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feat: add transition-aware path execution braking

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This commit is contained in:
BruceChen 2026-04-12 18:46:42 +08:00
parent 945eae958a
commit 3b4e552d70
23 changed files with 837 additions and 108 deletions
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16
MinecraftClient/Pathing/Execution/ActionTemplateFactory.cs
View file

@ -9,17 +9,17 @@ namespace MinecraftClient.Pathing.Execution
/// </summary>
public static class ActionTemplateFactory
{
public static IActionTemplate Create(PathSegment segment)
public static IActionTemplate Create(PathSegment segment, PathSegment? nextSegment)
{
return segment.MoveType switch
{
MoveType.Traverse => new WalkTemplate(segment.Start, segment.End),
MoveType.Diagonal => new WalkTemplate(segment.Start, segment.End),
MoveType.Ascend => new AscendTemplate(segment.Start, segment.End),
MoveType.Descend => new DescendTemplate(segment.Start, segment.End),
MoveType.Fall => new FallTemplate(segment.Start, segment.End),
MoveType.Climb => new ClimbTemplate(segment.Start, segment.End),
MoveType.Parkour => new SprintJumpTemplate(segment.Start, segment.End),
MoveType.Traverse => new WalkTemplate(segment, nextSegment),
MoveType.Diagonal => new WalkTemplate(segment, nextSegment),
MoveType.Ascend => new AscendTemplate(segment, nextSegment),
MoveType.Descend => new DescendTemplate(segment, nextSegment),
MoveType.Fall => new FallTemplate(segment, nextSegment),
MoveType.Climb => new ClimbTemplate(segment, nextSegment),
MoveType.Parkour => new SprintJumpTemplate(segment, nextSegment),
_ => throw new ArgumentException($"Unknown MoveType: {segment.MoveType}")
};
}

2
MinecraftClient/Pathing/Execution/IActionTemplate.cs
View file

@ -20,6 +20,6 @@ namespace MinecraftClient.Pathing.Execution
Location ExpectedStart { get; }
Location ExpectedEnd { get; }
TemplateState Tick(Location currentPos, PlayerPhysics physics, MovementInput input);
TemplateState Tick(Location currentPos, PlayerPhysics physics, MovementInput input, World world);
}
}

12
MinecraftClient/Pathing/Execution/PathExecutor.cs
View file

@ -37,16 +37,20 @@ namespace MinecraftClient.Pathing.Execution
AdvanceToNextSegment();
}
public PathExecutorState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public PathExecutorState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
if (_currentTemplate is null)
{
input.Reset();
return PathExecutorState.Complete;
}
var state = _currentTemplate.Tick(pos, physics, input);
var state = _currentTemplate.Tick(pos, physics, input, world);
switch (state)
{
case TemplateState.Complete:
input.Reset();
_debugLog?.Invoke($"[PathExec] Segment {_currentIndex} complete " +
$"({_segments[_currentIndex].MoveType}) at ({pos.X:F2},{pos.Y:F2},{pos.Z:F2})");
_currentIndex++;
@ -60,6 +64,7 @@ namespace MinecraftClient.Pathing.Execution
return PathExecutorState.InProgress;
case TemplateState.Failed:
input.Reset();
_debugLog?.Invoke($"[PathExec] Segment {_currentIndex} FAILED " +
$"({_segments[_currentIndex].MoveType}) at ({pos.X:F2},{pos.Y:F2},{pos.Z:F2}), " +
$"target was ({_currentTemplate.ExpectedEnd.X:F2},{_currentTemplate.ExpectedEnd.Y:F2},{_currentTemplate.ExpectedEnd.Z:F2})");
@ -75,7 +80,8 @@ namespace MinecraftClient.Pathing.Execution
if (_currentIndex < _segments.Count)
{
var seg = _segments[_currentIndex];
_currentTemplate = ActionTemplateFactory.Create(seg);
PathSegment? next = _currentIndex + 1 < _segments.Count ? _segments[_currentIndex + 1] : null;
_currentTemplate = ActionTemplateFactory.Create(seg, next);
_debugLog?.Invoke($"[PathExec] Starting segment {_currentIndex}/{_segments.Count}: {seg}");
}
else

