renamed helper methods to clarify, added MoveWentWrongException

psu-de · Mar 13, 2024 · 500220d · 500220d
1 parent ae60fb4
commit 500220d
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Showing 8 changed files with 53 additions and 29 deletions.
diff --git a/Plugins/MineSharp.Pathfinder/Exceptions/MoveWentWrongException.cs b/Plugins/MineSharp.Pathfinder/Exceptions/MoveWentWrongException.cs
@@ -0,0 +1,10 @@
+using MineSharp.Core.Exceptions;
+
+namespace MineSharp.Pathfinder.Exceptions;
+
+/// <summary>
+/// Exception thrown when a <see cref="Moves.Move"/> could not be done.
+/// </summary>
+/// <param name="message"></param>
+public class MoveWentWrongException(string message) : MineSharpException(message)
+{ }
diff --git a/Plugins/MineSharp.Pathfinder/Moves/DirectMove.cs b/Plugins/MineSharp.Pathfinder/Moves/DirectMove.cs
@@ -60,18 +60,18 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
         {
             await physics.WaitForTick();
 
-            if (CollisionHelper.IsPositionInBlock(entity.Position, targetBlock))
+            if (CollisionHelper.IsPointInBlockBb(entity.Position, targetBlock))
             {
                 break;
             }
         }
         physics.InputControls.Reset();
 
-        if (!CollisionHelper.IsPositionInBlock(entity.Position, targetBlock))
+        if (!CollisionHelper.IsPointInBlockBb(entity.Position, targetBlock))
         {
             throw new Exception("move went wrong"); // TODO: Move exception
         }
 
-        await MovementUtils.MoveToBlockCenter(entity, physics);
+        await MovementUtils.MoveInsideBlock(entity, targetBlock, physics);
     }
 }
diff --git a/Plugins/MineSharp.Pathfinder/Moves/FallDownMove.cs b/Plugins/MineSharp.Pathfinder/Moves/FallDownMove.cs
@@ -57,7 +57,7 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
             if (!stopNextTick)
             {
                 var vec = MovementUtils.GetXZPositionNextTick(player.Entity);
-                if (CollisionHelper.IsXZPositionInBlock(vec, targetBlock))
+                if (CollisionHelper.IsXzPointInBlockBb(vec, targetBlock))
                 {
                     stopNextTick = true;
                 }
@@ -72,11 +72,11 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
         physics.InputControls.Reset();
         await physics.WaitForOnGround();
 
-        if (!CollisionHelper.IsPositionInBlock(entity.Position, targetBlock))
+        if (!CollisionHelper.IntersectsBbWithBlock(entity.GetBoundingBox(), targetBlock))
         {
             throw new Exception("move went wrong."); // TODO: Better exception
         }
 
-        await MovementUtils.MoveToBlockCenter(entity, physics);
+        await MovementUtils.MoveInsideBlock(entity, targetBlock, physics);
     }
 }
diff --git a/Plugins/MineSharp.Pathfinder/Moves/JumpOneBlock.cs b/Plugins/MineSharp.Pathfinder/Moves/JumpOneBlock.cs
@@ -56,15 +56,12 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
                                              0, 
                                              this.Motion.Z / 2);
         var targetBlock = (Position)target;
-
-        await physics.Look(0, 0);
-        await MovementUtils.MoveToBlockCenter(entity, physics);
 
         MovementUtils.SetHorizontalMovementsFromVector(this.Motion, physics.InputControls);
 
         while (true)
         {
-            if (CollisionHelper.IsPositionInBlock(entity.Position, jumpBlock))
+            if (CollisionHelper.IsPointInBlockBb(entity.Position, jumpBlock))
             {
                 physics.InputControls.JumpingKeyDown = true;
                 await physics.WaitForTick();
@@ -77,7 +74,7 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
 
         while (true)
         {
-            if (CollisionHelper.IsPositionInBlock(entity.Position.Plus(entity.Velocity), jumpBlock))
+            if (CollisionHelper.IsPointInBlockBb(entity.Position.Plus(entity.Velocity), jumpBlock))
             {
                 physics.InputControls.Reset();
                 break;
@@ -88,11 +85,12 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
 
         await physics.WaitForOnGround();
 
-        if (!CollisionHelper.IsPositionInBlock(entity.Position, targetBlock))
+        if (!CollisionHelper.IntersectsBbWithBlock(entity.GetBoundingBox(), targetBlock))
         {
             throw new Exception("move went wrong."); // TODO: Better exception
         }
 
-        await MovementUtils.MoveToBlockCenter(entity, physics);
+        Console.WriteLine($"target={target}, block={targetBlock}");
+        await MovementUtils.MoveInsideBlock(entity, targetBlock, physics);
     }
 }
diff --git a/Plugins/MineSharp.Pathfinder/Moves/JumpUpMove.cs b/Plugins/MineSharp.Pathfinder/Moves/JumpUpMove.cs
@@ -62,7 +62,7 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
         {
             await physics.WaitForTick();
 
-            if (CollisionHelper.IsXZPositionInBlock(entity.Position, targetBlock))
+            if (CollisionHelper.IsXzPointInBlockBb(entity.Position, targetBlock))
             {
                 break;
             }
@@ -71,6 +71,6 @@ protected override async Task PerformMove(MineSharpBot bot, int count, Movements
         physics.InputControls.Reset();
         await physics.WaitForOnGround();
 
