Added exploration node to DSL and worked on vertical pathfinding (Closed gates blocked horizontal movement as well)

2026-05-02 21:53:31 +02:00
parent 7f13505759
commit f3c551e792
12 changed files with 169 additions and 16 deletions
@@ -0,0 +1,90 @@
+using System;
+using System.Collections.Generic;
+using Godot;
+
+public class ExploreNode : ProgramNode
+{
+    public Vector3 startPosition;
+    public Vector3I targetPosition;
+    public List<Vector3> pathPoints;
+    public ExploreNode()
+    {
+        DisplayText = "Explore";
+    }
+    public override NodeResult Execute(Robot robot, double delta)
+    {
+        if (pathPoints == null)
+        {
+            int safetyCounter = 0;
+            while (true)
+            {
+                targetPosition = new Vector3I(GameData.rand.Next(GameData.layerSize), GameData.currentLayer, GameData.rand.Next(GameData.layerSize));
+                if (!GameData.map[targetPosition.Y].tiles[targetPosition.X, targetPosition.Z].wasVisited) break;
+                safetyCounter++;
+                if (safetyCounter > Math.Pow(GameData.layerSize, 2) * 2)
+                {
+                    lastExecutionMessage = "No tiles left to explore";
+                    return NodeResult.SUCCESS;
+                }
+            }
+        }
+
+        pathPoints ??= [.. Pathfinding.GetPath(Pathfinding.GetClosestStartPoint(robot.Position), targetPosition)];
+        
+        if (pathPoints.Count <= 0)
+        {
+            lastExecutionMessage = "No path available";
+            return NodeResult.FAILURE;
+        }
+
+        startPosition = robot.Position;
+        Vector3 target = pathPoints[0] - startPosition;
+        float distance = target.Length();
+
+        if (distance < 0.1f)
+        {
+            robot.Position = pathPoints[0];
+            Vector3I mapIndex = Pathfinding.GetClosestStartPoint(robot.Position);
+            Tile tile = GameData.map[mapIndex.Y].tiles[mapIndex.X, mapIndex.Z];
+            if (!tile.wasVisited)
+            {
+                tile.wasVisited = true;
+                tile.ContentNode.Visible = true;
+            }
+            pathPoints.Remove(pathPoints[0]);
+            if (pathPoints.Count <= 0)
+            {
+                lastExecutionMessage = "Current exploration finished";
+                pathPoints = null;
+                return NodeResult.RUNNING;
+            }
+
+            lastExecutionMessage = "";
+            return NodeResult.RUNNING;
+        }
+
+        Vector3 direction = target / distance;
+        Vector3 lookDirection = new Vector3(direction.X, 0, direction.Z);
+        if (lookDirection.Length() > 0.1f)
+        {
+            robot.LookAt(robot.GlobalPosition + lookDirection, Vector3.Up);
+        }
+        robot.GlobalPosition += direction * (float)delta * GameData.robotSpeed;
+
+        return NodeResult.RUNNING;
+    }
+
+    public override ProgramNode Duplicate()
+    {
+        ExploreNode duplicate = new ExploreNode
+        {
+            targetPosition = targetPosition
+        };
+        return duplicate;
+    }
+
+    public override void ReadParameters(NodeDisplay display)
+    {
+        //Currently does nothing
+    }
+}
@@ -0,0 +1 @@
+uid://cj4t6w5rd0cv2