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https://github.com/MCCTeam/Minecraft-Console-Client
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pathing: tighten linear parkour execution
This commit is contained in:
BruceChen
parent
891763602a
commit
d919bff91f
22 changed files with 2072 additions and 79 deletions
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@ -2,6 +2,7 @@ using MinecraftClient.Mapping;
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using MinecraftClient.Pathing.Core;
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using MinecraftClient.Pathing.Execution;
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using MinecraftClient.Physics;
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using System.Reflection;
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using Xunit;
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namespace MinecraftClient.Tests.Pathing.Execution;
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@ -46,6 +47,105 @@ public sealed class PathExecutorCompletionTests
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Assert.False(input.Back);
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}
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[Fact]
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public void Tick_PreservesCarryInput_WhenAdvancingIntoNextSegment()
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{
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var executor = new PathExecutor(new List<PathSegment>
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{
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new()
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{
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Start = new Location(0.5, 80, 0.5),
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End = new Location(1.5, 80, 0.5),
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MoveType = MoveType.Traverse,
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ExitTransition = PathTransitionType.PrepareJump,
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ExitHints = new PathTransitionHints(1, 0, 0.10, double.PositiveInfinity, false, true, true, false, 10),
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PreserveSprint = true
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},
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new()
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{
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Start = new Location(1.5, 80, 0.5),
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End = new Location(4.5, 80, 0.5),
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MoveType = MoveType.Parkour,
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ExitTransition = PathTransitionType.FinalStop
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}
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});
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var physics = new PlayerPhysics
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{
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Position = new Vec3d(1.48, 80.00, 0.50),
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DeltaMovement = new Vec3d(0.1178, -0.0784, 0.0),
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OnGround = true,
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MovementSpeed = 0.1f,
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Yaw = 270f,
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Pitch = 0f
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};
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var input = new MovementInput();
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World world = FlatWorldTestBuilder.CreateStoneFloor(min: -2, max: 8);
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PathExecutorState state = executor.Tick(new Location(physics.Position.X, physics.Position.Y, physics.Position.Z), physics, input, world);
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Assert.Equal(PathExecutorState.InProgress, state);
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Assert.Equal(1, executor.CurrentIndex);
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Assert.True(input.Forward, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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Assert.True(input.Sprint, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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Assert.False(input.Back, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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}
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[Fact]
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public void Tick_AdvanceFromParkourIntoParkour_IssuesJumpOnSameTick()
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{
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var executor = new PathExecutor(new List<PathSegment>
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{
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new()
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{
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Start = new Location(0.5, 80, 0.5),
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End = new Location(3.5, 80, 0.5),
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MoveType = MoveType.Parkour,
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ExitTransition = PathTransitionType.PrepareJump,
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ExitHints = new PathTransitionHints(1, 0, 0.10, double.PositiveInfinity, false, true, true, false, 10),
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PreserveSprint = true
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},
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new()
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{
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Start = new Location(3.5, 80, 0.5),
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End = new Location(6.5, 80, 0.5),
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MoveType = MoveType.Parkour,
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ExitTransition = PathTransitionType.FinalStop
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}
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});
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SetCurrentTemplate(
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executor,
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new CompletingTemplate(
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new Location(0.5, 80, 0.5),
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new Location(3.5, 80, 0.5)));
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var physics = new PlayerPhysics
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{
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Position = new Vec3d(3.50, 80.00, 0.50),
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DeltaMovement = new Vec3d(0.2200, 0.0, 0.0),
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OnGround = true,
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MovementSpeed = 0.1f,
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Yaw = 270f,
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Pitch = 0f
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};
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var input = new MovementInput();
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World world = FlatWorldTestBuilder.CreateStoneFloor(min: -2, max: 10);
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FlatWorldTestBuilder.ClearBox(world, 1, 79, 0, 6, 82, 1);
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FlatWorldTestBuilder.SetSolid(world, 0, 79, 0);
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FlatWorldTestBuilder.SetSolid(world, 3, 79, 0);
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FlatWorldTestBuilder.SetSolid(world, 6, 79, 0);
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PathExecutorState state = executor.Tick(new Location(physics.Position.X, physics.Position.Y, physics.Position.Z), physics, input, world);
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Assert.Equal(PathExecutorState.InProgress, state);
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Assert.Equal(1, executor.CurrentIndex);
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Assert.True(input.Forward, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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Assert.True(input.Sprint, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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Assert.True(input.Jump, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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Assert.False(input.Back, $"input(F={input.Forward},S={input.Sprint},J={input.Jump},B={input.Back})");
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}
