basic fix to carpets

.gitignore

@@ -2,3 +2,4 @@ node_modules/
 dist/
 yarn-*
 package-lock.json
+*.log

src/ThePathfinder.ts

@@ -43,7 +43,7 @@ import { Block, HandlerOpts, ResetReason } from './types'
 import { Task } from '@nxg-org/mineflayer-util-plugin'
 
 import { reconstructPath } from './abstract/algorithms'
-import { closestPointOnLineSegment, getScaffoldCount } from './utils'
+import { closestPointOnLineSegment, getScaffoldCount, getNormalizedPos } from './utils'
 import { World } from './mineflayer-specific/world/worldInterface'
 
 export interface PathfinderOptions {
@@ -444,6 +444,8 @@ export class ThePathfinder {
     this.abortCalculation = false
     delete this.resetReason
 
+    startPos = getNormalizedPos(this.bot, startPos)
+
     this.currentMove = Move.startMove(
       new IdleMovement(this.bot, this.world),
       startPos.clone(),
@@ -777,7 +779,7 @@ export class ThePathfinder {
           console.log('canceled')
           // await this.cleanupBot()
           // allow recovery if movement intentionall canceled.
-          // await this.recovery(move, path, goal, entry)
+          await this.recovery(move, path, goal, entry)
           break
         } else throw err
       }
@@ -809,7 +811,7 @@ export class ThePathfinder {
       nextMove = path.path[ind + 1]
     }
 
-    const no = entry > 0 || bad
+    const no = entry > 5 || bad
     if (no || nextMove == null) {
       newGoal = goal
     } else {

src/mineflayer-specific/movements/movement.ts

@@ -259,7 +259,7 @@ export abstract class Movement {
     if (this.currentMove.remainingBlocks <= 0) return 100
 
     if (block.block === null) return 100 // Don't know its type, but that's only replaceables so just return.
-    if (block.physical) return 0 // block is already physical at location.
+    if (block.solidFull) return 0 // block is already physical at location.
 
     const cost = this.placeCost(block)
 

src/mineflayer-specific/movements/movementExecutor.ts

@@ -9,6 +9,7 @@ import { Movement, MovementOptions } from './movement'
 import { AABB, AABBUtils, Task } from '@nxg-org/mineflayer-util-plugin'
 import { BaseSimulator, Controller, EPhysicsCtx, EntityPhysics, EntityState, SimulationGoal } from '@nxg-org/mineflayer-physics-util'
 import { botStrafeMovement, botSmartMovement } from './controls'
+import { getNormalizedPos } from '../../utils'
 
 // temp typing
 interface AbortOpts {
@@ -281,8 +282,10 @@ export abstract class MovementExecutor extends Movement {
 
     // console.log(ectx.state.pos, ectx.state.isCollidedHorizontally, ectx.state.isCollidedVertically);
 
+    const normPos = getNormalizedPos(this.bot, pos)
+
     // const pos = this.bot.entity.position
-    const bb0 = AABBUtils.getPlayerAABB({ position: pos, width: 0.599, height: 1.8 })
+    const bb0 = AABBUtils.getPlayerAABB({ position: normPos, width: 0.599, height: 1.8 })
     // bb0.extend(0, ticks === 0 ? -0.251 : -0.1, 0);
     // bb0.expand(-0.0001, 0, -0.0001);
 
@@ -370,9 +373,12 @@ export abstract class MovementExecutor extends Movement {
     off1.translate(0, -off1.y, 0)
 
     const similarDirection = off0.normalize().dot(off1.normalize()) > 0.95
+
+    const normPos = getNormalizedPos(this.bot)
+
     // console.log(similarDirection, thisMove.moveType.constructor.name, target, thisMove.entryPos, thisMove.exitPos)
     // if (!similarDirection) {
-    const bb0 = AABBUtils.getEntityAABBRaw({ position: this.bot.entity.position, width: 0.6, height: 1.8 })
+    const bb0 = AABBUtils.getEntityAABBRaw({ position: normPos, width: 0.6, height: 1.8 })
 
     const bb1bl = this.getBlockInfo(target, 0, -1, 0)
     const bb1 = bb1bl.getBBs()
@@ -384,20 +390,20 @@ export abstract class MovementExecutor extends Movement {
     if (bb2.length === 0) bb2.push(AABB.fromBlock(bb2bl.position))
     const bb2good = bb2bl.physical || bb2bl.liquid
 
