Pathfinder Plugin

MineSharp.Bot.IntegrationTests/MineSharp.Bot.IntegrationTests.csproj

@@ -8,11 +8,22 @@
     <LangVersion>12</LangVersion>
     <IsPackable>false</IsPackable>
   </PropertyGroup>
-
   <ItemGroup>
-    <ProjectReference Include="..\MineSharp.Bot\MineSharp.Bot.csproj"/>
+    <PackageReference Include="Humanizer" Version="2.14.1"/>
+    <PackageReference Include="Spectre.Console" Version="0.47.1-preview.0.7"/>
   </ItemGroup>
-
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+    <TargetFrameworks>net7.0;net8.0</TargetFrameworks>
+    <LangVersion>12</LangVersion>
+    <IsPackable>false</IsPackable>
+  </PropertyGroup>
+    <ItemGroup>
+      <ProjectReference Include="..\MineSharp.Bot\MineSharp.Bot.csproj" />
+      <ProjectReference Include="..\Plugins\MineSharp.Pathfinder\MineSharp.Pathfinder.csproj" />
+    </ItemGroup>
   <ItemGroup>
     <PackageReference Include="Humanizer" Version="2.14.1"/>
     <PackageReference Include="Spectre.Console" Version="0.47.1-preview.0.7"/>

MineSharp.Bot.IntegrationTests/Program.cs

@@ -1,7 +1,67 @@
-using MineSharp.Bot.IntegrationTests.Tests;
+using MineSharp.Bot;
+using MineSharp.Bot.IntegrationTests.Tests;
+using MineSharp.Bot.Plugins;
+using MineSharp.Core.Common;
+using MineSharp.Core.Common.Blocks;
+using MineSharp.Core.Common.Effects;
+using MineSharp.Core.Common.Entities;
+using MineSharp.Core.Geometry;
+using MineSharp.Data;
+using MineSharp.Pathfinder;
+using MineSharp.Physics;
+using MineSharp.Physics.Input;
+using MineSharp.World;
+using MineSharp.World.Chunks;
 
-await PlayerTests.RunAll();
-await WindowTests.RunAll();
-await WorldTests.RunAll();
-await CraftingTests.RunAll();
-await PhysicsTests.RunAll();
+MineSharpBot.EnableDebugLogs(true);
+
+var bot = await new BotBuilder()
+    .Host("localhost")
+    .OfflineSession("MineSharpBot")
+    .WithPlugin<Pathfinder>()
+    .WithPlugin<AutoRespawn>()
+    .AutoConnect()
+    .CreateAsync();
+
+var chat = bot.GetPlugin<ChatPlugin>();
+var physics = bot.GetPlugin<PhysicsPlugin>();
+var pathfinder = bot.GetPlugin<Pathfinder>();
+var player = bot.GetPlugin<PlayerPlugin>(); 
+var world = bot.GetPlugin<WorldPlugin>();
+
+if (!player.IsAlive!.Value)
+    await player.Respawn();
+
+chat.OnChatMessageReceived += async (sender, playerUuid, message, position) =>
+{
+    Console.WriteLine(message.GetMessage(bot.Data));
+    var splits = message.GetMessage(bot.Data).Split(' ').Skip(1).ToArray();
+
+    if (splits.Length != 3)
+        return;
+
+    var ints = splits.Select(x => Convert.ToInt32(x)).ToArray();
+    await pathfinder.Goto(new Position(ints[0], ints[1], ints[2]));
+};
+
+while (true)
+{
+    var input = Console.ReadLine();
+
+    if (string.IsNullOrEmpty(input))
+    {
+        continue;
+    }
+
+    await chat.SendChat(input);
+}
+
+Console.ReadKey();
+//
+// return;
+//
+// await PlayerTests.RunAll();
+// await WindowTests.RunAll();
+// await WorldTests.RunAll();
+// await CraftingTests.RunAll();
+// await PhysicsTests.RunAll();

