[plugin/flyctl] add gracefulLand(), cruise()
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@ -1,6 +1,8 @@
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import assert from 'node:assert/strict';
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import debug from 'debug';
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import { Task } from 'compass-utils';
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import { Vec3 } from 'vec3';
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import 'enhanced-vec3';
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import debug from 'debug';
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const logger = debug('mineflayer-fly-control');
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export class ElytraNotEquippedError extends Error {
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@ -19,6 +21,10 @@ export class AlreadyElytraFlyingError extends Error {
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constructor() { super('Already elytra flying!'); }
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}
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export class FlyInterferedError extends Error {
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constructor() { super('Fly task has been interfered by an external force.'); }
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};
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export function fireworkFlight(firework_item) {
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return firework_item?.nbt?.value?.Fireworks?.value?.Flight?.value ?? 1;
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}
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@ -34,9 +40,146 @@ async function takeOffTask(bot, task) {
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task._interuptableHere();
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}
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async function ascendTask(bot, task, flight, gracefulMode) {
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assert.ok(typeof flight == 'number');
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bot.control.adjustXZ();
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function potentialHeightRequired(xz_distance) {
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return xz_distance / 9.1 + 16;
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}
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function yawOfXZ(pos, target) {
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const delta = target.minus(pos);
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return Math.atan2(-delta.x, -delta.z);
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}
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async function cruiseTask(bot, task, target, tlimit) {
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bot.control.centralizeXZ();
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let start_pos = bot.entity.position.clone();
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let distance_left = target.xzDistanceTo(start_pos);
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let dy_requirement = potentialHeightRequired(distance_left);
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let delta = target.minus(start_pos);
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logger(`cruiseTask() start position=${start_pos}`);
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logger(`cruiseTask() target position=${target} delta=${delta}`);
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logger(`cruiseTask() dy_requirement=${dy_requirement}`);
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if (-delta.y < dy_requirement) {
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logger(`cruiseTask() height is insufficient: another ${dy_requirement + delta.y} meters required`);
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}
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let delta_norm_squared;
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async function updateRoute() {
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start_pos.update(bot.entity.position);
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delta = target.minus(start_pos);
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delta_norm_squared = delta.xzNormSquared();
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await bot.look(yawOfXZ(start_pos, target), 0, true);
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task._interuptableHere();
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}
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await updateRoute();
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while (true) {
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await bot.waitForTicks(1);
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task._interuptableHere();
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if (bot.entity.onGround || !bot.entity.elytraFlying) {
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logger('cruiseTask() no longer flying!');
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throw new FlyInterferedError();
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}
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const pos = bot.entity.position.clone();
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const dpos = pos.minus(start_pos);
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const progress = dpos.dotXZ(delta) / delta_norm_squared;
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const intended_pos = start_pos.plus(delta.scaled(progress));
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const error_offset = intended_pos.xzDistanceTo(pos);
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if (progress < 1 && error_offset > 6) {
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logger(`cruiseTask() departured from expected route, error offset=${error_offset}`);
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logger(`cruiseTask() progress=${progress} expected position=${intended_pos}`);
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logger(`cruiseTask() current position=${pos} to start delta=${dpos}`);
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await updateRoute();
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logger(`cruiseTask() corrocted fly route.`);
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continue;
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}
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if (progress >= 1) {
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const error_dis = pos.xzDistanceTo(target);
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const velocity = bot.entity.velocity, hspeed = velocity.xzNorm();
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if (error_dis < tlimit && hspeed < .5) {
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break;
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} else {
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logger(`cruiseTask() goal reached, adjusting. position=${pos}`);
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logger(`cruiseTask() to target delta=${target.minus(pos)} distance=${error_dis}`);
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logger(`cruiseTask() velocity=${velocity} hspeed=${hspeed}`);
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await updateRoute();
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logger(`cruiseTask() replanned. facing: ${bot.entity.yaw}`);
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}
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}
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if (error_offset < tlimit) {
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pos.updateXZ(intended_pos);
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}
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}
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const final_pos = bot.entity.position;
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await bot.look(yawOfXZ(final_pos, target), 0, true);
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final_pos.updateXZ(target);
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}
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async function gracefulLandTask(bot, task, target_y, fall_height) {
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assert.ok(typeof target_y == 'number');
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assert.ok(typeof fall_height == 'number');
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bot.control.centralizeXZ();
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const start_pos = bot.entity.position.clone();
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logger(`gracefulLandTask() starting position=${start_pos}`);
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await bot.look(0, Math.PI / 6);
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task._interuptableHere();
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bot.entity.velocity.setXZ(0, 0);
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logger(`gracefulLandTask() secondary position=${start_pos}`);