-    // console.log(
-    //   this.toPlaceLen(),
-    //   bb1bl.block?.name,
-    //   bb1,
-    //   bb2bl.block?.name,
-    //   bb2,
-    //   'test',
-    //   bb0,
-    //   bb1.some((b) => b.collides(bb0)),
-    //   bb1physical,
-    //   bb2.some((b) => b.collides(bb0)),
-    //   bb2physical,
-    //   bb2bl
-    // )
+    console.log(
+      this.toPlaceLen(),
+      bb1bl.block?.name,
+      bb1,
+      bb2bl.block?.name,
+      bb2,
+      'test',
+      bb0,
+      bb1.some((b) => b.collides(bb0)),
+      bb1good,
+      bb2.some((b) => b.collides(bb0)),
+      bb2good,
+      bb2bl
+    )
     // console.log(bb0.collides(bb1), bb0, bb1, this.bot.entity.position.distanceTo(thisMove.entryPos))
     if ((bb1.some((b) => b.collides(bb0)) && bb1good) || (bb2.some((b) => b.collides(bb0)) && bb2good)) {
       // console.log('yay', similarDirection, this.bot.entity.position.xzDistanceTo(target))

src/mineflayer-specific/movements/movementProviders.ts

@@ -175,14 +175,14 @@ export class ForwardJump extends MovementProvider {
     // if (blockB.physical && !blockH.physical && !blockC.physical && (this.getNumEntitiesAt(blockB.position, 0, 1, 0) > 0)) return // It is fine if an ent falls on B so long as we don't need to replace block C
 
     // if liquid, allow swim movement up to it.
-    if (!blockC.physical && !blockB.liquid) {
+    if (!blockC.solidFull && !blockB.liquid) {
       if (node.remainingBlocks <= 0) return // not enough blocks to place
 
       // if (this.getNumEntitiesAt(blockC.position, 0, 0, 0) > 0) return // Check for any entities in the way of a block placement
 
       // console.log('blockC', blockC)
       const blockD = this.getBlockInfo(pos, dir.x, -1, dir.z)
-      if (!blockD.physical) {
+      if (!blockD.solidFull) {
         if (node.remainingBlocks <= 1) return // not enough blocks to place
 
         // if (this.getNumEntitiesAt(blockD.position, 0, 0, 0) > 0) return // Check for any entities in the way of a block placement
@@ -380,12 +380,12 @@ export class StraightUp extends MovementProvider {
           toBreak.push(BreakHandler.fromVec(block1.position, 'solid'))
         }
 
+        if ((cost += this.safeOrPlace(block1, toPlace, 'solid')) > 100) return
+
         const block0 = this.getBlockInfo(node, 0, -1, 0)
 
         if (block0.liquid) return // cant build in water
         if (block0.physical && block0.height - node.y < -0.2) return // cannot jump-place from a half block
-
-        if ((cost += this.safeOrPlace(block1, toPlace, 'solid')) > 100) return
       }
     }
 

src/mineflayer-specific/world/cacheWorld.ts

@@ -50,6 +50,7 @@ export class BlockInfo {
     return this._fallBlockOver
   }
 
+  public readonly solidFull: boolean
   public readonly isInvalid = this.type === -1
 
   constructor (
@@ -65,7 +66,10 @@ export class BlockInfo {
     // comp only
     public readonly type: number,
     public readonly block: Block | null = null
-  ) {}
+  ) {
+    // this.solidFull = physical
+    this.solidFull = this.height - this.position.y >= 1 && this.physical
+  }
 
   static init (registry: MCData): void {
     if (BlockInfo.initialized) return
@@ -398,9 +402,9 @@ export class CacheSyncWorld implements WorldType {
   }
 
   getBlock (pos: Vec3): Block | null {
-    if (!this.enabled) {
-      return this.world.getBlock(pos) as unknown as Block
-    }
+    // if (!this.enabled) {
+    //   return this.world.getBlock(pos) as unknown as Block
+    // }
     this.cacheCalls++
     pos = pos.floored()
     const key = `${pos.x}:${pos.y}:${pos.z}`
@@ -417,9 +421,9 @@ export class CacheSyncWorld implements WorldType {
     // this.cacheCalls++
     // return BlockInfo.fromBlock(this.world.getBlock(pos))
 
-    if (!this.enabled) {
-      return BlockInfo.fromBlock(this.world.getBlock(pos))
-    }
+    // if (!this.enabled) {
+    //   return BlockInfo.fromBlock(this.world.getBlock(pos))
+    // }
     this.cacheCalls++
     pos = pos.floored()
     const key = `${pos.x}:${pos.y}:${pos.z}`

src/utils.ts

@@ -55,6 +55,19 @@ export function closestPointOnLineSegment (point: Vec3, segmentStart: Vec3, segm
   return segmentStart.plus(segmentEnd.minus(segmentStart).scaled(t))
 }
 
+export function getNormalizedPos (bot: Bot, startPos?: Vec3): Vec3 {
+  if (!BlockInfo.initialized) throw new Error('BlockInfo not initialized')
+  // check if we are on carpet
+  const pos = startPos ?? bot.entity.position.clone()
+
+  const block = bot.pathfinder.world.getBlockInfo(pos)
+  if (BlockInfo.carpets.has(block.type)) {
+    return pos.floor()
+  }
+
+  return pos
+}
+
 export async function onceWithCleanup<T> (
   emitter: NodeJS.EventEmitter,
   event: string,