xabbo-scripts/Scripts/AvoidCollision2.csx

using System;
using System.Collections.Generic;
using System.Linq;
using System.Globalization;
using System.Threading;
using System.Text.RegularExpressions;

public struct ExcludedArea
{
    public Point TopLeft { get; }
    public Point BottomRight { get; }

    public ExcludedArea(Point p1, Point p2)
    {
        TopLeft = new Point(Math.Min(p1.X, p2.X), Math.Min(p1.Y, p2.Y));
        BottomRight = new Point(Math.Max(p1.X, p2.X), Math.Max(p1.Y, p2.Y));
    }

    public bool Contains(Point p) => p.X >= TopLeft.X && p.X <= BottomRight.X && p.Y >= TopLeft.Y && p.Y <= BottomRight.Y;
    public override string ToString() => $"[({TopLeft.X},{TopLeft.Y}) to ({BottomRight.X},{BottomRight.Y})]";
}

List<Point> excludedSpecificXYPositions = new List<Point>
{
   // new Point(3, 5), 
};

List<ExcludedArea> excludedAreas = new List<ExcludedArea>
{
   // new ExcludedArea(new Point(4, 1), new Point(6, 3)), 
};

public struct Point : IEquatable<Point>
{
    public int X { get; }
    public int Y { get; }
    public Point(int x, int y) { X = x; Y = y; }
    public static implicit operator Point((int x, int y) tuple) => new Point(tuple.x, tuple.y);
    
    public bool Equals(Point other) => X == other.X && Y == other.Y;
    public override bool Equals(object obj) => obj is Point other && Equals(other);
    public override int GetHashCode() => HashCode.Combine(X, Y);
    public static bool operator ==(Point left, Point right) => left.Equals(right);
    public static bool operator !=(Point left, Point right) => !(left == right);
    public override string ToString() => $"({X},{Y})";
}

public class Tile
{
    public int X { get; set; }
    public int Y { get; set; }
    public double Z { get; set; }
    public Point XY => new Point(X, Y);
    public Tile(int x, int y, double z = 0.0) { X = x; Y = y; Z = z; }
    public Tile(Point p, double z = 0.0) : this(p.X, p.Y, z) { }
}

public class TrackedFurni 
{
    public long Id { get; set; }
    public string Name { get; set; }
    public Tile Location { get; set; }
}

public class WiredMovement 
{
    public int FromX { get; set; }
    public int FromY { get; set; }
    public int ToX { get; set; }
    public int ToY { get; set; }
    public string FromHeight { get; set; }
    public string ToHeight { get; set; }
    public int Id { get; set; } 
}

public class MoveCandidate
{
    public Point Point { get; set; }
    public double MinSafety { get; set; }
    public double ThreatPressure { get; set; }
    public double ProgressScore { get; set; }
    public double CoherenceScore { get; set; }
}

Log("started");

List<long> dangerousFurniIdsToAvoid = new List<long> { 877618098, 31212, 324234234 };
List<string> dangerousFurniNamesToAvoid = new List<string> { "Color Tile", "Rare Black Elephant Statue","Esfera Flutuante" };

HashSet<Point> walkableTiles = null;
int roomWidth = 0;
int roomLength = 0;
bool floorPlanParsedSuccessfully = false;
DateTime lastFloorPlanParseAttempt = DateTime.MinValue;

Dictionary<long, Dictionary<long, TrackedFurni>> AllTrackedFurnisGlobal = new Dictionary<long, Dictionary<long, TrackedFurni>>();

Tile _myAvatarActualTargetTile = null; 
DateTime _lastMoveCommandSentTime = DateTime.MinValue;
Point _lastMoveCommandSentToXY = default(Point);
Point _lastMoveDirection = default(Point);
TimeSpan _clientSideAnticipationWindow = TimeSpan.FromMilliseconds(250);

Point _lastKnownActualPosition = default(Point);

