Serveral pathfinding fixes

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);