24
MinecraftClient/Pathing/Execution/PathSegment.cs
View file

@ -1,4 +1,4 @@
using System.Collections.Generic;
using System;
using MinecraftClient.Mapping;
using MinecraftClient.Pathing.Core;
@ -9,25 +9,13 @@ namespace MinecraftClient.Pathing.Execution
public required Location Start { get; init; }
public required Location End { get; init; }
public required MoveType MoveType { get; init; }
public PathTransitionType ExitTransition { get; init; } = PathTransitionType.FinalStop;
public bool PreserveSprint { get; init; }
public static List<PathSegment> FromPath(IReadOnlyList<PathNode> nodes)
{
var segments = new List<PathSegment>(nodes.Count - 1);
for (int i = 1; i < nodes.Count; i++)
{
var prev = nodes[i - 1];
var curr = nodes[i];
segments.Add(new PathSegment
{
Start = new Location(prev.X + 0.5, prev.Y, prev.Z + 0.5),
End = new Location(curr.X + 0.5, curr.Y, curr.Z + 0.5),
MoveType = curr.MoveUsed
});
}
return segments;
}
public int HeadingX => Math.Sign(End.X - Start.X);
public int HeadingZ => Math.Sign(End.Z - Start.Z);
public override string ToString() =>
$"{MoveType}: ({Start.X:F1},{Start.Y:F1},{Start.Z:F1})->({End.X:F1},{End.Y:F1},{End.Z:F1})";
$"{MoveType}: ({Start.X:F1},{Start.Y:F1},{Start.Z:F1})->({End.X:F1},{End.Y:F1},{End.Z:F1}), transition={ExitTransition}, preserveSprint={PreserveSprint}";
}
}

67
MinecraftClient/Pathing/Execution/PathSegmentBuilder.cs Normal file
View file

@ -0,0 +1,67 @@
using System;
using System.Collections.Generic;
using MinecraftClient.Mapping;
using MinecraftClient.Pathing.Core;
namespace MinecraftClient.Pathing.Execution
{
public static class PathSegmentBuilder
{
public static List<PathSegment> FromPath(IReadOnlyList<PathNode> nodes)
{
var segments = new List<PathSegment>(Math.Max(0, nodes.Count - 1));
for (int i = 1; i < nodes.Count; i++)
{
PathSegment? next = null;
if (i + 1 < nodes.Count)
{
var nextNode = nodes[i + 1];
var curr = nodes[i];
next = new PathSegment
{
Start = new Location(curr.X + 0.5, curr.Y, curr.Z + 0.5),
End = new Location(nextNode.X + 0.5, nextNode.Y, nextNode.Z + 0.5),
MoveType = nextNode.MoveUsed
};
}
var prev = nodes[i - 1];
var currNode = nodes[i];
var current = new PathSegment
{
Start = new Location(prev.X + 0.5, prev.Y, prev.Z + 0.5),
End = new Location(currNode.X + 0.5, currNode.Y, currNode.Z + 0.5),
MoveType = currNode.MoveUsed
};
PathTransitionType exitTransition = Classify(current, next);
segments.Add(new PathSegment
{
Start = current.Start,
End = current.End,
MoveType = current.MoveType,
ExitTransition = exitTransition,
PreserveSprint = exitTransition is PathTransitionType.ContinueStraight or PathTransitionType.PrepareJump
});
}
return segments;
}
private static PathTransitionType Classify(PathSegment current, PathSegment? next)
{
if (next is null)
return PathTransitionType.FinalStop;
if (next.MoveType is MoveType.Parkour or MoveType.Ascend)
return PathTransitionType.PrepareJump;
if (current.MoveType is MoveType.Parkour or MoveType.Descend or MoveType.Fall)
return PathTransitionType.LandingRecovery;
if (current.HeadingX == next.HeadingX && current.HeadingZ == next.HeadingZ)
return PathTransitionType.ContinueStraight;
return PathTransitionType.Turn;
}
}
}

