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, 124 insertions, 17 deletions

diff --git a/azalea/src/pathfinder/moves/basic.rs b/azalea/src/pathfinder/moves/basic.rs
index 957e24c6..54a6dc6a 100644
--- a/azalea/src/pathfinder/moves/basic.rs
+++ b/azalea/src/pathfinder/moves/basic.rs
@@ -16,17 +16,20 @@ pub fn basic_move(ctx: &mut PathfinderCtx, node: BlockPos) {
     descend_move(ctx, node);
     diagonal_move(ctx, node);
     descend_forward_1_move(ctx, node);
+    downward_move(ctx, node);
 }
 
 fn forward_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
     for dir in CardinalDirection::iter() {
         let offset = BlockPos::new(dir.x(), 0, dir.z());
 
-        if !ctx.world.is_standable(pos + offset) {
+        let mut cost = SPRINT_ONE_BLOCK_COST;
+
+        let break_cost = ctx.world.cost_for_standing(pos + offset, ctx.mining_cache);
+        if break_cost == f32::INFINITY {
             continue;
         }
-
-        let cost = SPRINT_ONE_BLOCK_COST;
+        cost += break_cost;
 
         ctx.edges.push(Edge {
             movement: astar::Movement {
@@ -43,6 +46,14 @@ fn forward_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
 
 fn execute_forward_move(mut ctx: ExecuteCtx) {
     let center = ctx.target.center();
+
+    if ctx.mine_while_at_start(ctx.target.up(1)) {
+        return;
+    }
+    if ctx.mine_while_at_start(ctx.target) {
+        return;
+    }
+
     ctx.look_at(center);
     ctx.sprint(SprintDirection::Forward);
 }
@@ -51,14 +62,22 @@ fn ascend_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
     for dir in CardinalDirection::iter() {
         let offset = BlockPos::new(dir.x(), 1, dir.z());
 
-        if !ctx.world.is_block_passable(pos.up(2)) {
+        let break_cost_1 = ctx
+            .world
+            .cost_for_breaking_block(pos.up(2), ctx.mining_cache);
+        if break_cost_1 == f32::INFINITY {
             continue;
         }
-        if !ctx.world.is_standable(pos + offset) {
+        let break_cost_2 = ctx.world.cost_for_standing(pos + offset, ctx.mining_cache);
+        if break_cost_2 == f32::INFINITY {
             continue;
         }
 
-        let cost = SPRINT_ONE_BLOCK_COST + JUMP_PENALTY + *JUMP_ONE_BLOCK_COST;
+        let cost = SPRINT_ONE_BLOCK_COST
+            + JUMP_PENALTY
+            + *JUMP_ONE_BLOCK_COST
+            + break_cost_1
+            + break_cost_2;
 
         ctx.edges.push(Edge {
             movement: astar::Movement {
@@ -81,6 +100,16 @@ fn execute_ascend_move(mut ctx: ExecuteCtx) {
         ..
     } = ctx;
 
+    if ctx.mine_while_at_start(start.up(2)) {
+        return;
+    }
+    if ctx.mine_while_at_start(target) {
+        return;
+    }
+    if ctx.mine_while_at_start(target.up(1)) {
+        return;
+    }
+
     let target_center = target.center();
 
     ctx.look_at(target_center);
@@ -123,19 +152,39 @@ fn descend_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
     for dir in CardinalDirection::iter() {
         let dir_delta = BlockPos::new(dir.x(), 0, dir.z());
         let new_horizontal_position = pos + dir_delta;
-        let fall_distance = ctx.world.fall_distance(new_horizontal_position);
-        if fall_distance == 0 || fall_distance > 3 {
+
+        let break_cost_1 = ctx
+            .world
+            .cost_for_passing(new_horizontal_position, ctx.mining_cache);
+        if break_cost_1 == f32::INFINITY {
             continue;
         }
-        let new_position = new_horizontal_position.down(fall_distance as i32);
 
