def sweep_collision(self, collidee, v, debug=False):
"""
self (collider) moving by v, collidee stationery
based on http://bit.ly/3grWzs
"""
u_0 = [2, 2, 2]
u_1 = [1, 1, 1]
for i in xrange(3):
if fops.lte(self.maxs[i], collidee.mins[i]) and fops.gt(v[i], 0):
d = collidee.mins[i] - self.maxs[i]
u_0[i] = d / v[i]
elif fops.lte(collidee.maxs[i], self.mins[i]) and fops.lt(v[i], 0):
d = collidee.maxs[i] - self.mins[i]
u_0[i] = d / v[i]
elif not(fops.lte(self.maxs[i], collidee.mins[i]) or fops.gte(self.mins[i], collidee.maxs[i])):
u_0[i] = 0
if fops.gte(collidee.maxs[i], self.mins[i]) and fops.gt(v[i], 0):
d = collidee.maxs[i] - self.mins[i]
u_1[i] = d / v[i]
elif fops.gte(self.maxs[i], collidee.mins[i]) and fops.lt(v[i], 0):
d = collidee.mins[i] - self.maxs[i]
u_1[i] = d / v[i]
u0 = max(u_0)
if u0 == 2 or fops.gte(u0, 1.0):
col = False
else:
col = fops.lte(u0, min(u_1))
return col, u0
def sweep_collision(self, collidee, v, debug=False):
"""
self (collider) moving by v, collidee stationery
based on http://bit.ly/3grWzs
"""
u_0 = [2, 2, 2]
u_1 = [1, 1, 1]
for i in xrange(3):
if fops.lte(self.maxs[i], collidee.mins[i]) and fops.gt(v[i], 0):
d = collidee.mins[i] - self.maxs[i]
u_0[i] = d / v[i]
elif fops.lte(collidee.maxs[i], self.mins[i]) and fops.lt(v[i], 0):
d = collidee.maxs[i] - self.mins[i]
u_0[i] = d / v[i]
elif not (fops.lte(self.maxs[i], collidee.mins[i])
or fops.gte(self.mins[i], collidee.maxs[i])):
u_0[i] = 0
if fops.gte(collidee.maxs[i], self.mins[i]) and fops.gt(v[i], 0):
d = collidee.maxs[i] - self.mins[i]
u_1[i] = d / v[i]
elif fops.gte(self.maxs[i], collidee.mins[i]) and fops.lt(v[i], 0):
d = collidee.mins[i] - self.maxs[i]
u_1[i] = d / v[i]
u0 = max(u_0)
if u0 == 2 or fops.gte(u0, 1.0):
col = False
else:
col = fops.lte(u0, min(u_1))
return col, u0
def check_aabbs(self):
out = []
self.add_grid_bounding_boxes_to(out)
check = [0, 0, 0, 0]
if len(out) == 3:
bb = out[2]
if fops.gt(bb.min_x, self.x):
check[2] = -1
elif fops.lt(bb.max_x, self.x + 1):
check[2] = 1
if fops.gt(bb.min_z, self.z):
check[3] = -1
elif fops.lt(bb.max_z, self.z + 1):
check[3] = 1
bb = out[1]
if fops.gt(bb.min_x, self.x):
check[0] = -1
elif fops.lt(bb.max_x, self.x + 1):
check[0] = 1
if fops.gt(bb.min_z, self.z):
check[1] = -1
elif fops.lt(bb.max_z, self.z + 1):
check[1] = 1
if check[2] != 0 or check[3] != 0:
if check[0] != 0:
check[2] = check[0]
if check[1] != 0:
check[3] = check[1]
yield AABB.from_block_coords(self.x + check[2] * config.PLAYER_RADIUS, self.y + 0.5, self.z + check[3] * config.PLAYER_RADIUS)
else:
if check[0] != 0:
yield AABB.from_block_coords(self.x + check[0] * config.PLAYER_RADIUS, self.y + 0.5, self.z)
if check[1] != 0:
yield AABB.from_block_coords(self.x, self.y + 0.5, self.z + check[1] * config.PLAYER_RADIUS)
def action(self):
b_obj = self.blackboard.bot_object
self.status = self._check_status(b_obj)
if self.status != Status.running:
return
on_ladder = self.blackboard.bot_is_on_ladder(b_obj)
in_water = self.blackboard.bot_is_in_water(b_obj)
