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Massively improved pathfinding reliability

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This commit is contained in:
Joshua Barretto 2020-07-30 16:46:03 +01:00
parent 9bb10a6d00
commit dfecf0dad6
1 changed files with 19 additions and 27 deletions
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46
common/src/path.rs
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@ -135,12 +135,12 @@ impl Route {
&& (pos.z - closest_tgt.z < 1.2 || (pos.z - closest_tgt.z < 2.9 && vel.z < -0.05))
&& vel.z <= 0.0
// Only consider the node reached if there's nothing solid between us and it
&& vol
&& (vol
.ray(pos + Vec3::unit_z() * 1.5, closest_tgt + Vec3::unit_z() * 1.5)
.until(|block| block.is_solid())
.cast()
.0
> pos.distance(closest_tgt) * 0.9
> pos.distance(closest_tgt) * 0.9 || dist_sqrd < 0.5)
&& self.next_idx < self.path.len()
{
// Node completed, move on to the next one
@ -358,13 +358,6 @@ impl Chaser {
self.route
.as_mut()
.and_then(|r| r.traverse(vol, pos, vel, traversal_cfg))
// In theory this filter isn't needed, but in practice agents often try to take
// stale paths that start elsewhere. This code makes sure that we're only using
// paths that start near us, avoiding the agent doubling back to chase a stale
// path.
.filter(|(bearing, _)| bearing.xy()
.magnitude_squared() < 1.75f32.powf(2.0)
&& thread_rng().gen::<f32>() > 0.025)
}
} else {
None
@ -384,12 +377,20 @@ impl Chaser {
|| self.route.is_none()
{
let (start_pos, path) = find_path(&mut self.astar, vol, pos, tgt);
// Don't use a stale path
if start_pos.distance_squared(pos) < 4.0f32.powf(2.0) {
self.route = path.map(Route::from);
} else {
self.route = None;
}
self.route = path.map(|path| {
let tgt_dir = (tgt - pos).try_normalized().unwrap_or_default();
let start_index = path
.iter()
.enumerate()
.min_by_key(|(_, node)| node.map(|e| e as f32).distance_squared(pos + tgt_dir) as i32)
.map(|(idx, _)| idx);
Route {
path,
next_idx: start_index.unwrap_or(0),
}
});
}
Some(((tgt - pos) * Vec3::new(1.0, 1.0, 0.0), 0.75))
@ -402,7 +403,7 @@ fn walkable<V>(vol: &V, pos: Vec3<i32>) -> bool
where
V: BaseVol<Vox = Block> + ReadVol,
{
(vol.get(pos - Vec3::new(0, 0, 1))
vol.get(pos - Vec3::new(0, 0, 1))
.map(|b| b.is_solid() && b.get_height() == 1.0)
.unwrap_or(false)
&& vol
@ -412,15 +413,7 @@ where
&& vol
.get(pos + Vec3::new(0, 0, 1))
.map(|b| !b.is_solid())
.unwrap_or(true))
|| (vol
.get(pos + Vec3::new(0, 0, 0))
.map(|b| b.is_fluid())
.unwrap_or(true)
&& vol
.get(pos + Vec3::new(0, 0, 1))
.map(|b| b.is_fluid())
.unwrap_or(true))
}
#[allow(clippy::float_cmp)] // TODO: Pending review in #587
@ -457,7 +450,7 @@ 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>; 18] = [
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
@ -474,8 +467,7 @@ where
Vec3::new(-1, 0, 1), // Left upward
Vec3::new(-1, 0, 2), // Left Upwardx2
Vec3::new(-1, 0, -1), // Left downward
Vec3::new(0, 0, -1), // Downwards (water)
Vec3::new(0, 0, 1), // Upwards (water)
Vec3::new(0, 0, -1), // Downwards
];
// let walkable = [