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[Fact]
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public void Tick_CompletesStraightThreeSegmentFlatPath()
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{
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@ -115,6 +215,99 @@ public sealed class PathExecutorCompletionTests
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Assert.True(state == PathExecutorState.Complete, $"state={state}\n{string.Join('\n', debugLogs)}");
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}
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[Fact]
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public void Tick_LinearDescendGap0DyMinus2_DoesNotTurnInPlace()
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{
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List<PathSegment> segments = PathSegmentBuilder.FromPath(BuildNodes(
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(0, 80, 0, MoveType.Traverse),
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(1, 80, 0, MoveType.Traverse),
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(2, 80, 0, MoveType.Traverse),
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(3, 80, 0, MoveType.Traverse),
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(4, 78, 0, MoveType.Descend),
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(5, 76, 0, MoveType.Descend),
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(6, 74, 0, MoveType.Descend)));
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var debugLogs = new List<string>();
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var executor = new PathExecutor(segments, debugLogs.Add);
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World world = LinearParkourScenarioBuilder.Create("linear-descend-gap0-dy-2", gap: 0, deltaY: -2).BuildWorld();
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var physics = TemplateSimulationRunner.CreateGroundedPhysics(new Location(0.5, 80, 0.5), yaw: 270f);
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var input = new MovementInput();
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var samples = new List<TurnSample>();
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PathExecutorState state = PathExecutorState.InProgress;
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for (int tick = 0; tick < 420; tick++)
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{
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input.Reset();
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Location pos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
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state = executor.Tick(pos, physics, input, world);
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if (state != PathExecutorState.InProgress)
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break;
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physics.ApplyInput(input);
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physics.Tick(world);
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samples.Add(new TurnSample(physics.Position.X, physics.Position.Y, physics.Position.Z, physics.Yaw));
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}
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int turnStalls = CountTurnStalls(samples, out string stallTrace);
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Assert.True(state == PathExecutorState.Complete, $"state={state}\n{string.Join('\n', debugLogs)}");
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Assert.True(turnStalls == 0, $"turnStalls={turnStalls}\n{stallTrace}\n{string.Join('\n', debugLogs)}");
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}
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[Fact]
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public void Tick_PlannedLinearDescendGap0DyMinus2_DoesNotTurnInPlace()
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{
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PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create("linear-descend-gap0-dy-2", gap: 0, deltaY: -2);
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PathResult planResult = PathingScenarioRunner.PlanOnly(scenario);
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List<PathSegment> segments = PathSegmentBuilder.FromPath(planResult.Path);
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var debugLogs = new List<string>();
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var executor = new PathExecutor(segments, debugLogs.Add);
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World world = scenario.BuildWorld();
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var physics = TemplateSimulationRunner.CreateGroundedPhysics(scenario.Start, yaw: scenario.StartYaw);
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var input = new MovementInput();
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var samples = new List<TurnSample>();
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PathExecutorState state = PathExecutorState.InProgress;
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for (int tick = 0; tick < scenario.MaxExecutionTicks; tick++)
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{
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input.Reset();
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Location pos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
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state = executor.Tick(pos, physics, input, world);
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if (state != PathExecutorState.InProgress)
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break;
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physics.ApplyInput(input);
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physics.Tick(world);
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samples.Add(new TurnSample(physics.Position.X, physics.Position.Y, physics.Position.Z, physics.Yaw));
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}
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int turnStalls = CountTurnStalls(samples, out string stallTrace);
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string segmentTrace = string.Join('\n', segments.ConvertAll(static segment => segment.ToString()));
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Assert.Equal(PathStatus.Success, planResult.Status);
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Assert.True(state == PathExecutorState.Complete, $"state={state}\nsegments:\n{segmentTrace}\n{string.Join('\n', debugLogs)}");
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Assert.True(turnStalls == 0, $"turnStalls={turnStalls}\n{stallTrace}\nsegments:\n{segmentTrace}\n{string.Join('\n', debugLogs)}");
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}
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[Fact]
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public void Tick_LinearFlatGap2_CompletesWithoutFailure()
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{
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AssertLinearScenarioCompletes("linear-flat-gap2", gap: 2, deltaY: 0);
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}
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[Fact]
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public void Tick_LinearAscendGap2DyPlus1_CompletesWithoutFailure()
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{
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AssertLinearScenarioCompletes("linear-ascend-gap2-dy+1", gap: 2, deltaY: 1);
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}
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[Fact]
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public void Tick_LinearDescendGap2DyMinus1_CompletesWithoutFailure()
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{
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AssertLinearScenarioCompletes("linear-descend-gap2-dy-1", gap: 2, deltaY: -1);
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}
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private static List<PathNode> BuildNodes(params (int x, int y, int z, MoveType moveUsed)[] raw)
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{
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var result = new List<PathNode>(raw.Length);
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@ -128,4 +321,128 @@ public sealed class PathExecutorCompletionTests
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return result;
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}
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private readonly record struct TurnSample(double X, double Y, double Z, float Yaw);
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private sealed class CompletingTemplate(Location start, Location end) : IActionTemplate
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{
