421 lines
12 KiB
Lua
421 lines
12 KiB
Lua
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local openSet = {}
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local closedSet = {}
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local random = water_life.random
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local abs = math.abs
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local function show_path(ptable)
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if not ptable or #ptable < 1 then return end
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for i= 1,#ptable,1 do
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water_life.temp_show(ptable[i],1,1)
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end
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end
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local function get_distance(start_pos, end_pos)
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local distX = math.abs(start_pos.x - end_pos.x)
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local distZ = math.abs(start_pos.z - end_pos.z)
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if distX > distZ then
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return 14 * distZ + 10 * (distX - distZ)
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else
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return 14 * distX + 10 * (distZ - distX)
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end
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end
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local function get_distance_to_neighbor(start_pos, end_pos)
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local distX = math.abs(start_pos.x - end_pos.x)
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local distY = math.abs(start_pos.y - end_pos.y)
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local distZ = math.abs(start_pos.z - end_pos.z)
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if distX > distZ then
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return (14 * distZ + 10 * (distX - distZ)) * (distY + 1)
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else
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return (14 * distX + 10 * (distZ - distX)) * (distY + 1)
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end
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end
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local function walkable(node, pos, current_pos)
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if string.find(node.name,"doors:door") then
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if (node.param2 == 0 or
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node.param2 == 2) and
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math.abs(pos.z - current_pos.z) > 0 and
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pos.x == current_pos.x then
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return true
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elseif (node.param2 == 1 or
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node.param2 == 3) and
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math.abs(pos.z - current_pos.z) > 0 and
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pos.x == current_pos.x then
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return false
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elseif (node.param2 == 0 or
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node.param2 == 2) and
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math.abs(pos.x - current_pos.x) > 0 and
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pos.z == current_pos.z then
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return false
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elseif (node.param2 == 1 or
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node.param2 == 3) and
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math.abs(pos.x - current_pos.x) > 0 and
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pos.z == current_pos.z then
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return true
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end
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elseif string.find(node.name,"doors:hidden") then
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local node_door = minetest.get_node({x = pos.x, y = pos.y - 1, z = pos.z})
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if (node_door.param2 == 0 or
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node_door.param2 == 2) and
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math.abs(pos.z - current_pos.z) > 0 and
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pos.x == current_pos.x then
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return true
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elseif (node_door.param2 == 1 or
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node_door.param2 == 3) and
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math.abs(pos.z - current_pos.z) > 0 and
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pos.x == current_pos.x then
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return false
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elseif (node_door.param2 == 0 or
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node_door.param2 == 2) and
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math.abs(pos.x - current_pos.x) > 0 and
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pos.z == current_pos.z then
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return false
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elseif (node_door.param2 == 1 or
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node_door.param2 == 3) and
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math.abs(pos.x - current_pos.x) > 0 and
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pos.z == current_pos.z then
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return true
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end
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end
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if minetest.registered_nodes[node.name] and
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minetest.registered_nodes[node.name].walkable then
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return true
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else
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return false
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end
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end
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local function get_neighbor_ground_level(pos, jump_height, fall_height, current_pos)
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local node = minetest.get_node(pos)
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local height = 0
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if walkable(node, pos, current_pos) then
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repeat
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height = height + 1
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if height > jump_height then
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return nil
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end
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pos.y = pos.y + 1
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node = minetest.get_node(pos)
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until not walkable(node, pos, current_pos)
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return pos
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else
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repeat
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height = height + 1
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if height > fall_height then
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return nil
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end
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pos.y = pos.y - 1
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node = minetest.get_node(pos)
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until walkable(node, pos, current_pos)
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return {x = pos.x, y = pos.y + 1, z = pos.z}
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end
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end
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function water_life.find_path(pos, endpos, entity, dtime, fast)
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if fast then
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return minetest.find_path(pos,endpos,water_life.abr*16,entity.jump_height,1,"A*")
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end
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pos = {
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x = math.floor(pos.x + 0.5),
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y = math.floor(pos.y + 0.5),
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z = math.floor(pos.z + 0.5)
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}
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endpos = {
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x = math.floor(endpos.x + 0.5),
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y = math.floor(endpos.y + 0.5),
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z = math.floor(endpos.z + 0.5)
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}
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local target_node = minetest.get_node(endpos)
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if walkable(target_node, endpos, endpos) then
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endpos.y = endpos.y + 1
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end
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local start_node = minetest.get_node(pos)
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if string.find(start_node.name,"doors:door") then
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if start_node.param2 == 0 then
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pos.z = pos.z + 1
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elseif start_node.param2 == 1 then
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pos.x = pos.x + 1
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elseif start_node.param2 == 2 then
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pos.z = pos.z - 1
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elseif start_node.param2 == 3 then
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pos.x = pos.x - 1
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end
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end
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local start_time = minetest.get_us_time()
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local start_index = minetest.hash_node_position(pos)
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local target_index = minetest.hash_node_position(endpos)
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local count = 1
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openSet = {}
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closedSet = {}
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local h_start = get_distance(pos, endpos)
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openSet[start_index] = {hCost = h_start, gCost = 0, fCost = h_start, parent = nil, pos = pos}
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local entity_height = math.ceil(entity.collisionbox[5] - entity.collisionbox[2]) or 2
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local entity_fear_height = entity.fear_height or 3
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local entity_jump_height = entity.jump_height or 1
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local neighbors_cache = {}
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repeat
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local current_index
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local current_values
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for i, v in pairs(openSet) do
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current_index = i
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current_values = v
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break
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end
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for i, v in pairs(openSet) do
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if v.fCost < openSet[current_index].fCost or v.fCost == current_values.fCost
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and v.hCost < current_values.hCost then
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current_index = i
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current_values = v
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end
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end
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openSet[current_index] = nil
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closedSet[current_index] = current_values
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count = count - 1
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if current_index == target_index then
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local path = {}
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repeat
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if not closedSet[current_index] then
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return
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end
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table.insert(path, closedSet[current_index].pos)
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current_index = closedSet[current_index].parent
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until start_index == current_index
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table.insert(path, closedSet[current_index].pos)
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local reverse_path = {}
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repeat
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table.insert(reverse_path, table.remove(path))
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until #path == 0
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return reverse_path
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end
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local current_pos = current_values.pos
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local neighbors = {}
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local neighbors_index = 1
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for z = -1, 1 do
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for x = -1, 1 do
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local neighbor_pos = {x = current_pos.x + x, y = current_pos.y, z = current_pos.z + z}
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local neighbor = minetest.get_node(neighbor_pos)
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local neighbor_ground_level = get_neighbor_ground_level(
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neighbor_pos, entity_jump_height, entity_fear_height, current_pos)
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local neighbor_clearance = false
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if neighbor_ground_level then
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local neighbor_hash = minetest.hash_node_position(neighbor_ground_level)
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local pos_above_head = {x = current_pos.x, y = current_pos.y + entity_height,
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z = current_pos.z}
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local node_above_head = minetest.get_node(pos_above_head)
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if neighbor_ground_level.y - current_pos.y > 0 and not
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walkable(node_above_head, pos_above_head, current_pos) then
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local height = -1
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repeat
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height = height + 1
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local pos = { x = neighbor_ground_level.x,
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y = neighbor_ground_level.y + height,
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z = neighbor_ground_level.z}
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local node = minetest.get_node(pos)
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until walkable(node, pos, current_pos) or height > entity_height
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if height >= entity_height then
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neighbor_clearance = true
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end
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elseif neighbor_ground_level.y - current_pos.y > 0
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and walkable(node_above_head, pos_above_head, current_pos) then
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neighbors[neighbors_index] = {
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hash = nil,
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pos = nil,
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clear = nil,
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walkable = nil,
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}
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else
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local height = -1
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repeat
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height = height + 1
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local pos = { x = neighbor_ground_level.x,
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y = current_pos.y + height,
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z = neighbor_ground_level.z}
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local node = minetest.get_node(pos)
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until walkable(node, pos, current_pos) or height > entity_height
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if height >= entity_height then
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neighbor_clearance = true
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end
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end
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neighbors[neighbors_index] = {
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hash = minetest.hash_node_position(neighbor_ground_level),
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pos = neighbor_ground_level,
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clear = neighbor_clearance,
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walkable = walkable(neighbor, neighbor_pos, current_pos),
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}
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else
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neighbors[neighbors_index] = {
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hash = nil,
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pos = nil,
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clear = nil,
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walkable = nil,
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}
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end
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neighbors_index = neighbors_index + 1
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end
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end
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for id, neighbor in pairs(neighbors) do
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-- don't cut corners
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local cut_corner = false
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if id == 1 then
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if not neighbors[id + 1].clear or not neighbors[id + 3].clear
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or neighbors[id + 1].walkable or neighbors[id + 3].walkable then
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cut_corner = true
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end
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elseif id == 3 then
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if not neighbors[id - 1].clear or not neighbors[id + 3].clear
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or neighbors[id - 1].walkable or neighbors[id + 3].walkable then
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cut_corner = true
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end