6
MinecraftClient/Pathing/Execution/PathSegmentManager.cs
View file

@ -35,7 +35,7 @@ namespace MinecraftClient.Pathing.Execution
{
_goal = goal;
_replanCount = 0;
var segments = PathSegment.FromPath(result.Path);
var segments = PathSegmentBuilder.FromPath(result.Path);
_executor = new PathExecutor(segments, _debugLog);
_infoLog?.Invoke($"[PathMgr] Navigation started: {segments.Count} segments");
}
@ -45,7 +45,7 @@ namespace MinecraftClient.Pathing.Execution
if (_executor is null)
return;
var state = _executor.Tick(pos, physics, input);
var state = _executor.Tick(pos, physics, input, world);
switch (state)
{
@ -113,7 +113,7 @@ namespace MinecraftClient.Pathing.Execution
return;
}
var segments = PathSegment.FromPath(result.Path);
var segments = PathSegmentBuilder.FromPath(result.Path);
_executor = new PathExecutor(segments, _debugLog);
_infoLog?.Invoke($"[PathMgr] Replanned: {segments.Count} segments (replan #{_replanCount})");
}

11
MinecraftClient/Pathing/Execution/PathTransitionType.cs Normal file
View file

@ -0,0 +1,11 @@
namespace MinecraftClient.Pathing.Execution
{
public enum PathTransitionType
{
FinalStop,
ContinueStraight,
Turn,
PrepareJump,
LandingRecovery
}
}

34
MinecraftClient/Pathing/Execution/Templates/AscendTemplate.cs
View file

@ -13,18 +13,22 @@ namespace MinecraftClient.Pathing.Execution.Templates
public Location ExpectedStart { get; }
public Location ExpectedEnd { get; }
private readonly PathSegment _segment;
private readonly PathSegment? _nextSegment;
private int _tickCount;
private Location _lastPos;
private int _stuckTicks;
public AscendTemplate(Location start, Location end)
public AscendTemplate(PathSegment segment, PathSegment? nextSegment)
{
ExpectedStart = start;
ExpectedEnd = end;
_lastPos = start;
_segment = segment;
_nextSegment = nextSegment;
ExpectedStart = segment.Start;
ExpectedEnd = segment.End;
_lastPos = segment.Start;
}
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
_tickCount++;
@ -43,8 +47,26 @@ namespace MinecraftClient.Pathing.Execution.Templates
if (physics.OnGround && dy > 0.1)
input.Jump = true;
if (horizDistSq < 0.25 && Math.Abs(dy) < 0.8)
if (physics.OnGround && Math.Abs(dy) < 0.15)
{
TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(_segment, _nextSegment, pos, physics, world);
TemplateHelper.ApplyDecision(input, decision);
if (decision.HoldBack)
TemplateHelper.FaceSegmentHeading(physics, _segment);
if (_segment.ExitTransition == PathTransitionType.ContinueStraight && horizDistSq < 0.25)
return TemplateState.Complete;
if (_segment.ExitTransition != PathTransitionType.ContinueStraight
&& TemplateHelper.IsSettledAtEnd(pos, ExpectedEnd, physics, horizThresholdSq: 0.0025))
{
return TemplateState.Complete;
}
}
else if (horizDistSq < 0.25 && Math.Abs(dy) < 0.8)
{
return TemplateState.Complete;
}
double movedSq = TemplateHelper.HorizontalDistanceSq(pos, _lastPos);
double movedY = Math.Abs(pos.Y - _lastPos.Y);

10
MinecraftClient/Pathing/Execution/Templates/ClimbTemplate.cs
View file

@ -17,14 +17,14 @@ namespace MinecraftClient.Pathing.Execution.Templates
private readonly bool _goingUp;
private int _tickCount;
public ClimbTemplate(Location start, Location end)
public ClimbTemplate(PathSegment segment, PathSegment? nextSegment)
{
ExpectedStart = start;
ExpectedEnd = end;
_goingUp = end.Y > start.Y;
ExpectedStart = segment.Start;
ExpectedEnd = segment.End;
_goingUp = segment.End.Y > segment.Start.Y;
}
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
_tickCount++;

