21.12.2018

General Work

DefaultConditions/README.md

@@ -1 +1 @@
-#Default Condition
+# Default Condition

Pathfinders/ASTAR.js

@@ -1,3 +1,4 @@
+'use strict';
 const Heap = require('fastpriorityqueue');
 
 function State(p)

Pathfinders/DLITE/DLITE.js

@@ -1,3 +1,4 @@
+'use strict';
 const Path = require('path');
 const DLITEReturnState = require(Path.resolve(__dirname, 'DLITEReturnState.js'));
 

Pathfinders/DLITE/DLITEReturnState.js

@@ -1,3 +1,4 @@
+'use strict';
 const Heap = require('fastpriorityqueue');
 
 module.exports = function DLITEReturnState(bot, sp, ep, UpdateVertex, ComputeShortestPath)
@@ -57,7 +58,7 @@ module.exports = function DLITEReturnState(bot, sp, ep, UpdateVertex, ComputeSho
     Object.defineProperty(this, 'U', {value: U, enumerable: false});
     Object.defineProperty(this, 'S', {value: S, enumerable: false});
 
-    State = function(p)
+    const State = function(p)
     {
         if (S.check(p))
             return S[p.x >>> 0][p.y >>> 0][p.z >>> 0];
@@ -75,8 +76,7 @@ module.exports = function DLITEReturnState(bot, sp, ep, UpdateVertex, ComputeSho
 
     Object.defineProperty(this, 'State', {value: State, enumerable: false});
 
-    // Algorithm
-    Initialize.call(this, bot, sp, ep, UpdateVertex, ComputeShortestPath);
+    // Path functions
 
     const R = this;
     this.path = {};
@@ -89,6 +89,7 @@ module.exports = function DLITEReturnState(bot, sp, ep, UpdateVertex, ComputeSho
         let minState;
         let minCost = Number.POSITIVE_INFINITY;
 
+        // Get successors according to stored state.
         const successors = bot.pathfinder.getSuccessors(R.S.start.p);
         for (let n = 0, len = successors.length; n < len; n++)
         {
@@ -122,6 +123,9 @@ module.exports = function DLITEReturnState(bot, sp, ep, UpdateVertex, ComputeSho
         }
         else return undefined;
     };
+
+    // Algorithm
+    Initialize.call(this, bot, sp, ep, UpdateVertex, ComputeShortestPath);
 };
 
 function Initialize(bot, sp, ep, UpdateVertex, ComputeShortestPath)
@@ -143,23 +147,19 @@ function Initialize(bot, sp, ep, UpdateVertex, ComputeShortestPath)
     {
         // ComputeShortestPath has to be run initially
         const MainPromise = this.ComputeShortestPath();
-        MainPromise
-            .then(function(ReturnState)
+        MainPromise.then(function(ReturnState)
+        {
+            R.ENUMStatus = ReturnState.ENUMStatus;
+            R.ClosestPoint = ReturnState.State.p;
+            if (ReturnState.ENUMStatus === bot.pathfinder.ENUMStatus.Incomplete)
             {
-                R.ENUMStatus = ReturnState.ENUMStatus;
-                // Should the path be incomplete, sets the start point to the closest point to the intended
-                // start point, to which a replan can be attempted using a different algorithm.
-                if (ReturnState.ENUMStatus === bot.pathfinder.ENUMStatus.Incomplete)
-                {
-                    console.warn(
-                        'WARNING Pathfinder: Did not find path in allowed MAX_EXPANSIONS, returned closest valid start point',
-                        'Use another algorithm to reach the valid start point before attempting D*Lite'
-                    );
-                    R.S.start = ReturnState.State;
-                }
-
-                Callback(R);
-            });
+                console.warn(
+                    'WARNING Pathfinder: Did not find path in allowed MAX_EXPANSIONS, returned closest valid start point',
+                    'Use another algorithm to reach the valid start point before attempting D*Lite'
+                );
+            }
+        });
+        MainPromise.then(function() {Callback(R);});
     };
 };
 
