add simulation-based pathfinder execution engine

Author: mat-1

README.md

@@ -18,7 +18,7 @@ _Currently supported Minecraft version: `1.21.11`._
 ## Features
 
 - [Accurate physics](https://azalea.matdoes.dev/azalea_physics/) (but some features like entity pushing and elytras aren't implemented yet)
-- [Pathfinder](https://azalea.matdoes.dev/azalea/pathfinder/index.html) (partially based on Baritone and several times faster)
+- [Pathfinder](https://azalea.matdoes.dev/azalea/pathfinder/index.html)
 - [Swarms](https://azalea.matdoes.dev/azalea/swarm/index.html)
 - [Breaking blocks](https://azalea.matdoes.dev/azalea/struct.Client.html#method.mine)
 - [Block interactions & building](https://azalea.matdoes.dev/azalea/struct.Client.html#method.block_interact) (this doesn't predict the block interactions/placement on the client yet, but it's usually fine)

azalea-client/src/plugins/mining.rs

@@ -8,7 +8,7 @@ use azalea_inventory::ItemStack;
 use azalea_physics::{PhysicsSystems, collision::BlockWithShape};
 use azalea_protocol::packets::game::s_player_action::{self, ServerboundPlayerAction};
 use azalea_registry::builtin::{BlockKind, ItemKind};
-use azalea_world::{Worlds, WorldName};
+use azalea_world::{WorldName, Worlds};
 use bevy_app::{App, Plugin, Update};
 use bevy_ecs::prelude::*;
 use derive_more::{Deref, DerefMut};

azalea-client/tests/simulation/move_and_despawn_entity.rs

@@ -1,5 +1,8 @@
 use azalea_client::test_utils::prelude::*;
-use azalea_core::position::{ChunkPos, Vec3};
+use azalea_core::{
+    entity_id::MinecraftEntityId,
+    position::{ChunkPos, Vec3},
+};
 use azalea_protocol::{
     common::movements::{PositionMoveRotation, RelativeMovements},
     packets::{
@@ -8,7 +11,6 @@ use azalea_protocol::{
     },
 };
 use azalea_registry::builtin::EntityKind;
-use azalea_core::entity_id::MinecraftEntityId;
 
 #[test]
 fn test_move_and_despawn_entity() {

azalea-client/tests/simulation/move_despawned_entity.rs

@@ -1,9 +1,8 @@
 use azalea_client::test_utils::prelude::*;
-use azalea_core::position::ChunkPos;
+use azalea_core::{entity_id::MinecraftEntityId, position::ChunkPos};
 use azalea_entity::metadata::Cow;
 use azalea_protocol::packets::{ConnectionProtocol, game::ClientboundMoveEntityRot};
 use azalea_registry::builtin::EntityKind;
-use azalea_core::entity_id::MinecraftEntityId;
 use bevy_ecs::query::With;
 use tracing::Level;
 

azalea-client/tests/simulation/teleport_movement.rs

@@ -1,6 +1,7 @@
 use azalea_client::test_utils::prelude::*;
 use azalea_core::{
     delta::{LpVec3, PositionDelta8},
+    entity_id::MinecraftEntityId,
     position::{BlockPos, ChunkPos, Vec3},
 };
 use azalea_entity::LookDirection;
@@ -16,7 +17,6 @@ use azalea_protocol::{
     },
 };
 use azalea_registry::builtin::BlockKind;
-use azalea_core::entity_id::MinecraftEntityId;
 
 #[test]
 fn test_teleport_movement() {

azalea-core/src/position.rs

@@ -126,6 +126,15 @@ macro_rules! vec3_impl {
                 self.x * other.x + self.y * other.y + self.z * other.z
             }
 
+            #[inline]
+            pub fn cross(&self, other: Self) -> Self {
+                Self::new(
+                    self.y * other.z - self.z * other.y,
+                    self.z * other.x - self.x * other.z,
+                    self.x * other.y - self.y * other.x,
+                )
+            }
+
             /// Make a new position with the lower coordinates for each axis.
             pub fn min(&self, other: Self) -> Self {
                 Self {
@@ -333,6 +342,7 @@ impl simdnbt::FromNbtTag for Vec3 {
 impl Vec3 {
     /// Get the distance of this vector to the origin by doing
     /// `sqrt(x^2 + y^2 + z^2)`.
+    #[doc(alias = "modulus")]
     pub fn length(&self) -> f64 {
         f64::sqrt(self.x * self.x + self.y * self.y + self.z * self.z)
     }
@@ -343,6 +353,13 @@ impl Vec3 {
         (self - other).length()
     }
 
+    pub fn horizontal_distance_to(self, other: Self) -> f64 {
+        self.horizontal_distance_squared_to(other).sqrt()
+    }
+    pub fn horizontal_distance(self) -> f64 {
+        self.horizontal_distance_squared().sqrt()
+    }
+
     pub fn x_rot(self, radians: f32) -> Vec3 {
         let x_delta = math::cos(radians);
         let y_delta = math::sin(radians);

azalea-entity/src/lib.rs

@@ -182,7 +182,7 @@ impl LookDirection {
     pub fn update(&mut self, new: LookDirection) {
         self.update_with_sensitivity(new, 1.);
     }
-    /// Update the `y_rot` to the given value, in degrees.
+    /// Update the `y_rot` (yaw) to the given value, in degrees.
     ///
     /// This is a shortcut for [`Self::update`] while keeping the `x_rot` the
     /// same.
@@ -192,7 +192,7 @@ impl LookDirection {
             x_rot: self.x_rot,
         });
     }
-    /// Update the `x_rot` to the given value, in degrees.
+    /// Update the `x_rot` (pitch) to the given value, in degrees.
     ///
     /// This is a shortcut for [`Self::update`] while keeping the `y_rot` the
     /// same.

azalea-world/src/container.rs

@@ -94,7 +94,7 @@ impl Worlds {
 /// If two entities share the same world name, then Azalea assumes that they're
 /// in the same world.
 #[derive(Clone, Component, Debug, Deref, DerefMut, Eq, Hash, PartialEq)]
-#[doc(alias("worldname", "world name", "dimension"))]
+#[doc(alias("dimension"))]
 pub struct WorldName(pub Identifier);
 impl WorldName {
     /// Create a new `WorldName` with the given name.

azalea-world/src/lib.rs

@@ -12,7 +12,7 @@ mod world;
 
 pub use bit_storage::BitStorage;
 pub use chunk_storage::{Chunk, ChunkStorage, PartialChunkStorage, Section};
-pub use container::{Worlds, WorldName};
+pub use container::{WorldName, Worlds};
 pub use world::*;
 
 #[deprecated = "renamed to `WorldName`."]

azalea/examples/testbot/main.rs

@@ -19,15 +19,23 @@
 //!   /particle a ton of times to show where it's pathfinding to. You should
 //!   only have this on if the bot has operator permissions, otherwise it'll
 //!   just spam the server console unnecessarily.
+//! - `--simulation-pathfinder`: Use the alternative simulation-based execution
+//!   engine for the pathfinder.
 
 mod commands;
 pub mod killaura;
 
 use std::{env, process, sync::Arc, thread, time::Duration};
 
 use azalea::{
-    ClientInformation, brigadier::command_dispatcher::CommandDispatcher, ecs::prelude::*,
-    pathfinder::debug::PathfinderDebugParticles, prelude::*, swarm::prelude::*,
+    ClientInformation,
+    brigadier::command_dispatcher::CommandDispatcher,
+    ecs::prelude::*,
+    pathfinder::{
+        debug::PathfinderDebugParticles, execute::simulation::SimulationPathfinderExecutionPlugin,
+    },
+    prelude::*,
+    swarm::prelude::*,
 };
 use commands::{CommandSource, register_commands};
 use parking_lot::Mutex;
@@ -44,6 +52,10 @@ async fn main() -> AppExit {
         .set_handler(handle)
         .set_swarm_handler(swarm_handle);
 
+    if args.simulation_pathfinder {
+        builder = builder.add_plugins(SimulationPathfinderExecutionPlugin);
+    }
+
     for username_or_email in &args.accounts {
         let account = if username_or_email.contains('@') {
             Account::microsoft(username_or_email).await.unwrap()
@@ -210,13 +222,15 @@ pub struct Args {
     pub accounts: Vec<String>,
     pub server: String,
     pub pathfinder_debug_particles: bool,
+    pub simulation_pathfinder: bool,
 }
 
 fn parse_args() -> Args {
     let mut owner_username = "admin".to_owned();
     let mut accounts = Vec::new();
     let mut server = "localhost".to_owned();
     let mut pathfinder_debug_particles = false;
+    let mut simulation_pathfinder = false;
 
     let mut args = env::args().skip(1);
     while let Some(arg) = args.next() {
@@ -235,6 +249,9 @@ fn parse_args() -> Args {
             "--pathfinder-debug-particles" | "-P" => {
                 pathfinder_debug_particles = true;
             }
+            "--simulation-pathfinder" => {
+                simulation_pathfinder = true;
+            }
             _ => {
                 eprintln!("Unknown argument: {arg}");
                 process::exit(1);
@@ -251,5 +268,6 @@ fn parse_args() -> Args {
         accounts,
         server,
         pathfinder_debug_particles,
+        simulation_pathfinder,
     }
 }