47
MinecraftClient/Pathing/Execution/Templates/DescendTemplate.cs
View file

@ -15,20 +15,24 @@ namespace MinecraftClient.Pathing.Execution.Templates
public Location ExpectedStart { get; }
public Location ExpectedEnd { get; }
private readonly PathSegment _segment;
private readonly PathSegment? _nextSegment;
private int _tickCount;
private bool _hasFallen;
private readonly bool _needsSprint;
public DescendTemplate(Location start, Location end)
public DescendTemplate(PathSegment segment, PathSegment? nextSegment)
{
ExpectedStart = start;
ExpectedEnd = end;
double hdx = end.X - start.X;
double hdz = end.Z - start.Z;
_segment = segment;
_nextSegment = nextSegment;
ExpectedStart = segment.Start;
ExpectedEnd = segment.End;
double hdx = segment.End.X - segment.Start.X;
double hdz = segment.End.Z - segment.Start.Z;
_needsSprint = (hdx * hdx + hdz * hdz) > 2.25;
}
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
_tickCount++;
@ -40,14 +44,6 @@ namespace MinecraftClient.Pathing.Execution.Templates
if (!physics.OnGround)
_hasFallen = true;
// Completion: landed on ground near destination
if (_hasFallen && physics.OnGround && horizDistSq < 0.5 && Math.Abs(dy) < 0.8)
return TemplateState.Complete;
// Completion: already at destination without falling (e.g., single step down)
if (horizDistSq < 0.25 && Math.Abs(dy) < 0.5 && physics.OnGround)
return TemplateState.Complete;
// Completion: landed in water near destination
if (_hasFallen && physics.InWater && horizDistSq < 0.5 && Math.Abs(dy) < 2.0)
return TemplateState.Complete;
@ -63,7 +59,28 @@ namespace MinecraftClient.Pathing.Execution.Templates
float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);
if (physics.OnClimbable)
if (physics.OnGround && Math.Abs(dy) < (_hasFallen ? 0.8 : 0.5))
{
if (horizDistSq > 0.01)
physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(_segment, _nextSegment, pos, physics, world);
TemplateHelper.ApplyDecision(input, decision);
if (decision.HoldBack)
TemplateHelper.FaceSegmentHeading(physics, _segment);
if (_segment.ExitTransition == PathTransitionType.ContinueStraight)
{
double completionThreshold = _hasFallen ? 0.5 : 0.25;
if (horizDistSq < completionThreshold)
return TemplateState.Complete;
}
else if (TemplateHelper.IsSettledAtEnd(pos, ExpectedEnd, physics, horizThresholdSq: 0.0025))
{
return TemplateState.Complete;
}
}
else if (physics.OnClimbable)
{
if (horizDistSq > 0.25)
{

19
MinecraftClient/Pathing/Execution/Templates/FallTemplate.cs
View file

@ -16,27 +16,30 @@ namespace MinecraftClient.Pathing.Execution.Templates
private int _tickCount;
private bool _hasFallen;
public FallTemplate(Location start, Location end)
public FallTemplate(PathSegment segment, PathSegment? nextSegment)
{
ExpectedStart = start;
ExpectedEnd = end;
ExpectedStart = segment.Start;
ExpectedEnd = segment.End;
}
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
_tickCount++;
double dx = ExpectedEnd.X - pos.X;
double dz = ExpectedEnd.Z - pos.Z;
double dy = pos.Y - ExpectedEnd.Y;
double horizDistSq = dx * dx + dz * dz;
if (!physics.OnGround)
_hasFallen = true;
// Solid ground landing
if (_hasFallen && physics.OnGround && Math.Abs(dy) < 1.0)
// Solid ground landing near the target XZ
if (_hasFallen && physics.OnGround && Math.Abs(dy) < 1.0 && horizDistSq < 1.0)
return TemplateState.Complete;
// Water landing
if (_hasFallen && physics.InWater && Math.Abs(dy) < 2.0)
// Water landing near the target XZ
if (_hasFallen && physics.InWater && Math.Abs(dy) < 2.0 && horizDistSq < 1.5)
return TemplateState.Complete;
if (_tickCount > 200)

