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https://github.com/kepler155c/opus
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proxy + pathfinding optimization
This commit is contained in:
kepler155c@gmail.com
@@ -7,59 +7,46 @@ local Util = require('util')
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local turtle = _G.turtle
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local WALKABLE = 0
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local function createMap(dim)
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local map = { }
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for _ = 1, dim.ez do
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local row = {}
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for _ = 1, dim.ex do
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local col = { }
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for _ = 1, dim.ey do
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table.insert(col, WALKABLE)
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end
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table.insert(row, col)
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local function addBlock(grid, b, dim)
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if Point.inBox(b, dim) then
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local node = grid:getNodeAt(b.x, b.y, b.z)
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if node then
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node.walkable = 1
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end
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table.insert(map, row)
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end
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return map
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end
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local function addBlock(map, dim, b)
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map[b.z + dim.oz][b.x + dim.ox][b.y + dim.oy] = 1
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end
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-- map shrinks/grows depending upon blocks encountered
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-- the map will encompass any blocks encountered, the turtle position, and the destination
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local function mapDimensions(dest, blocks, boundingBox)
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local function mapDimensions(dest, blocks, boundingBox, dests)
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local sx, sz, sy = turtle.point.x, turtle.point.z, turtle.point.y
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local ex, ez, ey = turtle.point.x, turtle.point.z, turtle.point.y
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local function adjust(pt)
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if pt.x < sx then
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sx = pt.x
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end
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if pt.z < sz then
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sz = pt.z
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elseif pt.x > ex then
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ex = pt.x
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end
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if pt.y < sy then
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sy = pt.y
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end
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if pt.x > ex then
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ex = pt.x
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end
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if pt.z > ez then
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ez = pt.z
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end
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if pt.y > ey then
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elseif pt.y > ey then
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ey = pt.y
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end
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if pt.z < sz then
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sz = pt.z
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elseif pt.z > ez then
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ez = pt.z
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end
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end
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adjust(dest)
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for _,b in ipairs(blocks) do
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for _,d in pairs(dests) do
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adjust(d)
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end
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for _,b in pairs(blocks) do
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adjust(b)
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end
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@@ -81,29 +68,23 @@ local function mapDimensions(dest, blocks, boundingBox)
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end
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return {
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ex = ex - sx + 1,
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ez = ez - sz + 1,
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ey = ey - sy + 1,
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ox = -sx + 1,
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oz = -sz + 1,
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oy = -sy + 1
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ex = ex,
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ez = ez,
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ey = ey,
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x = sx,
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z = sz,
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y = sy
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}
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end
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-- shifting and coordinate flipping
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local function pointToMap(dim, pt)
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return { x = pt.x + dim.ox, z = pt.y + dim.oy, y = pt.z + dim.oz }
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end
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local function nodeToPoint(dim, node)
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return { x = node:getX() - dim.ox, z = node:getY() - dim.oz, y = node:getZ() - dim.oy }
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local function nodeToPoint(node)
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return { x = node:getX(), z = node:getZ(), y = node:getY() }
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end
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local heuristic = function(n, node)
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local m, h = Point.calculateMoves(
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{ x = node._x, z = node._y, y = node._z, heading = node._heading },
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{ x = n._x, z = n._y, y = n._z, heading = n._heading })
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{ x = node._x, y = node._y, z = node._z, heading = node._heading },
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{ x = n._x, y = n._y, z = n._z, heading = n._heading })
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return m, h
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end
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@@ -112,9 +93,9 @@ local function dimsAreEqual(d1, d2)
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return d1.ex == d2.ex and
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d1.ey == d2.ey and
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d1.ez == d2.ez and
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d1.ox == d2.ox and
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d1.oy == d2.oy and
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d1.oz == d2.oz
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d1.x == d2.x and
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d1.y == d2.y and
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d1.z == d2.z
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end
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-- turtle sensor returns blocks in relation to the world - not turtle orientation
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@@ -122,7 +103,6 @@ end
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-- really kinda dumb since it returns the coordinates as offsets of our location
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-- instead of true coordinates
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local function addSensorBlocks(blocks, sblocks)
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for _,b in pairs(sblocks) do
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if b.type ~= 'AIR' then
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local pt = { x = turtle.point.x, y = turtle.point.y + b.y, z = turtle.point.z }
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@@ -142,28 +122,29 @@ local function addSensorBlocks(blocks, sblocks)
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end
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end
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local function selectDestination(pts, box, map, dim)
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local function selectDestination(pts, box, grid)
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if #pts == 1 then
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return pts[1]
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end
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while #pts > 0 do
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local pt = Point.closest(turtle.point, pts)
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if (box and not Point.inBox(pt, box)) or
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map[pt.z + dim.oz][pt.x + dim.ox][pt.y + dim.oy] == 1 then
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if box and not Point.inBox(pt, box) then
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Util.removeByValue(pts, pt)
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else
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if grid:isWalkableAt(pt.x, pt.y, pt.z) then
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return pt
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end
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Util.removeByValue(pts, pt)
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else
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return pt
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end
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end
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end
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local function pathTo(dest, options)
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local blocks = options.blocks or turtle.getState().blocks or { }
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local dests = options.dest or { dest } -- support alternative destinations
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local box = options.box or turtle.getState().box
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local lastDim = nil
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local map = nil
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local grid = nil
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if box then
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@@ -171,32 +152,26 @@ local function pathTo(dest, options)
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end
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-- Creates a pathfinder object
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local myFinder = Pathfinder(grid, 'ASTAR', WALKABLE)
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myFinder:setMode('ORTHOGONAL')
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myFinder:setHeuristic(heuristic)
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local myFinder = Pathfinder(heuristic)
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while turtle.point.x ~= dest.x or turtle.point.z ~= dest.z or turtle.point.y ~= dest.y do
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-- map expands as we encounter obstacles
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local dim = mapDimensions(dest, blocks, box)
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local dim = mapDimensions(dest, blocks, box, dests)
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-- reuse map if possible
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if not lastDim or not dimsAreEqual(dim, lastDim) then
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map = createMap(dim)
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-- Creates a grid object
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grid = Grid(map)
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grid = Grid(dim)
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myFinder:setGrid(grid)
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myFinder:setWalkable(WALKABLE)
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lastDim = dim
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end
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for _,b in ipairs(blocks) do
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addBlock(map, dim, b)
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for _,b in pairs(blocks) do
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addBlock(grid, b, dim)
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end
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dest = selectDestination(dests, box, map, dim)
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dest = selectDestination(dests, box, grid)
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if not dest then
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-- error('failed to reach destination')
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return false, 'failed to reach destination'
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@@ -206,8 +181,8 @@ local function pathTo(dest, options)
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end
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-- Define start and goal locations coordinates
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local startPt = pointToMap(dim, turtle.point)
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local endPt = pointToMap(dim, dest)
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local startPt = turtle.point
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local endPt = dest
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-- Calculates the path, and its length
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local path = myFinder:getPath(
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@@ -218,7 +193,7 @@ local function pathTo(dest, options)
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Util.removeByValue(dests, dest)
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else
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for node in path:nodes() do
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local pt = nodeToPoint(dim, node)
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local pt = nodeToPoint(node)
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if turtle.abort then
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return false, 'aborted'
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@@ -262,6 +237,12 @@ return {
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turtle.getState().blocks = blocks
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end,
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addBlock = function(block)
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if turtle.getState().blocks then
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table.insert(turtle.getState().blocks, block)
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end
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end,
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reset = function()
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turtle.getState().box = nil
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turtle.getState().blocks = nil
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