MineSharp.Bot.IntegrationTests/TestServer/server.properties

@@ -1,59 +1,60 @@
 #Minecraft server properties
-#Sun Dec 31 14:58:40 UTC 2023
-enable-jmx-monitoring=false
-level-seed=
-rcon.port=25575
+#Sat Jul 27 19:16:19 UTC 2024
+allow-flight=false
+allow-nether=true
+broadcast-console-to-ops=true
+broadcast-rcon-to-ops=true
+difficulty=easy
 enable-command-block=true
-gamemode=survival
+enable-jmx-monitoring=false
 enable-query=false
-generator-settings={"lakes"\:false,"features"\:false,"layers"\:[{"block"\:"minecraft\:air","height"\:1}],"structures"\:{"structures"\:{}}}
+enable-rcon=true
+enable-status=true
 enforce-secure-profile=true
-level-name=world
-motd=A Minecraft Server
-query.port=25565
-pvp=true
+enforce-whitelist=false
+entity-broadcast-range-percentage=100
+force-gamemode=false
+function-permission-level=2
+gamemode=survival
 generate-structures=true
+generator-settings={"lakes"\:false,"features"\:false,"layers"\:[{"block"\:"minecraft\:air","height"\:1}],"structures"\:{"structures"\:{}}}
+hardcore=false
+hide-online-players=false
+initial-disabled-packs=
+initial-enabled-packs=vanilla
+level-name=world
+level-seed=
+level-type=minecraft\:flat
+log-ips=true
 max-chained-neighbor-updates=1000000
-difficulty=easy
-network-compression-threshold=256
-max-tick-time=60000
-require-resource-pack=false
 max-players=20
-use-native-transport=true
-enable-status=true
+max-tick-time=60000
+max-world-size=29999984
+motd=A Minecraft Server
+network-compression-threshold=256
 online-mode=false
-allow-flight=false
-initial-disabled-packs=
-broadcast-rcon-to-ops=true
-view-distance=10
-resource-pack-prompt=
-server-ip=
-allow-nether=true
-server-port=25565
-enable-rcon=true
-sync-chunk-writes=true
 op-permission-level=4
+player-idle-timeout=0
 prevent-proxy-connections=false
-hide-online-players=false
+previews-chat=false
+pvp=true
+query.port=25565
+rate-limit=0
+rcon.password=334112116bfed9b372e17e2a
+rcon.port=25575
+require-resource-pack=false
 resource-pack=
-entity-broadcast-range-percentage=100
+resource-pack-prompt=
+resource-pack-sha1=
+server-ip=
+server-port=25565
 simulation-distance=10
-player-idle-timeout=0
-rcon.password=fc05569cfd3a32bb829d3fd8
-force-gamemode=false
-rate-limit=0
-hardcore=false
-white-list=false
-broadcast-console-to-ops=true
-spawn-npcs=true
-previews-chat=false
 spawn-animals=true
-function-permission-level=2
-initial-enabled-packs=vanilla
-level-type=MINECRAFT\:FLAT
-text-filtering-config=
-spawn-monsters=true
-enforce-whitelist=false
-resource-pack-sha1=
+spawn-monsters=false
+spawn-npcs=true
 spawn-protection=16
-max-world-size=29999984
+sync-chunk-writes=true
+text-filtering-config=
+use-native-transport=true
+view-distance=10
+white-list=false

MineSharp.Bot/Plugins/PhysicsPlugin.cs

@@ -256,7 +256,7 @@ public override Task OnTick()
             {
                 Logger.Error(e.ToString());
             }
-
+            
             tickCounter++;
         });
 
@@ -277,15 +277,7 @@ public override Task OnTick()
 
     private async Task UpdateServerPositionIfNeeded()
     {
-        if (Math.Abs(lastPlayerState.X - self!.Entity!.Position.X) > PositionThreshold
-            || Math.Abs(lastPlayerState.Y - self!.Entity!.Position.Y) > PositionThreshold
-            || Math.Abs(lastPlayerState.Z - self!.Entity!.Position.Z) > PositionThreshold
-            || Math.Abs(lastPlayerState.Yaw - self!.Entity!.Yaw) > PositionThreshold
-            || Math.Abs(lastPlayerState.Pitch - self!.Entity!.Pitch) > PositionThreshold
-            || lastPlayerState.OnGround != self!.Entity!.IsOnGround)
-        {
-            await UpdateServerPos();
-        }
+        await UpdateServerPos();
     }
 
     private async Task UpdateServerPos()