139
MinecraftClient/Pathing/Execution/Templates/SprintJumpTemplate.cs
View file

@ -5,10 +5,17 @@ using MinecraftClient.Physics;
namespace MinecraftClient.Pathing.Execution.Templates
{
/// <summary>
/// Sprint-jump across a gap. Uses a phase-based state machine:
/// Approach -> jump when ready -> Airborne -> Landing check.
/// For long jumps (>= 3.5 blocks), delays the jump until the player
/// has moved toward the edge of the starting block for maximum distance.
/// Jump across a gap. Uses a phase-based state machine:
/// Approach -> Jump -> Airborne -> Landing.
///
/// All parkour jumps use sprint-jumping (vanilla optimal horizontal distance).
/// The key to landing on small platforms is releasing forward/sprint input mid-air
/// once the player is close to or past the target, letting drag decelerate them
/// onto the block.
///
/// During Approach, the template waits for the yaw to be within 5 degrees of
/// the target direction before jumping. For medium/long jumps, it also builds
/// momentum by sprinting toward the block edge.
/// </summary>
public sealed class SprintJumpTemplate : IActionTemplate
{
@ -17,22 +24,27 @@ namespace MinecraftClient.Pathing.Execution.Templates
public Location ExpectedStart { get; }
public Location ExpectedEnd { get; }
private readonly PathSegment _segment;
private readonly PathSegment? _nextSegment;
private readonly double _horizDist;
private readonly bool _isDiagonal;
private int _tickCount;
private Phase _phase = Phase.Approach;
private bool _leftGround;
public SprintJumpTemplate(Location start, Location end)
private const float YawToleranceDeg = 5f;
public SprintJumpTemplate(PathSegment segment, PathSegment? nextSegment)
{
ExpectedStart = start;
ExpectedEnd = end;
double dx = end.X - start.X;
double dz = end.Z - start.Z;
_segment = segment;
_nextSegment = nextSegment;
ExpectedStart = segment.Start;
ExpectedEnd = segment.End;
double dx = segment.End.X - segment.Start.X;
double dz = segment.End.Z - segment.Start.Z;
_horizDist = Math.Sqrt(dx * dx + dz * dz);
_isDiagonal = Math.Abs(dx) > 0.5 && Math.Abs(dz) > 0.5;
}
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
_tickCount++;
@ -45,52 +57,92 @@ namespace MinecraftClient.Pathing.Execution.Templates
float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);
input.Forward = true;
input.Sprint = true;
switch (_phase)
{
case Phase.Approach:
input.Forward = true;
input.Sprint = true;
if (physics.OnGround)
{
double fromStartSq = TemplateHelper.HorizontalDistanceSq(pos, ExpectedStart);
float yawDelta = YawDifference(physics.Yaw, targetYaw);
// For long jumps, delay the jump until the player has sprinted
// toward the block edge. Baritone waits until playerFeet is in
// the next block (~0.5 blocks from center) for dist >= 4.
// For medium jumps (dist 3), wait 0.35 blocks (Baritone: 0.7).
// For short diagonal jumps (<= 3 blocks), jump immediately
// to avoid overshooting the small starting platform.
// Build momentum before jumping. Sprint speed is ~5.6 m/s
// (0.28 blocks/tick). More run-up = more airtime distance.
// Standing sprint jump (0t): ~3.6 blocks horizontal
// 2-tick sprint (0.56m): ~4.3 blocks horizontal
// 4-tick sprint (1.1m): ~5.0 blocks horizontal
double minApproachSq;
if (_horizDist >= 3.5)
minApproachSq = 0.25; // 0.5 blocks
else if (_horizDist >= 2.5 && !_isDiagonal)
minApproachSq = 0.12; // ~0.35 blocks
if (_horizDist >= 5.0)
minApproachSq = 0.64; // 0.8 blocks - 3+ ticks of sprint
else if (_horizDist >= 4.0)
minApproachSq = 0.36; // 0.6 blocks - 2-3 ticks of sprint
else if (_horizDist > 2.5)
minApproachSq = 0.09; // 0.3 blocks - 1-2 ticks of sprint
else
minApproachSq = 0.0;
if (fromStartSq >= minApproachSq)
bool yawAligned = yawDelta < YawToleranceDeg;
bool posReady = fromStartSq >= minApproachSq;
if (yawAligned && posReady)
{
input.Jump = true;
_phase = Phase.Airborne;
}
}
if (_tickCount > 30)
if (_tickCount > 40)
return TemplateState.Failed;
break;
case Phase.Airborne:
{
if (!physics.OnGround)
break;
_phase = Phase.Landing;
goto case Phase.Landing;
_leftGround = true;
bool pastTarget = IsPastTarget(pos);
bool releaseInAir = TransitionBrakingPlanner.ShouldReleaseForwardInAir(_segment, _nextSegment, pos, physics);
if (releaseInAir || pastTarget)
{
input.Forward = false;
input.Sprint = false;
}
else
{
input.Forward = true;
input.Sprint = true;
}
if (_leftGround && physics.OnGround)
{
_phase = Phase.Landing;
goto case Phase.Landing;
}
break;
}
case Phase.Landing:
double horizTolerance = _horizDist >= 3.5 ? 3.0 : 2.0;
TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(_segment, _nextSegment, pos, physics, world);
TemplateHelper.ApplyDecision(input, decision);
if (decision.HoldBack)
TemplateHelper.FaceSegmentHeading(physics, _segment);
double horizToleranceLinear = _horizDist >= 3.5 ? 1.5 : 1.0;
double horizToleranceSq = horizToleranceLinear * horizToleranceLinear;
double vertTolerance = Math.Abs(ExpectedEnd.Y - ExpectedStart.Y) > 0.5 ? 1.5 : 1.0;
if (horizDistSq < horizTolerance && Math.Abs(dy) < vertTolerance)
if (_segment.ExitTransition == PathTransitionType.ContinueStraight
&& horizDistSq < horizToleranceSq && Math.Abs(dy) < vertTolerance)
return TemplateState.Complete;
return TemplateState.Failed;
if (_segment.ExitTransition != PathTransitionType.ContinueStraight
&& TemplateHelper.IsSettledAtEnd(pos, ExpectedEnd, physics, horizThresholdSq: 0.0025))
{
return TemplateState.Complete;
}
break;
}
if (pos.Y < ExpectedEnd.Y - 4.0)
@ -101,5 +153,28 @@ namespace MinecraftClient.Pathing.Execution.Templates
return TemplateState.InProgress;
}
private bool IsPastTarget(Location pos)
{
double dirX = ExpectedEnd.X - ExpectedStart.X;
double dirZ = ExpectedEnd.Z - ExpectedStart.Z;
double len = Math.Sqrt(dirX * dirX + dirZ * dirZ);
if (len < 0.001) return false;
dirX /= len;
dirZ /= len;
double relX = pos.X - ExpectedEnd.X;
double relZ = pos.Z - ExpectedEnd.Z;
double dot = relX * dirX + relZ * dirZ;
return dot > 0.0;
}
private static float YawDifference(float current, float target)
{
float delta = target - current;
while (delta > 180f) delta -= 360f;
while (delta < -180f) delta += 360f;
return Math.Abs(delta);
}
}
}

