Add mining to the pathfinder (#122)

* basic pathfinder mining poc

* mining descending and autotool

* pathfinder mining descending

* pathfinder fixes

* allow disabling pathfinder miner and other fixes

* small optimization to avoid chunk vec iter lookup sometimes

* seeded rng in pathfinder bench

* consistently use f32::INFINITY

this brings performance much closer to how it was before

* astar heuristic optimization from baritone

* add downward_move

* fix downward move execute

* avoid liquids and falling blocks when mining

* fix COST_HEURISTIC

* fix to not path through flowing liquids

* only reset pathfinder timeout while mining if the block is close enough

* cache mining costs of block positions

* fix mine_while_at_start and move PathfinderDebugParticles to its own module

* add ReachBlockPosGoal

in other news: azalea's sin/cos functions were broken this whole time and i never noticed

* clippy and add things that i accidentally didn't commit

* improve wording on doc for azalea::pathfinder

azalea-block/src/range.rs

@@ -1,4 +1,7 @@
-use std::{collections::HashSet, ops::RangeInclusive};
+use std::{
+    collections::HashSet,
+    ops::{Add, RangeInclusive},
+};
 
 use crate::BlockState;
 
@@ -31,3 +34,13 @@ impl BlockStates {
         self.set.contains(state)
     }
 }
+
+impl Add for BlockStates {
+    type Output = Self;
+
+    fn add(self, rhs: Self) -> Self::Output {
+        Self {
+            set: self.set.union(&rhs.set).copied().collect(),
+        }
+    }
+}

azalea-client/src/interact.rs

@@ -193,7 +193,7 @@ pub fn update_hit_result_component(
         };
         let instance = instance_lock.read();
 
-        let hit_result = pick(look_direction, &eye_position, &instance, pick_range);
+        let hit_result = pick(look_direction, &eye_position, &instance.chunks, pick_range);
         if let Some(mut hit_result_ref) = hit_result_ref {
             **hit_result_ref = hit_result;
         } else {
@@ -212,13 +212,13 @@ pub fn update_hit_result_component(
 pub fn pick(
     look_direction: &LookDirection,
     eye_position: &Vec3,
-    instance: &Instance,
+    chunks: &azalea_world::ChunkStorage,
     pick_range: f64,
 ) -> BlockHitResult {
     let view_vector = view_vector(look_direction);
     let end_position = eye_position + &(view_vector * pick_range);
     azalea_physics::clip::clip(
-        &instance.chunks,
+        chunks,
         ClipContext {
             from: *eye_position,
             to: end_position,

azalea-client/src/inventory.rs

@@ -12,6 +12,7 @@ use azalea_inventory::{
 use azalea_protocol::packets::game::{
     serverbound_container_click_packet::ServerboundContainerClickPacket,
     serverbound_container_close_packet::ServerboundContainerClosePacket,
+    serverbound_set_carried_item_packet::ServerboundSetCarriedItemPacket,
 };
 use azalea_registry::MenuKind;
 use bevy_app::{App, Plugin, Update};
@@ -40,9 +41,11 @@ impl Plugin for InventoryPlugin {
             .add_event::<CloseContainerEvent>()
             .add_event::<ContainerClickEvent>()
             .add_event::<SetContainerContentEvent>()
+            .add_event::<SetSelectedHotbarSlotEvent>()
             .add_systems(
                 Update,
                 (
+                    handle_set_selected_hotbar_slot_event,
                     handle_menu_opened_event,
                     handle_set_container_content_event,
                     handle_container_click_event,
@@ -734,3 +737,33 @@ fn handle_set_container_content_event(
         }
     }
 }
+
+#[derive(Event)]
+pub struct SetSelectedHotbarSlotEvent {
+    pub entity: Entity,
+    /// The hotbar slot to select. This should be in the range 0..=8.
+    pub slot: u8,
+}
+fn handle_set_selected_hotbar_slot_event(
+    mut events: EventReader<SetSelectedHotbarSlotEvent>,
+    mut send_packet_events: EventWriter<SendPacketEvent>,
+    mut query: Query<&mut InventoryComponent>,
+) {
+    for event in events.read() {
+        let mut inventory = query.get_mut(event.entity).unwrap();
+
+        // if the slot is already selected, don't send a packet
+        if inventory.selected_hotbar_slot == event.slot {
+            continue;
+        }
+
+        inventory.selected_hotbar_slot = event.slot;
+        send_packet_events.send(SendPacketEvent {
+            entity: event.entity,
+            packet: ServerboundSetCarriedItemPacket {
+                slot: event.slot as u16,
+            }
+            .get(),
+        });
+    }
+}

azalea-client/src/mining.rs

@@ -200,7 +200,20 @@ fn handle_start_mining_block_with_direction_event(
                 .get_block_state(&event.position)
                 .unwrap_or_default();
             *sequence_number += 1;
-            let block_is_solid = !target_block_state.is_air();
+            let target_registry_block = azalea_registry::Block::from(target_block_state);
+
+            // we can't break blocks if they don't have a bounding box
+
+            // TODO: So right now azalea doesn't differenciate between different types of
+            // bounding boxes. See ClipContext::block_shape for more info. Ideally this
+            // should just call ClipContext::block_shape and check if it's empty.
+            let block_is_solid = !target_block_state.is_air()
+                // this is a hack to make sure we can't break water or lava
+                && !matches!(
+                    target_registry_block,
+                    azalea_registry::Block::Water | azalea_registry::Block::Lava
+                );
+
             if block_is_solid && **mine_progress == 0. {
                 // interact with the block (like note block left click) here
                 attack_block_events.send(AttackBlockEvent {

azalea-core/src/math.rs

@@ -13,15 +13,15 @@ pub static SIN: LazyLock<[f32; 65536]> = LazyLock::new(|| {
 /// A sine function that uses a lookup table.
 pub fn sin(x: f32) -> f32 {
     let x = x * 10430.378;
-    let x = x as usize;
-    SIN[x & 65535]
+    let x = x as i32 as usize & 65535;
+    SIN[x]
 }
 