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bot.entity.position.updateXZ(start_pos);
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logger(`gracefulLandTask() secondary adjusted position=${start_pos}`);
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logger(`gracefulLandTask() secondary velocity=${bot.entity.velocity}`);
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const fall_y = fall_height + target_y;
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for (let phase = 1; !bot.entity.onGround && bot.entity.position.y > fall_y; phase = (phase + 1) % 3) {
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await bot.look(phase * Math.PI / 1.5, Math.PI / 6);
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task._interuptableHere();
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const pos = bot.entity.position;
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if (pos.xzDistanceTo(start_pos) > 3) {
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throw new FlyInterferedError();
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}
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}
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const ff_pos = bot.entity.position;
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logger(`gracefulLandTask() fall stage initial position=${ff_pos}`);
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let look_promise = bot.look(yawOfXZ(ff_pos, start_pos), Math.PI / 6, true);
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await bot.unequip('torso');
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task._interuptableHere();
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bot.entity.velocity.setXZ(0, 0);
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ff_pos.updateXZ(start_pos);
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logger(`gracefulLandTask() fall stage adjusted position=${ff_pos}`);
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while (!bot.entity.onGround && bot.entity.position.y > target_y) {
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if (look_promise == null) {
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await bot.waitForTicks(1);
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} else {
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await look_promise;
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look_promise = null;
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}
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task._interuptableHere();
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const pos = bot.entity.position;
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const t = new Vec3();
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if (pos.xzDistanceTo(start_pos) > 1) {
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throw new FlyInterferedError();
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}
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bot.control.centralizeXZ();
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}
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bot.entity.velocity.setXZ(0, 0);
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logger(`gracefulLandTask() finish position=${bot.entity.position}`);
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}
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async function ascendTask(bot, task, target_y, gracefulMode) {
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assert.ok(typeof target_y == 'number');
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if (target_y <= bot.entity.position.y) { return 0; }
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bot.control.centralizeXZ();
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await bot.look(0, Math.PI / 2, true);
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task._interuptableHere();
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@ -49,17 +192,30 @@ async function ascendTask(bot, task, flight, gracefulMode) {
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}
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function fastModePredicate() {
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return bot.fireworkRocketDuration > 0;
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return bot.fireworkRocketDuration > 0 || bot.entity.velocity.y > 27;
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}
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const predicate = gracefulMode ? gracefulModePredicate : fastModePredicate;
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let flight_pre_rocket = fireworkFlight(bot.heldItem);
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for (let i = 0; i < flight; i += flight_pre_rocket) {
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const firework_id = bot.registry.itemsByName.firework_rocket.id;
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while (bot.entity.position.y < target_y) {
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if (bot.heldItem?.type != firework_id) {
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try {
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await bot.equip(firework_id);
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} catch (err) {
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logger(`ascendTask(): equip rocket error: ${err}.`);
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throw new InsufficientRocketError();
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}
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task._interuptableHere();
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}
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bot.activateItem();
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do {
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await bot.waitForTicks(Math.max(1, bot.fireworkRocketDuration));
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await bot.waitForTicks(1);
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task._interuptableHere();
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if (bot.entity.onGround || !bot.entity.elytraFlying) {
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throw new FlyInterferedError();
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}
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} while (predicate());
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}
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}
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@ -71,38 +227,20 @@ export default function inject(bot) {
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bot.flyctl = {};
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bot.flyctl.skipValidation = false;
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function beforeFlyValidation(flight_requirement = 0) {
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assert.ok(typeof flight_requirement == 'number');
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assert.ok(flight_requirement >= 0);
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function beforeFlightValidation() {
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if (bot.flyctl.skipValidation) {
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logger('beforeFlyValidation() skipped.');
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logger('beforeFlightValidation() skipped.');
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return;
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}
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logger(`beforeFlyValidation() elytra slot: ${elytra_slot}`);
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let elytra_slot_item = bot.inventory.slots[elytra_slot]?.type;
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if (elytra_slot_item != elytra_id) {
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logger(`beforeFlyValidation() failed: elytra slot found ${elytra_slot_item}.`);
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logger(`beforeFlyValidation() expected ${elytra_id}.`);
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logger(`beforeFlightValidation() failed: elytra slot found ${elytra_slot_item}.`);
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logger(`beforeFlightValidation() expected ${elytra_id}.`);
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throw new ElytraNotEquippedError();
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}
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if (flight_requirement > 0) {
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let rocket_item = bot.heldItem;
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if (rocket_item?.type != firework_id) {
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logger('beforeFlyValidation() failed: holding is not rocket.');
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logger(`beforeFlyValidation() found ${rocket_item?.type} expected ${firework_id} .`);
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throw new InsufficientRocketError(flight_requirement, 0);
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}