24
MinecraftClient/Pathing/Execution/Templates/TemplateHelper.cs
View file

@ -1,5 +1,6 @@
using System;
using MinecraftClient.Mapping;
using MinecraftClient.Physics;
namespace MinecraftClient.Pathing.Execution.Templates
{
@ -75,5 +76,28 @@ namespace MinecraftClient.Pathing.Execution.Templates
double dy = target.Y - pos.Y;
return dx * dx + dz * dz < horizThresholdSq && Math.Abs(dy) < vertThreshold;
}
internal static void FaceSegmentHeading(PlayerPhysics physics, PathSegment segment)
{
float headingYaw = CalculateYaw(segment.HeadingX, segment.HeadingZ);
physics.Yaw = SmoothYaw(physics.Yaw, headingYaw);
}
internal static void ApplyDecision(MovementInput input, TransitionBrakingDecision decision)
{
input.Forward = decision.HoldForward;
input.Sprint = decision.HoldSprint;
input.Back = decision.HoldBack;
}
internal static bool IsSettledAtEnd(Location pos, Location target, PlayerPhysics physics,
double horizThresholdSq = 0.0025, double speedThresholdSq = 0.0016)
{
double dx = target.X - pos.X;
double dz = target.Z - pos.Z;
double horizontalSpeedSq = physics.DeltaMovement.X * physics.DeltaMovement.X
+ physics.DeltaMovement.Z * physics.DeltaMovement.Z;
return dx * dx + dz * dz <= horizThresholdSq && horizontalSpeedSq <= speedThresholdSq;
}
}
}

29
MinecraftClient/Pathing/Execution/Templates/WalkTemplate.cs
View file

@ -13,18 +13,22 @@ namespace MinecraftClient.Pathing.Execution.Templates
public Location ExpectedStart { get; }
public Location ExpectedEnd { get; }
private readonly PathSegment _segment;
private readonly PathSegment? _nextSegment;
private int _tickCount;
private Location _lastPos;
private int _stuckTicks;
public WalkTemplate(Location start, Location end)
public WalkTemplate(PathSegment segment, PathSegment? nextSegment)
{
ExpectedStart = start;
ExpectedEnd = end;
_lastPos = start;
_segment = segment;
_nextSegment = nextSegment;
ExpectedStart = segment.Start;
ExpectedEnd = segment.End;
_lastPos = segment.Start;
}
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input)
public TemplateState Tick(Location pos, PlayerPhysics physics, MovementInput input, World world)
{
_tickCount++;
@ -35,17 +39,24 @@ namespace MinecraftClient.Pathing.Execution.Templates
float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);
input.Forward = true;
input.Sprint = true;
if (TemplateHelper.IsNear(pos, ExpectedEnd, horizThresholdSq: 0.20))
TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(_segment, _nextSegment, pos, physics, world);
TemplateHelper.ApplyDecision(input, decision);
if (decision.HoldBack)
TemplateHelper.FaceSegmentHeading(physics, _segment);
if (_segment.ExitTransition == PathTransitionType.ContinueStraight && TemplateHelper.IsNear(pos, ExpectedEnd, horizThresholdSq: 0.09))
return TemplateState.Complete;
if (_segment.ExitTransition != PathTransitionType.ContinueStraight && TemplateHelper.IsSettledAtEnd(pos, ExpectedEnd, physics))
return TemplateState.Complete;
double movedSq = TemplateHelper.HorizontalDistanceSq(pos, _lastPos);
_stuckTicks = movedSq < 0.0005 ? _stuckTicks + 1 : 0;
_lastPos = pos;
if (_stuckTicks > 40 || _tickCount > 100)
int maxTicks = _segment.ExitTransition == PathTransitionType.ContinueStraight ? 100 : 140;
if (_stuckTicks > 40 || _tickCount > maxTicks)
return TemplateState.Failed;
return TemplateState.InProgress;

14
MinecraftClient/Pathing/Execution/TransitionBrakingDecision.cs Normal file
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@ -0,0 +1,14 @@
namespace MinecraftClient.Pathing.Execution
{
public readonly record struct TransitionBrakingDecision(bool HoldForward, bool HoldSprint, bool HoldBack)
{
public static TransitionBrakingDecision CarryMomentum(bool preserveSprint) =>
new(true, preserveSprint, false);
public static TransitionBrakingDecision Coast =>
new(false, false, false);
public static TransitionBrakingDecision Brake =>
new(false, false, true);
}
}