if on_ladder or in_water:
elev = self.target_state.platform_y - b_obj.y
if fops.gt(elev, 0):
self.jump(b_obj)
self.move(b_obj)
elif fops.lt(elev, 0):
self.move(b_obj)
else:
if on_ladder:
self.sneak(b_obj)
self.move(b_obj)
elif self.blackboard.bot_is_standing(b_obj):
elev = self.target_state.platform_y - b_obj.y
if fops.lte(elev, 0):
self.move(b_obj)
elif fops.gt(elev, 0):
if self.start_state.base_in(b_obj.aabb):
self.jump(b_obj)
self.move(b_obj)
else:
self.move(b_obj)
def _tick(self):
if self.cancelled:
self.status = Status.failure
return
b_obj = self.bot.bot_object
self.status = self.check_status(b_obj)
if self.status != Status.running:
return
on_ladder = self.bot.is_on_ladder(b_obj)
in_water = self.bot.is_in_water(b_obj)
if on_ladder or in_water:
elev = self.target_state.platform_y - b_obj.y
if fops.gt(elev, 0):
self.jump(b_obj)
self.move(b_obj)
elif fops.lt(elev, 0):
self.move(b_obj)
else:
if on_ladder:
self.sneak(b_obj)
self.move(b_obj)
elif self.bot.is_standing(b_obj):
elev = self.target_state.platform_y - b_obj.y
if fops.lte(elev, 0):
self.move(b_obj)
elif fops.gt(elev, 0):
if self.start_state.base_in(b_obj.aabb):
self.jump(b_obj)
self.move(b_obj)
else:
self.move(b_obj)
def sweep_collision(self, collidee, v, debug=False):
"""
self moving by v, collidee stationery
based on http://bit.ly/3grWzs
"""
u_0 = [2, 2, 2]
u_1 = [1, 1, 1]
dists = [None, None, None]
for i in xrange(3):
if fops.lte(self.maxs[i], collidee.mins[i]) and fops.gt(v[i], 0):
d = collidee.mins[i] - self.maxs[i]
dists[i] = d
u_0[i] = d / v[i]
elif fops.lte(collidee.maxs[i], self.mins[i]) and fops.lt(v[i], 0):
d = collidee.maxs[i] - self.mins[i]
dists[i] = d
u_0[i] = d / v[i]
elif fops.eq(v[i], 0) and \
not(fops.lte(self.maxs[i], collidee.mins[i]) or
fops.gte(self.mins[i], collidee.maxs[i])):
u_0[i] = 0
elif not(fops.lte(self.maxs[i], collidee.mins[i]) or
fops.gte(self.mins[i], collidee.maxs[i])):
u_0[i] = 0
if fops.gte(collidee.maxs[i], self.mins[i]) and fops.gt(v[i], 0):
d = collidee.maxs[i] - self.mins[i]
u_1[i] = d / v[i]
elif fops.gte(self.maxs[i], collidee.mins[i]) and fops.lt(v[i], 0):
d = collidee.mins[i] - self.maxs[i]
u_1[i] = d / v[i]
if max(u_0) == 2:
u0 = None
col = False
else:
u0 = max(u_0)
u1 = min(u_1)
if fops.gte(u0, 1.0):
col = False
else:
col = fops.lte(u0, u1)
return col, u0
def sweep_collision(self, bb, vect, debug=False, max_height=False):
boxes = self.grid_bounding_box
if len(boxes) == 0:
raise Exception(
"0 bounding boxes from block %s, cannot handle that" % self)
elif len(boxes) == 1:
col, rel_d = bb.sweep_collision(boxes[0], vect, debug=debug)
return col, rel_d, boxes[0]
else:
col_rel_d = 1.1
col_bb = None
for box in boxes:
col, rel_d = bb.sweep_collision(box, vect, debug=debug)
if max_height and col and fops.eq(col_rel_d, rel_d):
if fops.lt(col_bb.max_y, bb.max_y):
col_bb = bb
if col and fops.lt(rel_d, col_rel_d):
col_rel_d = rel_d
col_bb = bb
return col_bb is not None, col_rel_d, col_bb
def check_aabbs(self):
out = []
