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Support for using relative coordinates in /move

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BruceChen 2022-09-05 22:03:47 +08:00
parent 8f6b962607
commit 0eb8d9998c
4 changed files with 58 additions and 27 deletions
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37
MinecraftClient/Mapping/Movement.cs
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@ -168,8 +168,9 @@ namespace MinecraftClient.Mapping
throw new ArgumentException("minOffset must be lower or equal to maxOffset", "minOffset");
// Round start coordinates for easier calculation
start.ToFloor();
goal.ToFloor();
Location startCenter = new Location(start).ConvertToCenter();
Location startLower = new Location(start).ConvertToFloor();
Location goalLower = new Location(goal).ConvertToFloor();
// We always use distance squared so our limits must also be squared.
minOffset *= minOffset;
@ -187,8 +188,8 @@ namespace MinecraftClient.Mapping
Dictionary<Location, int> gScoreDict = new Dictionary<Location, int>();
// Set start values for variables
openSet.Insert(0, (int)start.DistanceSquared(goal), start);
gScoreDict[start] = 0;
openSet.Insert(0, (int)startLower.DistanceSquared(goalLower), startLower);
gScoreDict[startLower] = 0;
BinaryHeap.Node current = null;
///---///
@ -203,9 +204,9 @@ namespace MinecraftClient.Mapping
current = openSet.GetRootLocation();
// Return if goal found and no maxOffset was given OR current node is between minOffset and maxOffset
if ((current.Location == goal && maxOffset <= 0) || (maxOffset > 0 && current.H_score >= minOffset && current.H_score <= maxOffset))
if ((current.Location == goalLower && maxOffset <= 0) || (maxOffset > 0 && current.H_score >= minOffset && current.H_score <= maxOffset))
{
return ReconstructPath(CameFrom, current.Location);
return ReconstructPath(CameFrom, current.Location, startCenter, goal);
}
// Discover neighbored blocks
@ -227,14 +228,14 @@ namespace MinecraftClient.Mapping
// If this location is not already included in the Binary Heap: save it
if (!openSet.ContainsLocation(neighbor))
openSet.Insert(tentativeGScore, (int)neighbor.DistanceSquared(goal), neighbor);
openSet.Insert(tentativeGScore, (int)neighbor.DistanceSquared(goalLower), neighbor);
}
}
}
//// Goal could not be reached. Set the path to the closest location if close enough
if (current != null && (maxOffset == int.MaxValue || openSet.MinH_ScoreNode.H_score <= maxOffset))
return ReconstructPath(CameFrom, openSet.MinH_ScoreNode.Location);
return ReconstructPath(CameFrom, openSet.MinH_ScoreNode.Location, startCenter, goal);
else
return null;
}
@ -245,15 +246,29 @@ namespace MinecraftClient.Mapping
/// <param name="Came_From">The collection of Locations that leads back to the start</param>
/// <param name="current">Endpoint of our later walk</param>
/// <returns>the path that leads to current from the start position</returns>
private static Queue<Location> ReconstructPath(Dictionary<Location, Location> Came_From, Location current)
private static Queue<Location> ReconstructPath(Dictionary<Location, Location> Came_From, Location current, Location startCenter, Location end)
{
// Add 0.5 to walk over the middle of a block and avoid collisions
List<Location> total_path = new List<Location>(new[] { current + new Location(0.5, 0, 0.5) });
Location center = new(0.5, 0, 0.5);
List<Location> total_path = new();
// Move from the center of the block to the final position
if (current != end && current.DistanceSquared(end) <= 1.5)
total_path.Add(end);
// Generate intermediate paths
total_path.Add(current + center);
while (Came_From.ContainsKey(current))
{
current = Came_From[current];
total_path.Add(current + new Location(0.5, 0, 0.5));
total_path.Add(current + center);
}
// Move to the center of the block first
if (current != startCenter && current.DistanceSquared(startCenter) <= 1.5)
total_path.Add(startCenter);
total_path.Reverse();
return new Queue<Location>(total_path);
}