@@ -172,4 +172,4 @@ function floatEqual(f1, f2)
 {
     if (f1 === Number.POSITIVE_INFINITY && f2 === Number.POSITIVE_INFINITY) return true;
     return Math.abs(f1 - f2) < Number.EPSILON;
-}
+}

Pathfinders/DLITE/UDLITE.js

@@ -1,3 +1,4 @@
+'use strict';
 const Path = require('path');
 const DLITEReturnState = require(Path.resolve(__dirname, 'DLITEReturnState.js'));
 

Pathfinders/README.md

@@ -1,4 +1,19 @@
 # Algorithm Documentation
+
+## Table of Contents
+- [Algorithm Documentation](#algorithm-documentation)
+    - [Table of Contents](#table-of-contents)
+    - [A* Pathfinding](#a-pathfinding)
+        - [ASTARReturnState](#astarreturnstate)
+            - [ASTARReturnState.on( Callback)](#astarreturnstateon-callback)
+    - [D* Lite Pathfinding](#d-lite-pathfinding)
+        - [DLITEReturnState](#dlitereturnstate)
+            - [ASTARReturnState.on( Callback)](#astarreturnstateon-callback-1)
+            - [ASTARReturnState.path.pop()](#astarreturnstatepathpop)
+            - [ASTARReturnState.path.peek()](#astarreturnstatepathpeek)
+            - [ASTARReturnState.path.replan([startPoint, endPoint]) [Not implemented]](#astarreturnstatepathreplanstartpoint-endpoint-not-implemented)
+    - [JPS A* Pathfinding [Not implemented]](#jps-a-pathfinding-not-implemented)
+
 ## A* Pathfinding
 Standard A* algorithim as per Peter E. Hart, Nils J. Nilsson, Bertram Raphael, 1968.
 Should you want to learn how the algorithm works: https://en.wikipedia.org/wiki/A*_search_algorithm
@@ -13,6 +28,9 @@ Provides a function to be executed when the path search has completed
 
 * `Callback` - Function to be executed once the path search has completed, `ASTARReturnState` passed as argument.
 
+### ASTARReturnState.ENUMState
+Set when algorithim completes path search, equal to one of `bot.pathfinder.ENUMStatus` depending on whether the path search was successfull or not.
+
 
 ## D* Lite Pathfinding
 D* Lite as per S. Koenig, 2002.
@@ -30,22 +48,30 @@ Object with the following properties:
 * `ENUMStatus` - Provides the respective `bot.pathfinder.ENUMStatus` based on the outcome of the path search.
 * `path` - See `DLITEReturnState.path`
 
-#### ASTARReturnState.on( Callback)
+#### DLITEReturnState.on( Callback)
 Provides a function to be executed when the path search has completed
 
 * `Callback` - Function to be executed once the path search has completed, `DLITEReturnState` passed as argument.
 
-#### ASTARReturnState.path.pop()
+### DLITEReturnState.ENUMState
+Set when algorithim completes path search, equal to one of `bot.pathfinder.ENUMStatus` depending on whether the path search was successfull or not.
+
+### DLITEReturnState.ClosestPoint
+Set when algorithim completes path search, equal to the closest point from which a path from the end point to the start could be found.
+
+If `DLITEReturnState.ENUMState` is incomplete, it is recommended to use a different method to navigate the bot to the `DLITEReturnState.ClosestPoint` before attempting pathfinding using D* Lite again.
+
+#### DLITEReturnState.path.pop()
 As the path is determined while the bot moves across it, pop must be used to determine the next location to move to.
 
 Returns position vector.
 
-#### ASTARReturnState.path.peek()
+#### DLITEReturnState.path.peek()
 Determines which path element will be popped next.
 
 Returns position vector.
 