self.add_grid_bounding_boxes_to(out)
check = [0, 0, 0, 0]
if len(out) == 3:
bb = out[2]
if fops.gt(bb.min_x, self.x):
check[2] = -1
elif fops.lt(bb.max_x, self.x + 1):
check[2] = 1
if fops.gt(bb.min_z, self.z):
check[3] = -1
elif fops.lt(bb.max_z, self.z + 1):
check[3] = 1
bb = out[1]
if fops.gt(bb.min_x, self.x):
check[0] = -1
elif fops.lt(bb.max_x, self.x + 1):
check[0] = 1
if fops.gt(bb.min_z, self.z):
check[1] = -1
elif fops.lt(bb.max_z, self.z + 1):
check[1] = 1
if check[2] != 0 or check[3] != 0:
if check[0] != 0:
check[2] = check[0]
if check[1] != 0:
check[3] = check[1]
yield AABB.from_block_coords(
self.x + check[2] * config.PLAYER_RADIUS, self.y + 0.5,
self.z + check[3] * config.PLAYER_RADIUS)
else:
if check[0] != 0:
yield AABB.from_block_coords(
self.x + check[0] * config.PLAYER_RADIUS, self.y + 0.5,
self.z)
if check[1] != 0:
yield AABB.from_block_coords(
self.x, self.y + 0.5,
self.z + check[1] * config.PLAYER_RADIUS)
def min_collision_between(self, bb1, bb2, horizontal=False, max_height=False):
ubb = bb1.extend_to(dy=-1).union(bb2.extend_to(dy=-1))
blcks = self.blocks_in_aabb(ubb)
dvect = bb1.vector_to(bb2)
if horizontal:
dvect = (dvect[0], 0, dvect[2])
col_rel_d = 1.1
col_bb = None
for blk in blcks:
col, rel_d, bb = blk.sweep_collision(
bb1, dvect, max_height=max_height)
if col and fops.eq(col_rel_d, rel_d):
if max_height:
if fops.lt(col_bb.max_y, bb.max_y):
col_bb = bb
if col and fops.lt(rel_d, col_rel_d):
col_rel_d = rel_d
col_bb = bb
if col_bb is not None:
return col_rel_d * tools.vector_size(dvect), col_bb
else:
return None, None
def _tick(self):
b_obj = self.bot.bot_object
self.status = self.check_status(b_obj)
if self.status != Status.running:
return
col_distance, col_bb = self.world.grid.min_collision_between(b_obj.aabb,
self.target_space.bb_stand,
horizontal=True,
max_height=True)
if self.bot.is_on_ladder(b_obj) or self.bot.is_in_water(b_obj):
elev = self.target_space.bb_stand.min_y - b_obj.aabb.min_y
if fops.gt(elev, 0):
self.jump(b_obj)
self.move(b_obj)
elif fops.lt(elev, 0):
if col_distance is None:
self.move(b_obj)
else:
self.move(b_obj)
elif self.bot.is_standing(b_obj):
if col_distance is None:
self.move(b_obj)
else:
elev = self.target_space.bb_stand.min_y - b_obj.aabb.min_y
if fops.lte(elev, 0):
self.move(b_obj)
elif fops.gt(elev, 0) and fops.lte(elev, config.MAX_STEP_HEIGHT):
self.move(b_obj)
elif fops.gt(elev, config.MAX_STEP_HEIGHT) and fops.lt(elev, config.MAX_JUMP_HEIGHT):
ticks_to_col = col_distance / self.bot.current_motion(b_obj)
ticks_to_jump = math.sqrt(2 * elev / config.G) * 20
if ticks_to_col < ticks_to_jump:
self.jump(b_obj)
self.move(b_obj)
else:
raise Exception("move elevation error %s with collision %s" % (elev, col_distance))
else:
self.move(b_obj)
def calculate_axis_offset(self, collidee, d, axis):
for i in xrange(3):
if i == axis:
continue
if fops.lte(self.maxs[i], collidee.mins[i]) or \
fops.gte(self.mins[i], collidee.maxs[i]):
return d
if d < 0 and fops.lte(collidee.maxs[axis], self.mins[axis]):