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public Location ExpectedStart { get; } = start;
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public Location ExpectedEnd { get; } = end;
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public TemplateState Tick(Location currentPos, PlayerPhysics physics, MovementInput input, World world)
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{
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return TemplateState.Complete;
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}
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}
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private static int CountTurnStalls(IReadOnlyList<TurnSample> samples, out string trace)
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{
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const int MinSamples = 4;
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const double WindowMaxTravel = 0.35;
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const double MinCumulativeYaw = 180.0;
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const double MinPerStepYaw = 35.0;
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var traces = new List<string>();
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if (samples.Count < MinSamples)
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{
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trace = string.Empty;
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return 0;
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}
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static double NormalizeYawDelta(float previousYaw, float currentYaw)
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{
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double delta = (currentYaw - previousYaw + 180.0) % 360.0 - 180.0;
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return Math.Abs(delta);
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}
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static double HorizontalDistance(in TurnSample a, in TurnSample b)
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{
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double dx = a.X - b.X;
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double dz = a.Z - b.Z;
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return Math.Sqrt(dx * dx + dz * dz);
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}
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int count = 0;
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int windowStart = 0;
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while (windowStart <= samples.Count - MinSamples)
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{
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TurnSample baseSample = samples[windowStart];
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double cumulativeYaw = 0.0;
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int largeSwings = 0;
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bool matched = false;
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for (int idx = windowStart + 1; idx < samples.Count; idx++)
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{
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TurnSample sample = samples[idx];
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if (HorizontalDistance(baseSample, sample) > WindowMaxTravel)
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break;
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double yawDelta = NormalizeYawDelta(samples[idx - 1].Yaw, sample.Yaw);
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cumulativeYaw += yawDelta;
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if (yawDelta >= MinPerStepYaw)
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largeSwings++;
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int sampleCount = idx - windowStart + 1;
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if (sampleCount >= MinSamples
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&& largeSwings >= MinSamples - 1
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&& cumulativeYaw >= MinCumulativeYaw)
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{
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traces.Add(
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$"start={windowStart} end={idx} base=({baseSample.X:F2},{baseSample.Y:F2},{baseSample.Z:F2},{baseSample.Yaw:F1}) " +
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$"last=({sample.X:F2},{sample.Y:F2},{sample.Z:F2},{sample.Yaw:F1}) yaw={cumulativeYaw:F1}");
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count++;
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windowStart = idx + 1;
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matched = true;
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break;
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}
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}
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if (!matched)
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windowStart++;
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}
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trace = string.Join('\n', traces);
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return count;
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}
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private static void SetCurrentTemplate(PathExecutor executor, IActionTemplate template)
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{
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FieldInfo field = typeof(PathExecutor).GetField("_currentTemplate", BindingFlags.Instance | BindingFlags.NonPublic)
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?? throw new InvalidOperationException("PathExecutor._currentTemplate not found");
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field.SetValue(executor, template);
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}
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private static void AssertLinearScenarioCompletes(string scenarioId, int gap, int deltaY)
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{
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PathingExecutionScenario scenario = LinearParkourScenarioBuilder.Create(scenarioId, gap, deltaY);
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PathResult planResult = PathingScenarioRunner.PlanOnly(scenario);
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List<PathSegment> segments = PathSegmentBuilder.FromPath(planResult.Path);
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var debugLogs = new List<string>();
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var executor = new PathExecutor(segments, debugLogs.Add);
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World world = scenario.BuildWorld();
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var physics = TemplateSimulationRunner.CreateGroundedPhysics(scenario.Start, scenario.StartYaw);
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var input = new MovementInput();
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PathExecutorState state = PathExecutorState.InProgress;
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for (int tick = 0; tick < scenario.MaxExecutionTicks; tick++)
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{
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input.Reset();
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Location pos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
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state = executor.Tick(pos, physics, input, world);
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if (state != PathExecutorState.InProgress)
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break;
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physics.ApplyInput(input);
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physics.Tick(world);
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}
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Location finalPos = new(physics.Position.X, physics.Position.Y, physics.Position.Z);
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string segmentTrace = string.Join('\n', segments.ConvertAll(static segment => segment.ToString()));
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Assert.Equal(PathStatus.Success, planResult.Status);
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Assert.True(
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state == PathExecutorState.Complete,
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$"scenario={scenarioId} state={state} finalPos={finalPos} vel={physics.DeltaMovement}\nsegments:\n{segmentTrace}\n{string.Join('\n', debugLogs)}");
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}
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}
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