init

computer/13/pathfinding.lua

@@ -0,0 +1,128 @@
+pp = require("cc.pretty")
+
+if _G.pos == nil then
+	_G.facing = "south"
+	_G.pos = vector.new(0,0,0)
+	file = fs.open("pos.txt", "r")
+	data = splitString(file.readAll())
+	_G.pos.x = tonumber(data[1])
+	_G.pos.y = tonumber(data[2])
+	_G.pos.z = tonumber(data[3])
+	_G.facing = data[4]
+end
+
+local up = vector.new(0,1,0)
+
+local rightOf = {
+	south = "west",
+	west = "north",
+	north = "east",
+	east = "south"
+}
+
+local leftOf = {
+	west = "south",
+	north = "west",
+	east = "north",
+	south = "east"
+}
+
+local vecOf = {
+	north = vector.new(0,0,-1),
+	south = vector.new(0,0,1),
+	east = vector.new(1,0,0),
+	west = vector.new(-1,0,0),
+}
+
+function savePos()
+	fs.delete("pos.txt")
+	file = fs.open("pos.txt", "w")
+	file.write(_G.pos.x .. " " .. _G.pos.y .. " " .. _G.pos.z .. " " .. _G.facing)
+end
+
+
+function goUp()
+	if turtle.up() then
+		_G.pos.y = _G.pos.y + 1
+		savePos()
+	else
+		printError("failed to go up")
+		printError(pos)
+	end
+end
+
+function goDown()
+	if turtle.down() then
+		_G.pos.y = _G.pos.y - 1
+		savePos()
+	else
+		printError("failed to go down")
+		printError(pos)
+	end
+end
+
+function goLeft()
+	turtle.turnLeft()
+	_G.facing = leftOf[_G.facing]
+	savePos()
+end
+
+function goRight()
+	turtle.turnRight()
+	_G.facing = rightOf[_G.facing]
+	savePos()
+end
+
+function goForward()
+	if turtle.forward() then
+		_G.pos = _G.pos + vecOf[_G.facing]
+		savePos()
+	else
+		printError("failed to go forward")
+		printError(pos)
+	end
+end
+
+function goBack()
+	if turtle.back() then
+		_G.pos = _G.pos - vecOf[_G.facing]
+		savePos()
+	else
+		printError("failed to go backward")
+		printError(pos)
+	end
+end
+
+function stepTo(target)
+	local delta = target - _G.pos
+	-- print(delta)
+	if delta.y > 0 then
+		goUp()
+	elseif delta.y < 0 then
+		goDown()
+	elseif delta:dot(vecOf[_G.facing]) > 0 then
+		goForward()
+	elseif delta:dot(vecOf[_G.facing]:cross(up)) > 0 then
+        goRight()
+    else
+        goLeft()
+	end
+end
+
+function go_to(target, face)
+	while target ~= _G.pos do
+		stepTo(target)
+		-- print(_G.pos, _G.facing, target, face)
+		print(_G.pos, _G.facing)
+	end
+	if face and face ~= _G.facing then
+		if rightOf[_G.facing] == face then
+			goRight()
+		elseif leftOf[_G.facing] == face then
+			goLeft()
+		else
+			goRight()
+			goRight()
+		end
+	end
+end