-        // check whether 3 blocks vertically forward are passable
-        if !ctx.world.is_passable(new_horizontal_position) {
+        let mut fall_distance = ctx.world.fall_distance(new_horizontal_position);
+        if fall_distance > 3 {
             continue;
         }
-        // check whether we can stand on the target position
-        if !ctx.world.is_standable(new_position) {
-            continue;
+
+        if fall_distance == 0 {
+            // if the fall distance is 0, set it to 1 so we try mining
+            fall_distance = 1
+        }
+
+        let new_position = new_horizontal_position.down(fall_distance as i32);
+
+        // only mine if we're descending 1 block
+        let break_cost_2;
+        if fall_distance == 1 {
+            break_cost_2 = ctx.world.cost_for_standing(new_position, ctx.mining_cache);
+            if break_cost_2 == f32::INFINITY {
+                continue;
+            }
+        } else {
+            // check whether we can stand on the target position
+            if !ctx.world.is_standable(new_position) {
+                continue;
+            }
+            break_cost_2 = 0.;
         }
 
         let cost = WALK_OFF_BLOCK_COST
@@ -145,9 +194,11 @@ fn descend_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
                     .copied()
                     // avoid panicking if we fall more than the size of FALL_N_BLOCKS_COST
                     // probably not possible but just in case
-                    .unwrap_or(f32::MAX),
+                    .unwrap_or(f32::INFINITY),
                 CENTER_AFTER_FALL_COST,
-            );
+            )
+            + break_cost_1
+            + break_cost_2;
 
         ctx.edges.push(Edge {
             movement: astar::Movement {
@@ -169,6 +220,12 @@ fn execute_descend_move(mut ctx: ExecuteCtx) {
         ..
     } = ctx;
 
+    for i in (0..=(start.y - target.y + 1)).rev() {
+        if ctx.mine_while_at_start(target.up(i)) {
+            return;
+        }
+    }
+
     let start_center = start.center();
     let center = target.center();
 
@@ -249,7 +306,7 @@ fn descend_forward_1_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
                     .copied()
                     // avoid panicking if we fall more than the size of FALL_N_BLOCKS_COST
                     // probably not possible but just in case
-                    .unwrap_or(f32::MAX),
+                    .unwrap_or(f32::INFINITY),
                 CENTER_AFTER_FALL_COST,
             );
 
@@ -310,3 +367,53 @@ fn execute_diagonal_move(mut ctx: ExecuteCtx) {
     ctx.look_at(target_center);
     ctx.sprint(SprintDirection::Forward);
 }
+
+/// Go directly down, usually by mining.
+fn downward_move(ctx: &mut PathfinderCtx, pos: BlockPos) {
+    // make sure we land on a solid block after breaking the one below us
+    if !ctx.world.is_block_solid(pos.down(2)) {
+        return;
+    }
+
+    let break_cost = ctx
+        .world
+        .cost_for_breaking_block(pos.down(1), ctx.mining_cache);
+    if break_cost == f32::INFINITY {
+        return;
+    }
+
+    let cost = FALL_N_BLOCKS_COST[1] + break_cost;
+
+    ctx.edges.push(Edge {
+        movement: astar::Movement {
+            target: pos.down(1),
+            data: MoveData {
+                execute: &execute_downward_move,
+                is_reached: &default_is_reached,
+            },
+        },
+        cost,
+    })
+}
+fn execute_downward_move(mut ctx: ExecuteCtx) {
+    let ExecuteCtx {
+        target, position, ..
+    } = ctx;
+
+    let target_center = target.center();
+
+    let horizontal_distance_from_target =
+        (target_center - position).horizontal_distance_sqr().sqrt();
+
+    if horizontal_distance_from_target > 0.25 {
+        ctx.look_at(target_center);
+        ctx.walk(WalkDirection::Forward);
+    } else if ctx.mine_while_at_start(target) {
+        ctx.walk(WalkDirection::None);
+    } else if BlockPos::from(position) != target {
+        ctx.look_at(target_center);
+        ctx.walk(WalkDirection::Forward);
+    } else {
+        ctx.walk(WalkDirection::None);
+    }
+}