feat(ai): add core A* pathfinding algorithms #1422
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Implements the foundational pathfinding system: Core A* Algorithm: - PathFinder with A* search algorithm - BinaryHeap priority queue for open set - Node representation with g/h/f costs - Path reconstruction and representation - Target tracking with best node selection - PathType enum with 25 terrain cost types Node Evaluators (movement types): - WalkNodeEvaluator: Ground walking with jumps/falls - SwimNodeEvaluator: 3D water navigation - FlyNodeEvaluator: 3D aerial movement - AmphibiousNodeEvaluator: Hybrid land/water movement This provides the pathfinding infrastructure. Navigation controllers and movement controls will be added in follow-up PRs. Addresses Pumpkin-MC#1406 (Navigation / Pathfinding)
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dont flame me for the AI genned description, im tryna file smaller PRs for integration (since id rather not PR 40k LOC all at once) |
- Fix unused_self warnings with allow attributes for trait methods - Use is_some_and instead of map_or(false, ...) for Option checks - Combine identical match arms in PathType::malus - Rename test functions to remove redundant test_ prefix - Add allow for module_inception, too_many_arguments, unused_async - Change &mut Vec to &mut [Target] slice parameter
The insert function was returning the original index before up_heap, but when a node bubbles up the heap, its final position may differ. Now up_heap returns the final index and insert returns that value, ensuring change_cost operates on the correct node.
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Ready to review btw |
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holy ai |
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@aShanki are you sure this is based on Vanilla ?, looks really custom |
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It's based on 1.21.11 vanilla decompiled code. Nearly identical to mcs default |
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Description
Implements the foundational A* pathfinding system for entity navigation, addressing the "Navigation / Pathfinding (A* implementation)" item in #1406.
This PR provides the core pathfinding algorithms without navigation controllers or movement controls (which will be added in follow-up PRs as they require entity structure changes).
Core A* Algorithm
Node Evaluators (Movement Types)
Different evaluators handle different entity movement capabilities:
WalkNodeEvaluator (521 lines) - Ground-based walking
SwimNodeEvaluator (321 lines) - Water-based movement
FlyNodeEvaluator (352 lines) - Aerial movement
AmphibiousNodeEvaluator (242 lines) - Hybrid movement
Path Type Awareness
The pathfinding system considers 25 terrain types including:
Algorithm Details
Testing
The pathfinding algorithms are based on vanilla Minecraft 1.21.11 implementation:
PathFinder.javaNotes
This PR lays the foundation for mob AI movement. The navigation controllers (
GroundPathNavigation,FlyingPathNavigation, etc.) and movement controls (MoveControl,JumpControl) will be added in subsequent PRs as they require entity structure modifications.The existing simple
Navigatorinmod.rsremains unchanged as a placeholder for backwards compatibility.Partially addresses #1406: