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route to facing

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This commit is contained in:
Andy Killorin 2023-12-19 12:00:39 -06:00
parent 9be02c161d
commit c4e1096588
Signed by: ank
GPG key ID: B6241CA3B552BCA4
1 changed files with 16 additions and 4 deletions
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20
server/src/paths.rs
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@ -1,18 +1,30 @@
use std::rc::Rc;
use crate::{
blocks::{Block, World, Position, Direction, Vec3, WorldReadLock},
blocks::{Block, World, Position, Direction, Vec3, WorldReadLock}, turtle::TurtleCommand,
};
use pathfinding::prelude::astar;
pub async fn route_facing(from: Position, to: Position, world: &World) -> Option<Vec<Position>> {
let facing = |p: &Position| {
let ahead = p.dir.unit() + p.pos;
to.pos == ahead
};
route_to(from, to.pos, facing, world).await
}
pub async fn route(from: Position, to: Position, world: &World) -> Option<Vec<Position>> {
route_to(from, to.pos, |p| p == &to, world).await
}
async fn route_to<D>(from: Position, to: Vec3, done: D, world: &World) -> Option<Vec<Position>>
where D: FnMut(&Position) -> bool {
// lock once, we'll be doing a lot of lookups
let world = world.clone().lock().await;
// attempt at not crashing by looking infinitely into the abyss
if world
.locate_at_point(&to.pos.into())
.locate_at_point(&to.into())
.is_some_and(|b| difficulty(&b.name).is_none())
{
return None;
@ -20,8 +32,8 @@ pub async fn route(from: Position, to: Position, world: &World) -> Option<Vec<Po
let route = astar(
&from,
move |p| next(p, &world),
|p1| (p1.pos - &to.pos).abs().sum() as u32,
|p| p == &to,
|p1| (p1.pos - &to).abs().sum() as u32,
done,
)
.unwrap();
Some(route.0)