MineSharp.sln

@@ -34,7 +34,9 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MineSharp.SourceGenerator",
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MineSharp.ChatComponent", "Components\MineSharp.ChatComponent\MineSharp.ChatComponent.csproj", "{6CFF9878-00D1-4FE3-9146-B6B2EE746A0C}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MineSharp.Data.Tests", "Data\MineSharp.Data.Tests\MineSharp.Data.Tests.csproj", "{1B36A1EF-2A07-4606-B748-B6E708C697E3}"
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Plugins", "Plugins", "{4B55DF69-1176-4CB6-878C-5EE8A14134B8}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MineSharp.Pathfinder", "Plugins\MineSharp.Pathfinder\MineSharp.Pathfinder.csproj", "{043D339E-C2F8-4243-9B0B-4F7C689BCA39}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -98,10 +100,10 @@ Global
 		{6CFF9878-00D1-4FE3-9146-B6B2EE746A0C}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{6CFF9878-00D1-4FE3-9146-B6B2EE746A0C}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{6CFF9878-00D1-4FE3-9146-B6B2EE746A0C}.Release|Any CPU.Build.0 = Release|Any CPU
-		{1B36A1EF-2A07-4606-B748-B6E708C697E3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{1B36A1EF-2A07-4606-B748-B6E708C697E3}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{1B36A1EF-2A07-4606-B748-B6E708C697E3}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{1B36A1EF-2A07-4606-B748-B6E708C697E3}.Release|Any CPU.Build.0 = Release|Any CPU
+		{043D339E-C2F8-4243-9B0B-4F7C689BCA39}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{043D339E-C2F8-4243-9B0B-4F7C689BCA39}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{043D339E-C2F8-4243-9B0B-4F7C689BCA39}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{043D339E-C2F8-4243-9B0B-4F7C689BCA39}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(NestedProjects) = preSolution
 		{63B60BB4-DB86-423A-9585-82FD060089F2} = {CAB43D13-C4AC-4D69-AB04-ECF9B514115D}
@@ -116,6 +118,6 @@ Global
 		{D6F1AE8D-ACA3-4E2A-A103-13BE9579A70D} = {7441DE2E-3B7A-42F5-B3FC-FD25FCF46B8F}
 		{A1AC37F2-6209-473B-A787-0F1601998BEB} = {7441DE2E-3B7A-42F5-B3FC-FD25FCF46B8F}
 		{6CFF9878-00D1-4FE3-9146-B6B2EE746A0C} = {CAB43D13-C4AC-4D69-AB04-ECF9B514115D}
-		{1B36A1EF-2A07-4606-B748-B6E708C697E3} = {7441DE2E-3B7A-42F5-B3FC-FD25FCF46B8F}
+		{043D339E-C2F8-4243-9B0B-4F7C689BCA39} = {4B55DF69-1176-4CB6-878C-5EE8A14134B8}
 	EndGlobalSection
 EndGlobal

