Serveral pathfinding fixes (#10409)

Add planks, slabs and carpets as pathblocks
Pathblocks no longer increase pathing cost when they have a nonempty collision shape(carpets)
Doors and pathblocks are now cheaper to traverse


Re-visiting a pathfinding Node no longer counts towards the maximum allowed nodes to visit
Pathfinding Nodes now got a visited counter, which limits how many times the cost of a node is allowed to update. Heuristic rebalancing allows an additional revisit
Reevaluating the heuristic in pathfinding is now more accurate during search, using the distance to destination provided by the new IDestinationPathJob interface, and are also applied gradually instead of at once
Fix a bug where corner nodes could connect to eachother
Fix a bug where corner nodes that get their cost updated would not be recognized as such


Add fast collision existance check to ShapeUtil
PathfindingAIHelper#walkCloseToXNearY now runs the pathjob at least once, even if the entity may still already be in working range
Stuckhandler now at minimum walks the entity 20 blocks away when trying to resolve stuck
PathJobFindWater now discourages pathfinding from going too far out of its search radius
PathJobMoveCloseToXNearY got a slightly adjusted heuristic to prefer staying close to the near position

src/datagen/generated/minecolonies/data/minecolonies/loot_tables/blocks/composted_dirt.json

@@ -16,7 +16,9 @@
                     "enchantments": [
                       {
                         "enchantment": "minecraft:silk_touch",
-                        "levels": 1
+                        "levels": {
+                          "min": 1
+                        }
                       }
                     ]
                   }

src/datagen/generated/minecolonies/data/minecolonies/tags/blocks/pathblocks.json

@@ -2,6 +2,9 @@
   "values": [
     "#minecolonies:concrete",
     "#minecraft:stone_bricks",
+    "#minecraft:planks",
+    "#minecraft:wooden_slabs",
+    "#minecraft:wool_carpets",
     "minecraft:stone_brick_stairs",
     "minecraft:stone_brick_slab",
     "minecraft:mossy_stone_brick_slab",

src/main/java/com/minecolonies/api/configuration/ServerConfiguration.java

@@ -241,7 +241,7 @@ protected ServerConfiguration(final ForgeConfigSpec.Builder builder)
 
         pathfindingDebugVerbosity = defineInteger(builder, "pathfindingdebugverbosity", 0, 0, 10);
         minimumRailsToPath = defineInteger(builder, "minimumrailstopath", 8, 5, 100);
-        pathfindingMaxThreadCount = defineInteger(builder, "pathfindingmaxthreadcount", 2, 1, 10);
+        pathfindingMaxThreadCount = defineInteger(builder, "pathfindingmaxthreadcount", 1, 1, 10);
 
         swapToCategory(builder, "requestSystem");
 

src/main/java/com/minecolonies/api/util/EntityUtils.java

@@ -4,6 +4,7 @@
 import com.minecolonies.api.crafting.ItemStorage;
 import com.minecolonies.api.entity.citizen.AbstractEntityCitizen;
 import com.minecolonies.api.items.ModTags;
+import com.minecolonies.core.entity.pathfinding.PathfindingUtils;
 import com.minecolonies.core.entity.pathfinding.SurfaceType;
 import net.minecraft.core.BlockPos;
 import net.minecraft.core.Direction;
@@ -205,7 +206,7 @@ private static boolean checkValidSpawn(@NotNull final BlockGetter world, final B
         for (int dy = 0; dy < height; dy++)
         {
             final BlockState state = world.getBlockState(pos.above(dy));
-            if (!state.is(ModTags.validSpawn) && BlockUtils.isAnySolid(state))
+            if (!state.is(ModTags.validSpawn) && (PathfindingUtils.isLiquid(state) || ShapeUtil.hasCollision(world, pos.above(dy), state)))
             {
                 return false;
             }

src/main/java/com/minecolonies/api/util/ShapeUtil.java

@@ -1,6 +1,9 @@
 package com.minecolonies.api.util;
 
+import net.minecraft.core.BlockPos;
 import net.minecraft.core.Direction;
+import net.minecraft.world.level.BlockGetter;
+import net.minecraft.world.level.block.state.BlockState;
 import net.minecraft.world.phys.shapes.Shapes;
 import net.minecraft.world.phys.shapes.VoxelShape;
 
@@ -99,4 +102,39 @@ public static double getEndY(final VoxelShape bb, final double def)
     {
         return isEmpty(bb) ? def : max(bb, Direction.Axis.Y);
     }
+
+    /**
+     * Check if the given block has a collision shape
+     *
+     * @param world
+     * @param pos
+     * @param state
+     * @return
+     */
+    public static boolean hasCollision(final BlockGetter world, final BlockPos pos, final BlockState state)
+    {
+        if (!state.getBlock().hasCollision)
+        {
+            return false;
+        }
+
+        return hasCollision(state, state.getCollisionShape(world, pos));
+    }
+
+    /**
+     * Check if the given block has a collision shape
+     *
+     * @param state
+     * @param collisionShape
+     * @return
+     */
+    public static boolean hasCollision(final BlockState state, final VoxelShape collisionShape)
+    {
+        if (!state.getBlock().hasCollision)
+        {
+            return false;
+        }
+
+        return !ShapeUtil.isEmpty(collisionShape);
+    }
 }

src/main/java/com/minecolonies/core/entity/mobs/aitasks/RaiderMeleeAI.java

@@ -1,16 +1,15 @@
 package com.minecolonies.core.entity.mobs.aitasks;
 
