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

1 files changed, 89 insertions, 10 deletions

diff --git a/azalea/src/pathfinder/mining.rs b/azalea/src/pathfinder/mining.rs
index d5977973..1bc08c43 100644
--- a/azalea/src/pathfinder/mining.rs
+++ b/azalea/src/pathfinder/mining.rs
@@ -1,30 +1,109 @@
-use azalea_block::BlockState;
+use std::{cell::UnsafeCell, ops::RangeInclusive};
+
+use azalea_block::{BlockState, BlockStates};
 use azalea_inventory::Menu;
 use nohash_hasher::IntMap;
 
 use crate::auto_tool::best_tool_in_hotbar_for_block;
 
+use super::costs::BLOCK_BREAK_ADDITIONAL_PENALTY;
+
 pub struct MiningCache {
-    block_state_id_costs: IntMap<u32, f32>,
-    inventory_menu: Menu,
+    block_state_id_costs: UnsafeCell<IntMap<u32, f32>>,
+    inventory_menu: Option<Menu>,
+
+    water_block_state_range: RangeInclusive<u32>,
+    lava_block_state_range: RangeInclusive<u32>,
+
+    falling_blocks: Vec<BlockState>,
 }
 
 impl MiningCache {
-    pub fn new(inventory_menu: Menu) -> Self {
+    pub fn new(inventory_menu: Option<Menu>) -> Self {
+        let water_block_states = BlockStates::from(azalea_registry::Block::Water);
+        let lava_block_states = BlockStates::from(azalea_registry::Block::Lava);
+
+        let mut water_block_state_range_min = u32::MAX;
+        let mut water_block_state_range_max = u32::MIN;
+        for state in water_block_states {
+            water_block_state_range_min = water_block_state_range_min.min(state.id);
+            water_block_state_range_max = water_block_state_range_max.max(state.id);
+        }
+        let water_block_state_range = water_block_state_range_min..=water_block_state_range_max;
+
+        let mut lava_block_state_range_min = u32::MAX;
+        let mut lava_block_state_range_max = u32::MIN;
+        for state in lava_block_states {
+            lava_block_state_range_min = lava_block_state_range_min.min(state.id);
+            lava_block_state_range_max = lava_block_state_range_max.max(state.id);
+        }
+        let lava_block_state_range = lava_block_state_range_min..=lava_block_state_range_max;
+
+        let mut falling_blocks: Vec<BlockState> = vec![
+            azalea_registry::Block::Sand.into(),
+            azalea_registry::Block::RedSand.into(),
+            azalea_registry::Block::Gravel.into(),
+            azalea_registry::Block::Anvil.into(),
+            azalea_registry::Block::ChippedAnvil.into(),
+            azalea_registry::Block::DamagedAnvil.into(),
+            // concrete powders
+            azalea_registry::Block::WhiteConcretePowder.into(),
+            azalea_registry::Block::OrangeConcretePowder.into(),
+            azalea_registry::Block::MagentaConcretePowder.into(),
+            azalea_registry::Block::LightBlueConcretePowder.into(),
+            azalea_registry::Block::YellowConcretePowder.into(),
+            azalea_registry::Block::LimeConcretePowder.into(),
+            azalea_registry::Block::PinkConcretePowder.into(),
+            azalea_registry::Block::GrayConcretePowder.into(),
+            azalea_registry::Block::LightGrayConcretePowder.into(),
+            azalea_registry::Block::CyanConcretePowder.into(),
+            azalea_registry::Block::PurpleConcretePowder.into(),
+            azalea_registry::Block::BlueConcretePowder.into(),
+            azalea_registry::Block::BrownConcretePowder.into(),
+            azalea_registry::Block::GreenConcretePowder.into(),
+            azalea_registry::Block::RedConcretePowder.into(),
+            azalea_registry::Block::BlackConcretePowder.into(),
+        ];
+        falling_blocks.sort_unstable_by_key(|block| block.id);
+
         Self {
-            block_state_id_costs: IntMap::default(),
+            block_state_id_costs: UnsafeCell::new(IntMap::default()),
             inventory_menu,
+            water_block_state_range,
+            lava_block_state_range,
+            falling_blocks,
         }
     }
 
-    pub fn cost_for(&mut self, block: BlockState) -> f32 {
-        if let Some(cost) = self.block_state_id_costs.get(&block.id) {
+    pub fn cost_for(&self, block: BlockState) -> f32 {
+        let Some(inventory_menu) = &self.inventory_menu else {
+            return f32::INFINITY;
+        };
+
+        // SAFETY: mining is single-threaded, so this is safe
+        let block_state_id_costs = unsafe { &mut *self.block_state_id_costs.get() };
+
+        if let Some(cost) = block_state_id_costs.get(&block.id) {
             *cost
         } else {
-            let best_tool_result = best_tool_in_hotbar_for_block(block, &self.inventory_menu);
-            let cost = 1. / best_tool_result.percentage_per_tick;
-            self.block_state_id_costs.insert(block.id, cost);
+            let best_tool_result = best_tool_in_hotbar_for_block(block, inventory_menu);
+            let mut cost = 1. / best_tool_result.percentage_per_tick;
+
+            cost += BLOCK_BREAK_ADDITIONAL_PENALTY;
+
+            block_state_id_costs.insert(block.id, cost);
             cost
         }
     }
+
+    pub fn is_liquid(&self, block: BlockState) -> bool {
+        self.water_block_state_range.contains(&block.id)
+            || self.lava_block_state_range.contains(&block.id)
+    }
+
+    pub fn is_falling_block(&self, block: BlockState) -> bool {
+        self.falling_blocks
+            .binary_search_by_key(&block.id, |block| block.id)
+            .is_ok()
+    }
 }