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feat: add transition-aware path execution core

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This commit is contained in:
BruceChen 2026-04-13 15:35:43 +00:00
parent 7ad0a57a3e
commit 360883acf3
14 changed files with 755 additions and 94 deletions
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32
MinecraftClient/Pathing/Core/AStarPathFinder.cs
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@ -131,6 +131,22 @@ namespace MinecraftClient.Pathing.Core
CancellationToken ct,
long timeoutMs = 5000)
{
if (goal.IsInGoal(startX, startY, startZ))
{
DebugLog?.Invoke($"[A*] Already in goal at ({startX},{startY},{startZ})");
return new PathResult(
PathStatus.Success,
[new PathNode(startX, startY, startZ)],
nodesExplored: 0,
elapsedMs: 0);
}
if (!IsGoalReachableFootPosition(ctx, goal))
{
DebugLog?.Invoke($"[A*] Goal {goal} is not a reachable foot position");
return PathResult.Fail(nodesExplored: 0, elapsedMs: 0);
}
var sw = Stopwatch.StartNew();
var openSet = new BinaryHeapOpenSet(4096);
var nodeMap = new Dictionary<long, PathNode>(4096);
@ -259,5 +275,21 @@ namespace MinecraftClient.Pathing.Core
path.Reverse();
return path;
}
private static bool IsGoalReachableFootPosition(CalculationContext ctx, IGoal goal)
{
if (goal is not GoalBlock blockGoal)
return true;
if (!ctx.IsChunkLoaded(blockGoal.X, blockGoal.Z))
return true;
if (blockGoal.Y == int.MinValue)
return false;
return ctx.CanWalkOn(blockGoal.X, blockGoal.Y - 1, blockGoal.Z)
&& ctx.CanWalkThrough(blockGoal.X, blockGoal.Y, blockGoal.Z)
&& ctx.CanWalkThrough(blockGoal.X, blockGoal.Y + 1, blockGoal.Z);
}
}
}