dout = collidee.maxs[axis] - self.mins[axis]
if fops.gt(dout, d):
d = dout
elif d > 0 and fops.gte(collidee.mins[axis], self.maxs[axis]):
dout = collidee.mins[axis] - self.maxs[axis]
if fops.lt(dout, d):
d = dout
return d
def calculate_axis_offset(self, collidee, d, axis):
for i in xrange(3):
if i == axis:
continue
if fops.lte(self.maxs[i], collidee.mins[i]) or \
fops.gte(self.mins[i], collidee.maxs[i]):
return d
if d < 0 and fops.lte(collidee.maxs[axis], self.mins[axis]):
dout = collidee.maxs[axis] - self.mins[axis]
if fops.gt(dout, d):
d = dout
elif d > 0 and fops.gte(collidee.mins[axis], self.maxs[axis]):
dout = collidee.mins[axis] - self.maxs[axis]
if fops.lt(dout, d):
d = dout
return d
def can_stand_between(self, gs, debug=False):
if self.block.is_ladder_vine or gs.block.is_ladder_vine:
return True
if self.block.is_water or gs.block.is_water:
return True
if fops.gt(abs(self.platform.min_y - gs.platform.min_y), config.MAX_STEP_HEIGHT):
return True
stand_platform = self.platform.expand(config.PLAYER_BODY_DIAMETER - 0.09, 0, config.PLAYER_BODY_DIAMETER - 0.09)
self.intersection = gs.stand_block.intersection_on_axes(
stand_platform, x=True, z=True, debug=debug)
if self.intersection is None:
return False
if self.stand_block.x != gs.stand_block.x and self.stand_block.z != gs.stand_block.z:
if fops.lt(gs.platform.get_side('min', x=True, z=True), 0.5):
return False
else:
return True
else:
return True
def _can_stand_on(self):
"""
can stand on top of the center of the block
"""
if isinstance(self.block, blocks.Cactus):
return False
under = self.grid.get_block(self.coords[0], self.coords[1] - 1, self.coords[2])
if not self.block.collidable and not under.is_fence and not self.block.is_water and not self.block.is_ladder_vine:
return False
if self.block.is_ladder_vine or self.block.is_water:
bb = AABB.from_block_coords(self.block.coords)
if under.is_fence:
self.bb_stand = bb.shift(min_y=under.max_y)
else:
if not under.collidable or (under.collidable and fops.lt(under.max_y, bb.min_y)):
bb1 = bb.offset(dy=0.5)
if self.can_be_in(bb1):
bb = bb1
self.bb_stand = bb
self.stand_block = self.block
self.platform = self.bb_stand.set_to(max_y=self.bb_stand.min_y)
else:
if under.is_fence:
fence_top = under.maxedge_platform(y=1)
if self.block.collidable:
self.platform = self.block.maxedge_platform(y=1)
self.stand_block = self.block
if fence_top.min_y > self.platform.min_y:
self.platform = fence_top
self.stand_block = under
else:
self.platform = fence_top
self.stand_block = under
else:
self.platform = self.block.maxedge_platform(y=1)
self.stand_block = self.block
bb = AABB.from_block_coords(self.block.coords)
self.bb_stand = bb.offset(dy=self.platform.min_y - bb.min_y)
if not self.bb_stand.collides_on_axes(self.platform, x=True, z=True):
return False
return self.can_be_in(self.bb_stand)
def can_go_between(self, gs, update_to_bb_stand=False, debug=False):
edge_cost = 0
bb_stand = self.bb_stand
other_bb_stand = gs.bb_stand