-        await MovementUtils.MoveToBlockCenter(entity, physics);
+        await MovementUtils.MoveInsideBlock(entity, targetBlock, physics);
     }
 }
diff --git a/Plugins/MineSharp.Pathfinder/Moves/Move.cs b/Plugins/MineSharp.Pathfinder/Moves/Move.cs
@@ -36,7 +36,7 @@ public abstract class Move
     /// </summary>
     public abstract bool IsMovePossible(Position position, IWorld world);
 
-    internal async Task Perform(MineSharpBot bot, int count, Movements movements)
+    internal async Task Perform(MineSharpBot bot, int count, Position startPosition, Movements movements)
     {
         if (!this.CanBeLinked && count > 1)
         {
@@ -47,20 +47,20 @@ internal async Task Perform(MineSharpBot bot, int count, Movements movements)
         var physics = bot.GetPlugin<PhysicsPlugin>();
         var entity  = player.Entity ?? throw new NullReferenceException("player is not initialized");
 
-        if (entity.Velocity.HorizontalLengthSquared() > 0.03)
+        if (entity.Velocity.HorizontalLengthSquared() > 0.15 * 0.15)
             await MovementUtils.SlowDown(entity, physics); 
 
         await physics.Look(0, 0);
-        await MovementUtils.MoveToBlockCenter(entity, physics);
+        await MovementUtils.MoveInsideBlock(entity, startPosition, physics);
 
         await PerformMove(bot, count, movements);
     }
 
     /// <summary>
-    /// Perform the move. Before PerformMove() is called, it is made sure that:
+    /// Perform the move. Before PerformMove() is called, it is made guaranteed that:
     ///  - The bot is looking at (0, 0)
-    ///  - The bos hitbox is completely on the block
-    ///  - The bots velocity is lower than 0.03
+    ///  - The bots hitbox is completely inside the block
+    ///  - The bots velocity is lower than 0.15^2
     ///  - The input controls are reset
     /// </summary>
     protected abstract Task PerformMove(MineSharpBot bot, int count, Movements movements);

diff --git a/Plugins/MineSharp.Pathfinder/Utils/CollisionHelper.cs b/Plugins/MineSharp.Pathfinder/Utils/CollisionHelper.cs
@@ -36,18 +36,25 @@ public static bool CollidesWithWord(AABB aabb, IWorld world)
         return false;
     }
 
-    public static bool IsPositionInBlock(Vector3 position, Position block)
+    public static bool IsPointInBlockBb(Vector3 position, Position block)
     {
         var pos = position.Minus(block.X, block.Y, block.Z);
         return BlockBb.Contains(pos);
     }
 
-    public static bool IsXZPositionInBlock(Vector3 position, Position block)
+    public static bool IsXzPointInBlockBb(Vector3 position, Position block)
     {
         var pos = position.Minus(block.X, position.Y, block.Z);
         return BlockBb.Contains(pos);
     }
 
+    public static bool IntersectsBbWithBlock(AABB bb, Position block)
+    {
+        // TODO: not correct, (min.x, max.z) can be on block, but is not detected
+        // return IsPositionInBlock(bb.Min, block) || IsPositionInBlock(bb.Max, block);
+        return BlockBb.Intersects(bb.Clone().Offset(-block.X, -block.Y, -block.Z));
+    }
+
     public static AABB[] GetBoundingBoxes(Block block, MinecraftData data)
     {
         return data.BlockCollisionShapes.GetForBlock(block)

diff --git a/Plugins/MineSharp.Pathfinder/Utils/MovementUtils.cs b/Plugins/MineSharp.Pathfinder/Utils/MovementUtils.cs
@@ -2,6 +2,7 @@
 using MineSharp.Core.Common;
 using MineSharp.Core.Common.Entities;
 using MineSharp.Core.Geometry;
+using MineSharp.Pathfinder.Exceptions;
 using MineSharp.Physics.Input;
 
 namespace MineSharp.Pathfinder.Utils;
@@ -48,12 +49,20 @@ public static Vector3 GetXZPositionNextTick(Entity entity)
         return entity.Position.Clone().Add(entity.Velocity.X, 0, entity.Velocity.Z);
     }
 
-    public static async Task MoveToBlockCenter(Entity entity, PhysicsPlugin physics)
+    /// <summary>
+    /// Makes sure the whole xz-hitbox of <paramref name="entity"/> is inside the block at <paramref name="blockPosition"/>
+    /// </summary>
+    public static async Task MoveInsideBlock(Entity entity, Position blockPosition, PhysicsPlugin physics)
     {
-        var target   = (Position)entity.Position;
-        var toTarget = new Vector3(0.5, 0, 0.5).Add(target);
+        // assert entity's bb intersects block position
+        var bb = entity.GetBoundingBox();
 
-        var bb = CollisionHelper.SetAABBToPlayerBB(entity.Position);
+        if (!CollisionHelper.IntersectsBbWithBlock(bb, blockPosition))
+        {
+            throw new MoveWentWrongException($"Cannot move to block center of {blockPosition}, because entity is at {entity.Position}");
+        }
+
+        var toTarget = new Vector3(0.5, 0, 0.5).Add(blockPosition);
 
         while (true)
         {
@@ -63,8 +72,8 @@ public static async Task MoveToBlockCenter(Entity entity, PhysicsPlugin physics)
 
             CollisionHelper.SetAABBToPlayerBB(GetXZPositionNextTick(entity), ref bb);
 
-            if (CollisionHelper.IsPositionInBlock(bb.Min, target) 
-             && CollisionHelper.IsXZPositionInBlock(bb.Max, target))
+            if (CollisionHelper.IsPointInBlockBb(bb.Min, blockPosition) 
+             && CollisionHelper.IsXzPointInBlockBb(bb.Max, blockPosition))
             {
                 break;
             }