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MinecraftClient/Pathing/Execution/TransitionBrakingPlanner.cs Normal file
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using System;
using MinecraftClient.Mapping;
using MinecraftClient.Physics;
namespace MinecraftClient.Pathing.Execution
{
public static class TransitionBrakingPlanner
{
private const double GroundSpeedThreshold = 0.025;
private const int MaxSimulationTicks = 14;
private const double FinalStopLead = 0.06;
private const double FinalBrakeLead = 0.04;
private const double TurnBrakeLead = 0.10;
private const double AirReleaseLead = 0.14;
public static TransitionBrakingDecision Plan(PathSegment current, PathSegment? next, Location pos, PlayerPhysics physics, World world)
{
if (current.ExitTransition is PathTransitionType.ContinueStraight or PathTransitionType.PrepareJump)
return TransitionBrakingDecision.CarryMomentum(current.PreserveSprint);
double remaining = RemainingDistanceAlongSegment(current, pos);
double forwardSpeed = Math.Max(0.0, ProjectHorizontalSpeedAlongHeading(physics, current.HeadingX, current.HeadingZ));
double coastStopDistance = EstimateGroundStopDistance(physics, world, current.HeadingX, current.HeadingZ, applyBackBrake: false);
double hardBrakeDistance = EstimateGroundStopDistance(physics, world, current.HeadingX, current.HeadingZ, applyBackBrake: true);
if (current.ExitTransition == PathTransitionType.FinalStop)
{
if (remaining < 0.0)
return TransitionBrakingDecision.Brake;
if (forwardSpeed > GroundSpeedThreshold && remaining <= hardBrakeDistance + FinalBrakeLead)
return TransitionBrakingDecision.Brake;
if (forwardSpeed <= GroundSpeedThreshold && remaining > 0.0)
return TransitionBrakingDecision.CarryMomentum(preserveSprint: false);
}
if (current.ExitTransition == PathTransitionType.Turn && remaining <= hardBrakeDistance + TurnBrakeLead)
{
return TransitionBrakingDecision.Brake;
}
if (remaining <= coastStopDistance + FinalStopLead)
return TransitionBrakingDecision.Coast;
return TransitionBrakingDecision.CarryMomentum(current.PreserveSprint);
}
public static bool ShouldReleaseForwardInAir(PathSegment current, PathSegment? next, Location pos, PlayerPhysics physics)
{
if (current.ExitTransition is not (PathTransitionType.FinalStop or PathTransitionType.Turn or PathTransitionType.LandingRecovery))
return false;
double remaining = RemainingDistanceAlongSegment(current, pos);
double forwardSpeed = Math.Max(0.0, ProjectHorizontalSpeedAlongHeading(physics, current.HeadingX, current.HeadingZ));
return remaining <= forwardSpeed + AirReleaseLead;
}
public static double EstimateGroundStopDistance(PlayerPhysics physics, World world, int headingX, int headingZ, bool applyBackBrake)
{
if (!physics.OnGround)
return 0.0;
double forwardSpeed = Math.Max(0.0, ProjectHorizontalSpeedAlongHeading(physics, headingX, headingZ));
if (forwardSpeed <= GroundSpeedThreshold)
return 0.0;
float blockFriction = PlayerPhysics.GetMaterialFriction(
world.GetBlock(new Location(physics.Position.X, physics.Position.Y - 0.5000010, physics.Position.Z)).Type);
double drag = blockFriction * PhysicsConsts.FrictionMultiplier;
double acceleration = physics.MovementSpeed
* (PhysicsConsts.GroundAccelerationFactor / (drag * drag * drag))
* PhysicsConsts.InputFriction;
if (applyBackBrake)
acceleration *= 0.98;
double distance = 0.0;
double speed = forwardSpeed;
for (int tick = 0; tick < MaxSimulationTicks; tick++)
{
distance += speed;
speed = applyBackBrake
? Math.Max(0.0, (speed - acceleration) * drag)
: speed * drag;
if (speed <= GroundSpeedThreshold)
break;
}
return distance;
}
private static double RemainingDistanceAlongSegment(PathSegment current, Location pos)
{
double dx = current.End.X - pos.X;
double dz = current.End.Z - pos.Z;
return dx * current.HeadingX + dz * current.HeadingZ;
}
private static double ProjectHorizontalSpeedAlongHeading(PlayerPhysics physics, int headingX, int headingZ)
{
return physics.DeltaMovement.X * headingX + physics.DeltaMovement.Z * headingZ;
}
}
}