if bb_stand.horizontal_distance(other_bb_stand) > config.HORIZONTAL_MOVE_DISTANCE_LIMIT:
if debug:
print 'horizontal distance too far', bb_stand.horizontal_distance(other_bb_stand)
return False
if fops.gt(bb_stand.min_y, other_bb_stand.min_y):
if (bb_stand.min_y - other_bb_stand.min_y) > 3:
return False
elev = bb_stand.min_y - other_bb_stand.min_y
elev_bb = other_bb_stand.extend_to(dy=elev)
bb_from = bb_stand
bb_to = other_bb_stand.offset(dy=elev)
elif fops.lt(bb_stand.min_y, other_bb_stand.min_y):
if fops.lte(bb_stand.grid_y + 2, other_bb_stand.min_y):
if debug:
print 'over 2 high difference'
return False
elev = other_bb_stand.min_y - bb_stand.min_y
in_water = self.grid.aabb_in_water(bb_stand)
if in_water and \
other_bb_stand.grid_y > bb_stand.grid_y and \
fops.gt(other_bb_stand.min_y, other_bb_stand.grid_y) and \
not self.grid.aabb_in_water(bb_stand.shift(min_y=other_bb_stand.min_y)) and \
fops.gte(other_bb_stand.min_y - (bb_stand.grid_y + 1), config.MAX_WATER_JUMP_HEIGHT - 0.15):
if debug:
print 'water cannot go'
return False
if self.grid.aabb_on_ladder(bb_stand) and \
other_bb_stand.grid_y > bb_stand.grid_y and \
fops.gt(other_bb_stand.min_y, other_bb_stand.grid_y) and \
not self.grid.aabb_on_ladder(bb_stand.shift(min_y=other_bb_stand.min_y)) and \
fops.gte(other_bb_stand.min_y - (bb_stand.grid_y + 1), config.MAX_VINE_JUMP_HEIGHT - 0.2):
if debug:
print 'ladder cannot go'
return False
if fops.gt(elev, config.MAX_JUMP_HEIGHT) and not in_water:
if debug:
print 'too high'
return False
if fops.lte(elev, config.MAX_STEP_HEIGHT):
elev = config.MAX_STEP_HEIGHT
aabbs = self.grid.aabbs_in(bb_stand.extend_to(0, elev, 0))
for bb in aabbs:
elev = bb_stand.calculate_axis_offset(bb, elev, 1)
if fops.lt(bb_stand.min_y + elev, other_bb_stand.min_y):
if debug:
print 'cannot make step'
return False
elev_bb = bb_stand.extend_to(dy=elev)
bb_from = bb_stand.offset(dy=elev)
bb_to = other_bb_stand
else:
elev = 0
elev_bb = None
bb_from = bb_stand
bb_to = other_bb_stand
if elev_bb is not None:
if self.grid.aabb_collides(elev_bb):
if debug:
print 'elevation collision'
return False
if self.blocks_to_avoid(self.grid.blocks_in_aabb(elev_bb)):
if debug:
print 'elevation hitting avoid block'
return False
if self.grid.collision_between(bb_from, bb_to, debug=debug):
if debug:
print 'horizontal collision'
return False
if self.blocks_to_avoid(self.grid.passing_blocks_between(bb_from, bb_to)):
if debug:
print 'hitting avoid block'
return False
edge_cost += config.COST_DIRECT * bb_from.horizontal_distance(bb_to)
if not (fops.lte(elev, config.MAX_STEP_HEIGHT) and fops.gte(elev, -config.MAX_STEP_HEIGHT)):
edge_cost += config.COST_FALL * \
bb_from.horizontal_distance(bb_to)
if elev < 0:
edge_cost += config.COST_FALL * elev
else:
edge_cost += config.COST_JUMP
self.edge_cost = edge_cost
if update_to_bb_stand:
gs.bb_stand = other_bb_stand
return True
def set_direction_towards(self, point, debug=False):
if fops.lt(self.distance_to(point), 0):
self.a *= -1
self.b *= -1