Plugins/MineSharp.Pathfinder/Algorithm/AStar.cs

@@ -0,0 +1,128 @@
+using System.Diagnostics;
+using MineSharp.Core.Common;
+using MineSharp.Core.Geometry;
+using MineSharp.Data;
+using MineSharp.Pathfinder.Exceptions;
+using MineSharp.Pathfinder.Moves;
+using MineSharp.World;
+using NLog;
+using Priority_Queue;
+
+namespace MineSharp.Pathfinder.Algorithm;
+
+public class AStar(IWorld world, Movements movements, MinecraftData data)
+{
+    public Movements Movements = movements;
+
+    public Path FindPath(Position start, Position end, int maxNodes = 5000)
+    {
+        var sw        = Stopwatch.StartNew();
+        var nodes     = new Dictionary<ulong, Node>();
+        var openSet   = new FastPriorityQueue<Node>(maxNodes);
+        var closedSet = new HashSet<Node>();
+
+        var startNode = this.GetNode(start, end, ref nodes);
+        var endNode   = this.GetNode(end, end, ref nodes);
+
+        if (!endNode.Walkable)
+            throw new InvalidOperationException("End position is not walkable!");
+
+        openSet.Enqueue(startNode, startNode.FCost);
+
+        while (openSet.Count > 0)
+        {
+            var node = openSet.Dequeue();
+
+            if (node.Position == end)
+            {
+                sw.Stop();
+                LogManager.GetCurrentClassLogger().Debug($"Checked {nodes.Count} nodes in {sw.ElapsedMilliseconds}ms");
+                return RetracePath(startNode, endNode);
+            }
+
+            closedSet.Add(node);
+
+            foreach (var neighbor in this.GetNeighbors(node, end, ref nodes))
+            {
+                if (!neighbor.Node.Walkable || closedSet.Contains(neighbor.Node))
+                    continue;
+
+                var newCost = node.GCost + this.Distance(node.Position, end) + neighbor.Move.Cost;
+                if (newCost >= neighbor.Node.GCost && openSet.Contains(neighbor.Node))
+                    continue;
+
+                neighbor.Node.Parent = node;
+                neighbor.Node.GCost = newCost;
+                neighbor.Node.HCost = this.Distance(neighbor.Node.Position, end);
+                neighbor.Node.Move = neighbor.Move;
+
+                if (openSet.Contains(neighbor.Node))
+                    openSet.UpdatePriority(neighbor.Node, neighbor.Node.FCost);
+                else 
+                    openSet.Enqueue(neighbor.Node, neighbor.Node.FCost);
+            }
+        }
+
+        sw.Stop();
+        LogManager.GetCurrentClassLogger().Debug($"Checked {nodes.Count} nodes in {sw.ElapsedMilliseconds}ms");
+        throw new PathNotFoundException($"Could not find a path.");
+    }
+
+    private Path RetracePath(Node startNode, Node endNode)
+    {
+        var path = new List<Node>();
+        var currentNode = endNode;
+
+        while (currentNode != startNode)
+        {
+            path.Add(currentNode!);
+            currentNode = currentNode!.Parent!;
+        }
+        path.Add(startNode);
+        path.Reverse();
+
+        var moves = path.Skip(1).Select(x => x.Move!).ToArray();
+        return Path.FromMoves(startNode.Position, moves);
+    }
+
+    private float Distance(Position a, Position b)
+    {
+        var dX = a.X - b.X;
+        var dY = a.Y - b.Y;
+        var dZ = a.Z - b.Z;
+        return MathF.Sqrt(dX * dX + dY * dY + dZ * dZ);
+    }
+
+    private (Node Node, Move Move)[] GetNeighbors(Node node, Position end, ref Dictionary<ulong, Node> nodes)
+    {
+        var neighbors = new List<(Node, Move)>();
+
+        foreach (var move in this.Movements.PossibleMoves)
+        {
+            var pos      = move.Motion.Plus(node.Position);
+            var neighbor = this.GetNode((Position)pos, end, ref nodes);
+            if (!neighbor.Walkable || !move.IsMovePossible(node.Position, world, data))
+                continue;
+
+            neighbors.Add((neighbor, move));
+        }
+
+        return neighbors.ToArray();
+    }
+
+    private Node GetNode(Position position, Position end, ref Dictionary<ulong, Node> nodes)
+    {
+        var idx = position.ToULong();
+        if (nodes.TryGetValue(idx, out var node))
+            return node;
+
+        var block = world.GetBlockAt(position);
+        var blockBelow = world.GetBlockAt((Position)Vector3.Down.Plus(position));
+
+        var walkable = blockBelow.IsSolid() && !blockBelow.IsFluid() && !block.IsSolid(); // TODO: Waterlike blocks
+        node = new Node(position, walkable, 0, this.Distance(position, end));
+        nodes.Add(idx, node);
+
+        return node;
+    }
+}