Point CurrentAnticipatedBotPosition
{
    get
    {
        if (Self == null) return default(Point);
        if (_myAvatarActualTargetTile != null) return _myAvatarActualTargetTile.XY;
        if (!_lastMoveCommandSentToXY.Equals(default(Point)) && (DateTime.UtcNow - _lastMoveCommandSentTime) < _clientSideAnticipationWindow)
             return _lastMoveCommandSentToXY;
        if (Self.Location != null) return new Point(Self.Location.X, Self.Location.Y);
        return default(Point);
    }
}

void ExecuteMove(int x, int y)
{
    Point currentPos = CurrentAnticipatedBotPosition;
    if(!currentPos.Equals(default(Point)))
    {
        _lastMoveDirection = new Point(x - currentPos.X, y - currentPos.Y);
    }
    Move(x,y);
    _lastMoveCommandSentToXY = new Point(x,y);
    _lastMoveCommandSentTime = DateTime.UtcNow;
    _myAvatarActualTargetTile = null; 
}

void TryParseFloorPlan()
{
    if ((DateTime.UtcNow - lastFloorPlanParseAttempt).TotalSeconds < 10 && floorPlanParsedSuccessfully) return; 
    lastFloorPlanParseAttempt = DateTime.UtcNow;
    bool currentParseSuccess = false;
    dynamic currentFloorPlan = null;
    int tempRoomWidth = 0;
    int tempRoomLength = 0;
    HashSet<Point> tempWalkableTiles = null;
    try { currentFloorPlan = FloorPlan; }
    catch (Exception ex) { Log($"Error accessing FloorPlan: {ex.Message}"); floorPlanParsedSuccessfully = false; return; }
    if (currentFloorPlan == null) { Log("FloorPlan is null."); floorPlanParsedSuccessfully = false; return; }
    try
    {
        tempRoomWidth = currentFloorPlan.Width;
        tempRoomLength = currentFloorPlan.Length;
        if (tempRoomWidth <= 0 || tempRoomLength <= 0) { Log($"Invalid dimensions: W={tempRoomWidth}, L={tempRoomLength}"); floorPlanParsedSuccessfully = false; return; }
        
        tempWalkableTiles = new HashSet<Point>();
        IReadOnlyList<int> tilesData = null; string heightmapString = null;
        object tilesProperty = null; try { tilesProperty = currentFloorPlan.Tiles; } catch { }
        object heightmapProperty = null; try { heightmapProperty = currentFloorPlan.Heightmap; } catch { }

        if (tilesProperty is IReadOnlyList<int> intTiles) tilesData = intTiles;
        else if (heightmapProperty is string hmString) {
            heightmapString = hmString.Replace("\r", "").Replace("\n", "");
             if (heightmapString.Length != tempRoomWidth * tempRoomLength) { Log("Heightmap length mismatch."); floorPlanParsedSuccessfully = false; return; }
        } else { Log("No recognizable Tiles/Heightmap."); floorPlanParsedSuccessfully = false; return; }
        
        for (int y = 0; y < tempRoomLength; y++) {
            for (int x = 0; x < tempRoomWidth; x++) {
                bool isTileWalkable = false;
                if (tilesData != null) {
                    int tileIndex = y * tempRoomWidth + x;
                    if (tileIndex < tilesData.Count) isTileWalkable = tilesData[tileIndex] >= 0 && tilesData[tileIndex] < 250; 
                } else if (heightmapString != null) {
                    isTileWalkable = heightmapString[y * tempRoomWidth + x] != 'x'; 
                }

                if(isTileWalkable)
                {
                    tempWalkableTiles.Add(new Point(x,y));
                }
            }
        }

        if (tempWalkableTiles != null && tempWalkableTiles.Any())
        {
            int specificExclusionsCount = 0;
            foreach (var excludedPos in excludedSpecificXYPositions)
            {
                if (tempWalkableTiles.Remove(excludedPos)) specificExclusionsCount++;
            }
            if (specificExclusionsCount > 0) Log($"Excluded {specificExclusionsCount} specific tiles based on 'excludedSpecificXYPositions'.");

            int areaExclusionsCount = 0;
            foreach (var area in excludedAreas)
            {
                for (int ex = area.TopLeft.X; ex <= area.BottomRight.X; ex++)
                {
                    for (int ey = area.TopLeft.Y; ey <= area.BottomRight.Y; ey++)
                    {
                        Point pointInArea = new Point(ex, ey);
                        if (tempWalkableTiles.Remove(pointInArea)) areaExclusionsCount++;
                    }
                }
            }
            if (areaExclusionsCount > 0) Log($"Excluded {areaExclusionsCount} tiles based on 'excludedAreas'.");
        }
        currentParseSuccess = true;
    }
    catch (Exception ex) { Log($"Error parsing FloorPlan: {ex.Message}"); currentParseSuccess = false; }
    if(currentParseSuccess) {
        walkableTiles = tempWalkableTiles;
        roomWidth = tempRoomWidth; roomLength = tempRoomLength;
        floorPlanParsedSuccessfully = true; Log($"FloorPlan parsed: {walkableTiles.Count} walkable tiles (after exclusions) in a {roomWidth}x{roomLength} area.");
    } else {
        walkableTiles = null; floorPlanParsedSuccessfully = false;
    }
}