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let flight_sum = rocket_item.count * fireworkFlight(rocket_item);
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if (flight_sum < flight_requirement) {
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throw new InsufficientRocketError(flight_requirement, flight_sum);
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}
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}
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logger('beforeFlyValidation() passed.');
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logger('beforeFlightValidation() passed.');
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}
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bot.flyctl.prepare = async () => {
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@ -110,12 +248,13 @@ export default function inject(bot) {
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await bot.equip(firework_id);
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};
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bot.flyctl.ascend = async (flight = 1, gracefulMode = true) => {
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bot.flyctl.ascend = (target_y, gracefulMode = true) => {
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let task = new Task();
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queueMicrotask(async () => {
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try {
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beforeFlyValidation(flight);
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task._ready(await ascendTask(bot, task, flight, gracefulMode));
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task._start();
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beforeFlightValidation();
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task._ready(await ascendTask(bot, task, target_y, gracefulMode));
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} catch(err) {
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task._fail(err);
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}
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@ -123,19 +262,83 @@ export default function inject(bot) {
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return task;
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};
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bot.flyctl.gracefulAscend = (flight = 1) => {
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return bot.flyctl.ascend(flight, true);
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bot.flyctl.gracefulAscend = (target_y) => {
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return bot.flyctl.ascend(target_y, true);
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};
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bot.flyctl.fastAscend = (flight = 1) => {
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return bot.flyctl.ascend(flight, false);
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bot.flyctl.fastAscend = (target_y) => {
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return bot.flyctl.ascend(target_y, false);
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};
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bot.flyctl.gracefulLand = (target_y, fall_height=4) => {
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let task = new Task();
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queueMicrotask(async () => {
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try {
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task._start();
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await gracefulLandTask(bot, task, target_y, fall_height);
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await bot.equip(elytra_id, 'torso');
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task._ready();
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} catch(err) {
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await bot.equip(elytra_id, 'torso');
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task._fail(err);
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}
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});
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return task;
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};
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bot.flyctl.cruise = (target_raw, teleport_limit=2.5) => {
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let task = new Task();
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queueMicrotask(async () => {
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try {
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task._start();
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assert.ok(target_raw instanceof Vec3);
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const target = target_raw.clone();
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target.centralizeXZ();
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task._ready(await cruiseTask(bot, task, target, teleport_limit));
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} catch(err) {
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task._fail(err);
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}
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});
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return task;
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};
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bot.flyctl.autoFlyTo = (target_raw, tactic) => {
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let task = new Task();
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queueMicrotask(async () => {
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tactic = tactic ?? {};
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tactic.ascend_mode = tactic.ascend_mode ?? 'graceful';
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tactic.teleport_limit = tactic.teleport_limit ?? 2.5;
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tactic.fall_height = tactic.teleport_limit ?? 4;
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try {
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task._start();
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assert.ok(target_raw instanceof Vec3);
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const target = target_raw.clone();
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target.centralizeXZ();
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beforeFlightValidation();
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const start_pos = bot.entity.position;
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let dy = potentialHeightRequired(start_pos.xzDistanceTo(target));
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const graceful_ascend = tactic.ascend_mode === 'graceful';
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const take_off_y = Math.max(target.y + dy, start_pos.y + 2);
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await ascendTask(bot, task, take_off_y, graceful_ascend);
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await cruiseTask(bot, task, target, tactic.teleport_limit);
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await gracefulLandTask(bot, task, target.y, tactic.fall_height);
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task._ready();
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} catch(err) {
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task._fail(err);
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}
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});
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return task;
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}
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bot.flyctl.takeOff = () => {
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let task = new Task();
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queueMicrotask(async () => {
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try {
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beforeFlyValidation(flight);
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task._start();
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beforeFlightValidation();
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task._ready(await takeOffTask(bot, task));
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} catch(err) {
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task._fail(err);
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@ -6,6 +6,7 @@
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"dependencies": {
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"debug": "^4.3.4",
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"vec3": "^0.1.8",
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"compass-utils": "file:../../utils"
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"compass-utils": "file:../../utils",
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"enhanced-vec3": "file:../../enhanced-vec3"
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}
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}
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