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elseif id == 7 then
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if not neighbors[id + 1].clear or not neighbors[id - 3].clear
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or neighbors[id + 1].walkable or neighbors[id - 3].walkable then
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cut_corner = true
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end
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elseif id == 9 then
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if not neighbors[id - 1].clear or not neighbors[id - 3].clear
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or neighbors[id - 1].walkable or neighbors[id - 3].walkable then
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cut_corner = true
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end
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end
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if neighbor.hash ~= current_index and not closedSet[neighbor.hash]
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and neighbor.clear and not cut_corner then
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local move_cost_to_neighbor = current_values.gCost +
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get_distance_to_neighbor(current_values.pos, neighbor.pos)
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local gCost = 0
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if openSet[neighbor.hash] then
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gCost = openSet[neighbor.hash].gCost
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end
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if move_cost_to_neighbor < gCost or not openSet[neighbor.hash] then
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if not openSet[neighbor.hash] then
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count = count + 1
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end
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local hCost = get_distance(neighbor.pos, endpos)
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openSet[neighbor.hash] = {
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gCost = move_cost_to_neighbor,
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hCost = hCost,
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fCost = move_cost_to_neighbor + hCost,
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parent = current_index,
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pos = neighbor.pos
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}
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end
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end
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end
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if count > 300 then
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return
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end
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if (minetest.get_us_time() - start_time) / 1000 > 100 - dtime * 50 then
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return
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end
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until count < 1
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return {pos}
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end
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------------------------------------
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-- Bahaviors and helper functions --
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------------------------------------
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function water_life.hq_findpath(self,prty,tpos,dist,speed,fast)
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mobkit.clear_queue_low(self)
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if not dist then dist = 1 end
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if not speed then speed = 1 end
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local way = water_life.find_path(self.object:get_pos(), tpos, self, self.dtime,fast)
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local func = function(self)
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if not way or #way < 2 then return true end
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if mobkit.is_queue_empty_low(self) and self.isonground then
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local pos = self.object:get_pos()
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local pos2 = way[2]
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local height = abs(pos.y - pos2.y)-0.5
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local node = mobkit.nodeatpos({x=pos2.x, y=pos2.y -1, z = pos2.z})
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if not node or not node.walkable then return true end
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if vector.distance(pos,tpos) > dist then
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if height <= 0.01 then
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local yaw = self.object:get_yaw()
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local tyaw = minetest.dir_to_yaw(vector.direction(self.object:get_pos(),pos2))
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if math.abs(tyaw-yaw) > 1 then
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mobkit.lq_turn2pos(self,pos2)
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end
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mobkit.lq_dumbwalk(self,pos2,speed)
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else
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mobkit.lq_turn2pos(self,pos2)
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mobkit.lq_dumbjump(self,height)
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end
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if vector.distance(pos,pos2) <= 2 then
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table.remove(way,2)
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end
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else
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return true
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end
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end
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end
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mobkit.queue_high(self,func,prty)
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end
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function water_life.gopath(self,tpos,speedfactor,fast)
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local height, pos2 = water_life.go_further(self,tpos,fast)
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if not speedfactor then speedfactor = 1 end
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if not height then return false end
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if height <= 0.01 then
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local yaw = self.object:get_yaw()
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local tyaw = minetest.dir_to_yaw(vector.direction(self.object:get_pos(),pos2))
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if math.abs(tyaw-yaw) > 1 then
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mobkit.lq_turn2pos(self,pos2)
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end
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mobkit.lq_dumbwalk(self,pos2,speedfactor)
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else
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mobkit.lq_turn2pos(self,pos2)
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mobkit.lq_dumbjump(self,height)
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end
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return true
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end
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function water_life.go_further(self,tpos,fast)
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local height = 0
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local pos = mobkit.get_stand_pos(self)
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local way = water_life.find_path(pos, tpos, self, self.dtime,fast)
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if not way or #way < 2 then return nil end
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height = way[2].y - pos.y -0.5
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return height, way[2]
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end
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function water_life.hq_path_attack(self,prty,tgtobj,fast)
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local func = function(self)
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if not mobkit.is_alive(tgtobj) then return true end
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if mobkit.is_queue_empty_low(self) then
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local pos = mobkit.get_stand_pos(self)
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local tpos = mobkit.get_stand_pos(tgtobj)
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local dist = vector.distance(pos,tpos)
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if dist > 3 or not water_life.find_path(pos, tpos, self, self.dtime,fast) then
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return true
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else
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mobkit.lq_turn2pos(self,tpos)
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local height = tgtobj:is_player() and 0.35 or tgtobj:get_luaentity().height*0.6
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if tpos.y+height>pos.y then
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mobkit.lq_jumpattack(self,tpos.y+height-pos.y,tgtobj)
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else
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mobkit.lq_dumbwalk(self,mobkit.pos_shift(tpos,{x=random()-0.5,z=random()-0.5}))
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end
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end
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end
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end
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mobkit.queue_high(self,func,prty)
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end
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