void OnBotEnteredNewRoom() 
{
    Log("Entered new room. Wiping memory.");
    _myAvatarActualTargetTile = null;
    _lastMoveCommandSentToXY = default(Point);
    _lastMoveDirection = default(Point);
    _lastKnownActualPosition = default(Point);
    long currentRoomId = RoomId; 
    if (!AllTrackedFurnisGlobal.ContainsKey(currentRoomId)) AllTrackedFurnisGlobal[currentRoomId] = new Dictionary<long, TrackedFurni>();
    AllTrackedFurnisGlobal[currentRoomId].Clear(); 
    if (FloorItems != null) {
        foreach (var item in FloorItems) {
            if (item == null || item.Location == null) continue;
            try {
                if (!AllTrackedFurnisGlobal[currentRoomId].ContainsKey(item.Id)) {
                    AllTrackedFurnisGlobal[currentRoomId].Add(item.Id, new TrackedFurni {
                        Id = item.Id, Name = item.GetName(), Location = new Tile(item.Location.X, item.Location.Y, item.Location.Z)
                    });
                }
            } catch {}
        }
    }
    TryParseFloorPlan();
}

void InterceptWiredMovements(dynamic e) 
{
    long currentRoomId = RoomId;
    if (!AllTrackedFurnisGlobal.ContainsKey(currentRoomId)) AllTrackedFurnisGlobal[currentRoomId] = new Dictionary<long, TrackedFurni>();
    var packet = e.Packet; 
    int count = packet.ReadInt();
    for (int i = 0; i < count; i++) {
        packet.ReadInt(); 
        var movement = new WiredMovement { FromX = packet.ReadInt(), FromY = packet.ReadInt(), ToX = packet.ReadInt(), ToY = packet.ReadInt(), FromHeight = packet.ReadString(), ToHeight = packet.ReadString(), Id = packet.ReadInt() };
        packet.ReadInt(); packet.ReadInt(); 
        long furniLongId = movement.Id; 
        if (double.TryParse(movement.ToHeight, NumberStyles.Any, CultureInfo.InvariantCulture, out double z)) {
            var newLocation = new Tile(movement.ToX, movement.ToY, z);
            if (AllTrackedFurnisGlobal[currentRoomId].TryGetValue(furniLongId, out TrackedFurni trackedFurni)) {
                trackedFurni.Location = newLocation;
            } else {
                AllTrackedFurnisGlobal[currentRoomId][furniLongId] = new TrackedFurni { Id = furniLongId, Location = newLocation };
            }
        }
    }
}

Regex mvRegex = new Regex(@"/mv (\d+),(\d+),([\d\.]+)/");

void InterceptUserUpdate(dynamic e)
{
    if(Self == null) return;
    var packet = e.Packet;
    int numUpdates = packet.ReadInt();
    for(int i=0; i<numUpdates; i++) {
        int entityIndex = packet.ReadInt();
        int x = packet.ReadInt(); int y = packet.ReadInt(); string zStr = packet.ReadString();
        int headRot = packet.ReadInt(); int bodyRot = packet.ReadInt(); string action = packet.ReadString();
        if (entityIndex == Self.Index) {
            Match match = mvRegex.Match(action);
            if (match.Success) {
                _myAvatarActualTargetTile = new Tile(int.Parse(match.Groups[1].Value), int.Parse(match.Groups[2].Value), double.Parse(match.Groups[3].Value, CultureInfo.InvariantCulture));
                _lastMoveCommandSentToXY = default(Point);
            } else if (action.EndsWith("//") && !action.Contains("/mv")) {
                _myAvatarActualTargetTile = null; 
            }
        }
    }
}

private double CalculateDistanceSq(Point p1, Point p2)
{
    return Math.Pow(p1.X - p2.X, 2) + Math.Pow(p1.Y - p2.Y, 2);
}

bool IsTileEffectivelyWalkable(int x, int y)
{
    if (!floorPlanParsedSuccessfully || walkableTiles == null) return false; 
    return walkableTiles.Contains(new Point(x,y));
}