 /// A cosine function that uses a lookup table.
 pub fn cos(x: f32) -> f32 {
     let x = x * 10430.378 + 16384.0;
-    let x = x as usize;
-    SIN[x & 65535]
+    let x = x as i32 as usize & 65535;
+    SIN[x]
 }
 
 // TODO: make this generic
@@ -83,4 +83,24 @@ mod tests {
         assert_eq!(gcd(12, 7), 1);
         assert_eq!(gcd(7, 12), 1);
     }
+
+    #[test]
+    fn test_sin() {
+        const PI: f32 = std::f32::consts::PI;
+        // check that they're close enough
+        fn assert_sin_eq_enough(number: f32) {
+            let a = sin(number);
+            let b = f32::sin(number);
+            assert!((a - b).abs() < 0.01, "sin({number}) failed, {a} != {b}");
+        }
+        assert_sin_eq_enough(0.0);
+        assert_sin_eq_enough(PI / 2.0);
+        assert_sin_eq_enough(PI);
+        assert_sin_eq_enough(PI * 2.0);
+        assert_sin_eq_enough(PI * 3.0 / 2.0);
+        assert_sin_eq_enough(-PI / 2.0);
+        assert_sin_eq_enough(-PI);
+        assert_sin_eq_enough(-PI * 2.0);
+        assert_sin_eq_enough(-PI * 3.0 / 2.0);
+    }
 }

azalea-core/src/position.rs

@@ -5,6 +5,7 @@
 
 use azalea_buf::{BufReadError, McBuf, McBufReadable, McBufWritable};
 use std::{
+    fmt,
     hash::Hash,
     io::{Cursor, Write},
     ops::{Add, AddAssign, Mul, Rem, Sub},
@@ -65,6 +66,43 @@ macro_rules! vec3_impl {
                 }
             }
 
+            /// Return a new instance of this position with the z coordinate subtracted
+            /// by the given number.
+            pub fn north(&self, z: $type) -> Self {
+                Self {
+                    x: self.x,
+                    y: self.y,
+                    z: self.z - z,
+                }
+            }
+            /// Return a new instance of this position with the x coordinate increased
+            /// by the given number.
+            pub fn east(&self, x: $type) -> Self {
+                Self {
+                    x: self.x + x,
+                    y: self.y,
+                    z: self.z,
+                }
+            }
+            /// Return a new instance of this position with the z coordinate increased
+            /// by the given number.
+            pub fn south(&self, z: $type) -> Self {
+                Self {
+                    x: self.x,
+                    y: self.y,
+                    z: self.z + z,
+                }
+            }
+            /// Return a new instance of this position with the x coordinate subtracted
+            /// by the given number.
+            pub fn west(&self, x: $type) -> Self {
+                Self {
+                    x: self.x - x,
+                    y: self.y,
+                    z: self.z,
+                }
+            }
+
             #[inline]
             pub fn dot(&self, other: Self) -> $type {
                 self.x * other.x + self.y * other.y + self.z * other.z
@@ -501,6 +539,13 @@ impl From<Vec3> for ChunkBlockPos {
     }
 }
 
+impl fmt::Display for BlockPos {
+    /// Display a block position as `x y z`.
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(f, "{} {} {}", self.x, self.y, self.z)
+    }
+}
+
 const PACKED_X_LENGTH: u64 = 1 + 25; // minecraft does something a bit more complicated to get this 25
 const PACKED_Z_LENGTH: u64 = PACKED_X_LENGTH;
 const PACKED_Y_LENGTH: u64 = 64 - PACKED_X_LENGTH - PACKED_Z_LENGTH;

azalea-world/src/chunk_storage.rs

@@ -34,7 +34,7 @@ pub struct PartialChunkStorage {
 /// A storage for chunks where they're only stored weakly, so if they're not
 /// actively being used somewhere else they'll be forgotten. This is used for
 /// shared worlds.
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct ChunkStorage {
     pub height: u32,
     pub min_y: i32,
@@ -514,7 +514,12 @@ impl Default for ChunkStorage {
 /// and the minimum y coordinate of the world.
 #[inline]
 pub fn section_index(y: i32, min_y: i32) -> u32 {
-    assert!(y >= min_y, "y ({y}) must be at least {min_y}");
+    if y < min_y {
+        #[cfg(debug_assertions)]
+        panic!("y ({y}) must be at most {min_y}");
+        #[cfg(not(debug_assertions))]
+        tracing::error!("y ({y}) must be at least {min_y}")
+    };
     let min_section_index = min_y >> 4;
     ((y >> 4) - min_section_index) as u32
 }