+import com.minecolonies.api.entity.ai.combat.threat.IThreatTableEntity;
 import com.minecolonies.api.entity.ai.statemachine.states.IState;
 import com.minecolonies.api.entity.ai.statemachine.tickratestatemachine.ITickRateStateMachine;
-import com.minecolonies.api.entity.ai.combat.threat.IThreatTableEntity;
 import com.minecolonies.api.entity.mobs.AbstractEntityRaiderMob;
-import com.minecolonies.api.util.DamageSourceKeys;
-import com.minecolonies.core.entity.pathfinding.pathresults.PathResult;
 import com.minecolonies.api.util.SoundUtils;
 import com.minecolonies.api.util.constant.Constants;
 import com.minecolonies.core.MineColonies;
 import com.minecolonies.core.entity.ai.combat.AttackMoveAI;
 import com.minecolonies.core.entity.citizen.EntityCitizen;
+import com.minecolonies.core.entity.pathfinding.pathresults.PathResult;
 import net.minecraft.core.registries.Registries;
 import net.minecraft.network.chat.contents.TranslatableContents;
 import net.minecraft.resources.ResourceKey;
@@ -79,6 +78,7 @@ protected double getAttackDistance()
     @Override
     protected int getAttackDelay()
     {
+        // TODO: use own difficulty
         return MAX_ATTACK_DELAY - MineColonies.getConfig().getServer().raidDifficulty.get() * 4;
     }
 

src/main/java/com/minecolonies/core/entity/mobs/aitasks/RaiderRangedAI.java

@@ -1,18 +1,18 @@
 package com.minecolonies.core.entity.mobs.aitasks;
 
-import com.minecolonies.api.entity.mobs.ICustomAttackSound;
+import com.minecolonies.api.entity.ai.combat.threat.IThreatTableEntity;
 import com.minecolonies.api.entity.ai.statemachine.states.IState;
 import com.minecolonies.api.entity.ai.statemachine.tickratestatemachine.ITickRateStateMachine;
-import com.minecolonies.api.entity.ai.combat.threat.IThreatTableEntity;
 import com.minecolonies.api.entity.mobs.AbstractEntityRaiderMob;
+import com.minecolonies.api.entity.mobs.ICustomAttackSound;
 import com.minecolonies.api.entity.mobs.IRangedMobEntity;
-import com.minecolonies.core.entity.pathfinding.pathresults.PathResult;
 import com.minecolonies.api.util.EntityUtils;
 import com.minecolonies.core.MineColonies;
-import com.minecolonies.core.entity.other.CustomArrowEntity;
 import com.minecolonies.core.entity.ai.combat.AttackMoveAI;
 import com.minecolonies.core.entity.ai.combat.CombatUtils;
 import com.minecolonies.core.entity.citizen.EntityCitizen;
+import com.minecolonies.core.entity.other.CustomArrowEntity;
+import com.minecolonies.core.entity.pathfinding.pathresults.PathResult;
 import net.minecraft.sounds.SoundEvent;
 import net.minecraft.sounds.SoundEvents;
 import net.minecraft.world.InteractionHand;
@@ -153,7 +153,7 @@ protected int getAttackDelay()
         {
             return 10;
         }
-
+// TODO: config is included in own difficulty
         return (int) (Math.max(MIN_ATTACK_DELAY, MAX_ATTACK_DELAY - MineColonies.getConfig().getServer().raidDifficulty.get() * 4 * user.getDifficulty())
                         * user.getAttackDelayModifier());
     }

src/main/java/com/minecolonies/core/entity/pathfinding/MNode.java

@@ -51,7 +51,7 @@ public class MNode implements Comparable<MNode>
     /**
      * Checks if the node has been closed already.
      */
-    private boolean visited = false;
+    private int visitedCount = 0;
 
     /**
      * Checks if the node is on a ladder.
@@ -190,7 +190,17 @@ public boolean equals(@Nullable final Object o)
      */
     public boolean isVisited()
     {
-        return visited;
+        return visitedCount != 0;
+    }
+
+    /**
+     * Get the visited count
+     *
+     * @return
+     */
+    public int getVisitedCount()
+    {
+        return visitedCount;
     }
 
     /**
@@ -216,9 +226,9 @@ public boolean isSwimming()
     /**
      * Sets the node as closed.
      */
-    public void setVisited()
+    public void increaseVisited()
     {
-        visited = true;
+        visitedCount++;
     }
 
