/
AStarNavigationStrategy.java
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/
AStarNavigationStrategy.java
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package net.citizensnpcs.npc.ai;
import java.util.List;
import org.bukkit.Effect;
import org.bukkit.Location;
import org.bukkit.Material;
import org.bukkit.block.Block;
import org.bukkit.entity.LivingEntity;
import org.bukkit.util.Vector;
import com.google.common.collect.Lists;
import net.citizensnpcs.Settings.Setting;
import net.citizensnpcs.api.ai.AbstractPathStrategy;
import net.citizensnpcs.api.ai.NavigatorParameters;
import net.citizensnpcs.api.ai.TargetType;
import net.citizensnpcs.api.ai.event.CancelReason;
import net.citizensnpcs.api.astar.AStarMachine;
import net.citizensnpcs.api.astar.AStarMachine.AStarState;
import net.citizensnpcs.api.astar.pathfinder.BlockExaminer;
import net.citizensnpcs.api.astar.pathfinder.BlockSource;
import net.citizensnpcs.api.astar.pathfinder.MinecraftBlockExaminer;
import net.citizensnpcs.api.astar.pathfinder.Path;
import net.citizensnpcs.api.astar.pathfinder.PathPoint;
import net.citizensnpcs.api.astar.pathfinder.VectorGoal;
import net.citizensnpcs.api.astar.pathfinder.VectorNode;
import net.citizensnpcs.api.npc.NPC;
import net.citizensnpcs.util.NMS;
import net.citizensnpcs.util.Util;
public class AStarNavigationStrategy extends AbstractPathStrategy {
private final Location destination;
private final NPC npc;
private final NavigatorParameters params;
private Path plan;
private AStarPlanner planner;
private Vector vector;
public AStarNavigationStrategy(NPC npc, Iterable<Vector> path, NavigatorParameters params) {
super(TargetType.LOCATION);
List<Vector> list = Lists.newArrayList(path);
this.params = params;
this.destination = list.get(list.size() - 1).toLocation(npc.getStoredLocation().getWorld());
this.npc = npc;
this.plan = new Path(list);
}
public AStarNavigationStrategy(NPC npc, Location dest, NavigatorParameters params) {
super(TargetType.LOCATION);
this.params = params;
this.destination = dest;
this.npc = npc;
}
@Override
public Location getCurrentDestination() {
return vector != null ? vector.toLocation(npc.getEntity().getWorld()) : destination.clone();
}
@Override
public Iterable<Vector> getPath() {
return plan == null ? null : plan.getPath();
}
@Override
public Location getTargetAsLocation() {
return destination;
}
@Override
public void stop() {
if (plan != null && params.debug()) {
plan.debugEnd();
}
plan = null;
}
@Override
public boolean update() {
if (plan == null) {
if (planner == null) {
planner = new AStarPlanner(params, npc.getEntity().getLocation(NPC_LOCATION), destination);
}
CancelReason reason = planner.tick(Setting.ASTAR_ITERATIONS_PER_TICK.asInt(),
Setting.MAXIMUM_ASTAR_ITERATIONS.asInt());
if (reason != null) {
setCancelReason(reason);
}
plan = planner.plan;
if (plan != null) {
vector = plan.getCurrentVector();
planner = null;
}
}
if (getCancelReason() != null || plan == null || plan.isComplete()) {
return true;
}
Location loc = npc.getEntity().getLocation(NPC_LOCATION);
/* Proper door movement - gets stuck on corners at times
Block block = currLoc.getWorld().getBlockAt(vector.getBlockX(), vector.getBlockY(), vector.getBlockZ());
if (MinecraftBlockExaminer.isDoor(block.getType())) {
Door door = (Door) block.getState().getData();
if (door.isOpen()) {
BlockFace targetFace = door.getFacing().getOppositeFace();
destVector.setX(vector.getX() + targetFace.getModX());
destVector.setZ(vector.getZ() + targetFace.getModZ());
}
}*/
Location dest = Util.getCenterLocation(vector.toLocation(loc.getWorld()).getBlock());
double dX = dest.getX() - loc.getX();
double dZ = dest.getZ() - loc.getZ();
double dY = dest.getY() - loc.getY();
double xzDistance = dX * dX + dZ * dZ;
if (Math.abs(dY) < 1 && Math.sqrt(xzDistance) <= params.distanceMargin()) {
plan.update(npc);
if (plan.isComplete()) {
return true;
}
vector = plan.getCurrentVector();
return false;
}
if (params.debug()) {
npc.getEntity().getWorld().playEffect(dest, Effect.ENDER_SIGNAL, 0);
}
if (npc.getEntity() instanceof LivingEntity && !npc.getEntity().getType().name().contains("ARMOR_STAND")) {
NMS.setDestination(npc.getEntity(), dest.getX(), dest.getY(), dest.getZ(), params.speed());
} else {
Vector dir = dest.toVector().subtract(npc.getEntity().getLocation().toVector()).normalize().multiply(0.2);
Block in = npc.getEntity().getLocation().getBlock();
if ((dY >= 1 && Math.sqrt(xzDistance) <= 0.4)
|| (dY >= 0.2 && MinecraftBlockExaminer.isLiquidOrInLiquid(in))) {
dir.add(new Vector(0, 0.75, 0));
}
npc.getEntity().setVelocity(dir);
Util.faceLocation(npc.getEntity(), dest);
}
plan.run(npc);
return false;
}
public static class AStarPlanner {
Location from;
int iterations;
NavigatorParameters params;
Path plan;
AStarState state;
Location to;
public AStarPlanner(NavigatorParameters params, Location from, Location to) {
this.params = params;
this.from = from;
this.to = to;
params.examiner(new BlockExaminer() {
@Override
public float getCost(BlockSource source, PathPoint point) {
Vector pos = point.getVector();
Material above = source.getMaterialAt(pos.setY(pos.getY() + 1));
return params.avoidWater() && (MinecraftBlockExaminer.isLiquid(above)
|| MinecraftBlockExaminer.isLiquidOrInLiquid(pos.toLocation(source.getWorld()).getBlock()))
? 1F
: 0F;
}
@Override
public PassableState isPassable(BlockSource source, PathPoint point) {
return PassableState.IGNORE;
}
});
VectorGoal goal = new VectorGoal(to, (float) params.pathDistanceMargin());
state = ASTAR.getStateFor(goal,
new VectorNode(goal, from, new NMSChunkBlockSource(from, params.range()), params.examiners()));
}
public CancelReason tick(int iterationsPerTick, int maxIterations) {
if (this.plan != null)
return null;
Path plan = ASTAR.run(state, iterationsPerTick);
if (plan == null) {
if (state.isEmpty()) {
return CancelReason.STUCK;
}
if (iterationsPerTick > 0 && maxIterations > 0) {
iterations += iterationsPerTick;
if (iterations > maxIterations) {
return CancelReason.STUCK;
}
}
} else {
this.plan = plan;
if (params.debug()) {
plan.debug();
}
}
return null;
}
}
private static final AStarMachine<VectorNode, Path> ASTAR = AStarMachine.createWithDefaultStorage();
private static final Location NPC_LOCATION = new Location(null, 0, 0, 0);
}