-#### ASTARReturnState.path.replan([startPoint, endPoint]) /[Not implemented]
+#### DLITEReturnState.path.replan([startPoint, endPoint]) \[Not implemented]
 
 
 ## JPS A* Pathfinding \[Not implemented]

README.md

@@ -1,15 +1,30 @@
 # Mineflayer-Pathfinder
 Fast, promise based, 3D pathfinding library using A* and D*Lite algorithms, for Mineflayer found under: [https://github.com/superjoe30/mineflayer/](https://github.com/superjoe30/mineflayer/)
 
-## Features
+## Table of Contents
+- [Mineflayer-Pathfinder](#mineflayer-pathfinder)
+    - [Features](#features)
+    - [Table of Contents](#table-of-contents)
+    - [Basic Usage](#basic-usage)
+    - [Advanced Usage](#advanced-usage)
+    - [Documentation](#documentation)
+        - [bot.pathfinder.to( startPoint, endPoint [, ENUMPathfinder])](#botpathfinderto-startpoint-endpoint--enumpathfinder)
+        - [bot.pathfinder.getSuccessors( position)](#botpathfindergetsuccessors-position)
+        - [bot.pathfinder.getPredecessors( position)](#botpathfindergetpredecessors-position)
+        - [bot.pathfinder.getBlock( position)](#botpathfindergetblock-position)
+        - [bot.pathfinder.MAX_EXPANSIONS](#botpathfindermax_expansions)
+        - [bot.pathfinder.HEURISTIC( startPoint, EndPoint)](#botpathfinderheuristic-startpoint-endpoint)
+        - [bot.pathfinder.COST](#botpathfindercost)
+        - [bot.pathfinder.ENUMPathfinder](#botpathfinderenumpathfinder)
+        - [bot.pathfinder.ENUMStatus](#botpathfinderenumstatus)
+    - [Algorithm Documentation](#algorithm-documentation)
 
+## Features
 * Provides high level API for determining paths between two points
 * Multiple algorithms for pathfinding, A* and D*Lite
 * Exposed internal functions to allow easier user replacement
 * Based solely on a promise based API
 
-## Table of Contents
-
 ## Basic Usage
 To get started just paste this code into your bot:
 ```js

index.js

@@ -1,4 +1,5 @@
-EventEmitter = require('events').EventEmitter;
+'use strict';
+const EventEmitter = require('events').EventEmitter;
 const Vec3 = require('vec3');
 const Path = require('path');
 
@@ -15,10 +16,13 @@ module.exports = function(bot)
 
     bot.pathfinder = new EventEmitter();
     bot.pathfinder.ENUMPathfinder = {ASTAR: 0, DLITE: 1, UDLITE: 2};
-    bot.pathfinder.ENUMStatus = {Complete: 0, Incomplete: 1};
+    bot.pathfinder.ENUMStatus = {Complete: 0, Incomplete: 1, Replan: 2};
 
-    bot.pathfinder.getSuccessors = gMS.bind(undefined, require(Path.resolve(__dirname, 'DefaultConditions/successorConditions.json')));
-    bot.pathfinder.getPredecessors = gMS.bind(undefined, require(Path.resolve(__dirname, 'DefaultConditions/predecessorConditions.json')));
+    Object.defineProperty(bot.pathfinder, 'defaultSuccessors', {value: require(Path.resolve(__dirname, 'DefaultConditions/successorConditions.json')), enumerable: false});
+    Object.defineProperty(bot.pathfinder, 'defaultPredecessors', {value: require(Path.resolve(__dirname, 'DefaultConditions/predecessorConditions.json')), enumerable: false});
+
+    bot.pathfinder.getSuccessors = gMS.bind(undefined, bot.pathfinder.defaultSuccessors);
+    bot.pathfinder.getPredecessors = gMS.bind(undefined, bot.pathfinder.defaultPredecessors);
 
     // Native getBlock implementation too slow for this case
     let blocks;