.chunks.size().map2(
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TerrainChunk::RECT_SIZE,
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|sz, chunk_sz| thread_rng().gen_range(0, sz * chunk_sz) as i32,
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@ -24,6 +24,7 @@ pub mod sim;
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pub mod sim2;
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pub mod site;
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pub mod util;
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pub mod pathfinding;
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// Reexports
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pub use crate::{
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35
world/src/pathfinding.rs
Normal file
35
world/src/pathfinding.rs
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@ -0,0 +1,35 @@
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use crate::sim::WorldSim;
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use common::{
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astar::Astar,
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path::Path,
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};
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use hashbrown::hash_map::DefaultHashBuilder;
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use vek::*;
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pub struct SearchCfg {
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// 0.0 = no discount, 1.0 = free travel
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path_discount: f32,
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// Cost per metre altitude change per metre horizontal
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// 0.0 = no cost, 1.0 = same cost vertical as horizontal
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gradient_aversion: f32,
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}
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pub struct Searcher<'a> {
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land: &'a WorldSim,
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pub cfg: SearchCfg,
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}
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impl<'a> Searcher<'a> {
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/// Attempt to find a path between two chunks on the map.
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pub fn search(self, a: Vec2<i32>, b: Vec2<i32>) -> Option<Path<i32>> {
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let heuristic = |pos: &Vec2<i32>| (pos - b).map(|e| e as f32).magnitude();
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// Astar::new(
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// 100_000,
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// a,
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// heuristc,
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// DefaultHashBuilder::default(),
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// );
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None
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}
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}
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