     /**
@@ -388,4 +398,10 @@ public static int computeNodeKey(final int x, final int y, final int z)
                  | ((y & 0xFF) << SHIFT_Y_BY)
                  | (z & 0xFFF);
     }
+
+    @Override
+    public String toString()
+    {
+        return "Node: [" + x + "," + y + "," + z + "] visited:" + visitedCount + " cost:" + cost + " heuristic:" + heuristic;
+    }
 }

src/main/java/com/minecolonies/core/entity/pathfinding/PathingOptions.java

@@ -25,7 +25,7 @@ public class PathingOptions
     /**
      * Cost improvement of paths - base 1.
      */
-    public double onPathCost = 1 / 4d;
+    public double onPathCost = 1 / 6d;
 
     /**
      * Cost improvement of paths - base 1.
@@ -55,7 +55,7 @@ public class PathingOptions
     /**
      * Cost to traverse trap doors
      */
-    public double traverseToggleAbleCost = 5D;
+    public double traverseToggleAbleCost = 3D;
 
     /**
      * Cost to climb a non ladder.

src/main/java/com/minecolonies/core/entity/pathfinding/navigation/MinecoloniesAdvancedPathNavigate.java

@@ -256,11 +256,6 @@ public PathResult<AbstractPathJob> setPathJob(
             return null;
         }
 
-        if (PathfindingUtils.trackingMap.containsValue(ourEntity.getUUID()))
-        {
-            Log.getLogger().info(ourEntity + " started pathjob to:" + dest + " job type:" + job.getClass().getSimpleName());
-        }
-
         stop();
 
         this.destination = dest;
@@ -319,6 +314,7 @@ public void tick()
             else if (pathResult.getStatus() == PathFindingStatus.CALCULATION_COMPLETE)
             {
                 processCompletedCalculationResult();
+                wantedPosition = null;
             }
         }
 
@@ -675,10 +671,11 @@ private void processCompletedCalculationResult()
         }
 
         // Calculate an overtime-heuristic adjustment for pathfinding to use which fits the terrain
-        if (pathResult.costPerDist != 1)
+        if (pathResult.getPathLength() > 2 && pathResult.costPerDist != 1)
         {
-            heuristicAvg -= heuristicAvg / 20;
-            heuristicAvg += pathResult.costPerDist / 20;
+            final double factor = 1 + pathResult.getPathLength() / 30.0;
+            heuristicAvg -= heuristicAvg / (50 / factor);
+            heuristicAvg += pathResult.costPerDist / (50 / factor);
         }
 
         if (pathResult.failedToReachDestination())

src/main/java/com/minecolonies/core/entity/pathfinding/navigation/PathfindingAIHelper.java

@@ -23,19 +23,28 @@ public static boolean walkCloseToXNearY(
     {
         final MinecoloniesAdvancedPathNavigate nav = ((MinecoloniesAdvancedPathNavigate) entity.getNavigation());
 
-        if (nav.isDone() || (nav.getPathResult() != null
-                               && !(nav.getPathResult().getJob() instanceof PathJobMoveCloseToXNearY job
-                                      && job.nearbyPosition.equals(nearbyPosition)
-                                      && job.desiredPosition.equals(desiredPosition)
-                                      && job.distToDesired == distToDesired)))
+        // Three cases
+        // 1. Navigation Finished
+        // 2. Navigation is progressing towards a previous task
+        // 3. Navigation did not try once
+        boolean isOnRightTask = (nav.getPathResult() != null
+            && nav.getPathResult().getJob() instanceof PathJobMoveCloseToXNearY job
+            && job.nearbyPosition.equals(nearbyPosition)
+            && job.desiredPosition.equals(desiredPosition));
+
+        if (nav.isDone() || !isOnRightTask)
         {
-            // Check distance once navigation is done, to let the entity walk
-            if (BlockPosUtil.dist(entity.blockPosition(), desiredPosition) < distToDesired)
+            if (isOnRightTask)
             {
-                return false;
+                // Check distance once navigation is done, to let the entity walk
+                if (BlockPosUtil.dist(entity.blockPosition(), desiredPosition) < distToDesired)
+                {
+                    nav.stop();
+                    return false;
+                }
             }
 
-            PathJobMoveCloseToXNearY pathJob = new PathJobMoveCloseToXNearY(entity.level, desiredPosition, nearbyPosition, distToDesired, entity);
+            PathJobMoveCloseToXNearY pathJob = new PathJobMoveCloseToXNearY(entity.level, desiredPosition, nearbyPosition, 1, entity);
             nav.setPathJob(pathJob, desiredPosition, 1.0, false);
         }
 

src/main/java/com/minecolonies/core/entity/pathfinding/navigation/PathingStuckHandler.java

@@ -337,7 +337,7 @@ private void tryUnstuck(final AbstractAdvancedPathNavigate navigator)
             }
 
             navigator.stop();
-            final int range = ColonyConstants.rand.nextInt(20) + Math.min(100, BlockPosUtil.distManhattan(navigator.ourEntity.blockPosition(), prevDestination));
+            final int range = ColonyConstants.rand.nextInt(20) + Math.min(100, Math.max(20, BlockPosUtil.distManhattan(navigator.ourEntity.blockPosition(), prevDestination)));
             navigator.moveTowards(navigator.getOurEntity().blockPosition().relative(movingAwayDir, 40), range, 1.0f);
             movingAwayDir = movingAwayDir.getClockWise();
             navigator.setPauseTicks(range * TICKS_PER_BLOCK);