Point FindSafestUltimateDestination(ICollection<Point> dangerZone)
{
    if (!floorPlanParsedSuccessfully || walkableTiles == null) return default(Point);
    if (!dangerZone.Any()) {
        try { return walkableTiles.OrderBy(t => t.X).ThenBy(t=> t.Y).Skip(walkableTiles.Count/2).First(); } catch { return default(Point); }
    }

    var distanceMap = new Dictionary<Point, int>();
    var queue = new Queue<Point>(dangerZone.Count);
    
    foreach (var dangerPos in dangerZone)
    {
        if (IsTileEffectivelyWalkable(dangerPos.X, dangerPos.Y))
        {
            if (!distanceMap.ContainsKey(dangerPos))
            {
                distanceMap[dangerPos] = 0;
                queue.Enqueue(dangerPos);
            }
        }
    }

    Point[] dirs = { (0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1) };
    while(queue.Count > 0) {
        Point p = queue.Dequeue();
        int currentDist = distanceMap[p];
        foreach(var dir in dirs) {
            Point next = new Point(p.X + dir.X, p.Y + dir.Y);
            if (IsTileEffectivelyWalkable(next.X, next.Y) && !distanceMap.ContainsKey(next)) {
                distanceMap[next] = currentDist + 1;
                queue.Enqueue(next);
            }
        }
    }

    Point bestTile = default(Point);
    int maxDist = -1;
    var safestUnreachableTile = walkableTiles.FirstOrDefault(t => !distanceMap.ContainsKey(t));
    if (!safestUnreachableTile.Equals(default(Point)))
    {
        return safestUnreachableTile;
    }

    foreach(var tile in walkableTiles)
    {
        if(distanceMap.TryGetValue(tile, out int dist))
        {
             if(dist > maxDist)
             {
                maxDist = dist;
                bestTile = tile;
             }
        }
    }
    return bestTile;
}

Point FindBestImmediateStep(Point currentPos, Point lastPos, ICollection<Point> dangerZone, Point ultimateGoal)
{
    var candidates = new List<MoveCandidate>();
    double initialDistToGoalSq = ultimateGoal.Equals(default(Point)) ? 0 : CalculateDistanceSq(currentPos, ultimateGoal);

    for (int dx = -1; dx <= 1; dx++) {
        for (int dy = -1; dy <= 1; dy++) {
            Point candidatePoint = new Point(currentPos.X + dx, currentPos.Y + dy);
            
            if (!lastPos.Equals(default(Point)) && candidatePoint.Equals(lastPos)) continue;

            if (!IsTileEffectivelyWalkable(candidatePoint.X, candidatePoint.Y)) continue;

            double minSafetyDistSq = double.MaxValue;
            double threatPressure = 0;

            if (dangerZone.Any()) {
                foreach(var danger in dangerZone) {
                    double distSq = CalculateDistanceSq(danger, candidatePoint);
                    if (distSq < minSafetyDistSq) minSafetyDistSq = distSq;
                    threatPressure += 1.0 / (distSq + 0.1); 
                }
            }
            
            double progressScore = ultimateGoal.Equals(default(Point)) ? 0 : initialDistToGoalSq - CalculateDistanceSq(candidatePoint, ultimateGoal);
            double coherenceScore = (dx == _lastMoveDirection.X && dy == _lastMoveDirection.Y) ? 1.0 : 0.0;
            
            if(dx == 0 && dy == 0) coherenceScore = -99; 

            candidates.Add(new MoveCandidate {
                Point = candidatePoint,
                MinSafety = minSafetyDistSq,
                ThreatPressure = threatPressure,
                ProgressScore = progressScore,
                CoherenceScore = coherenceScore
            });
        }
    }

    if (!candidates.Any()) return currentPos;

    var bestMove = candidates
        .OrderByDescending(c => Math.Round(c.MinSafety)) 
        .ThenBy(c => c.ThreatPressure)
        .ThenByDescending(c => c.ProgressScore)
        .ThenByDescending(c => c.CoherenceScore)
        .First();
        
    return bestMove.Point;
}


OnEnteredRoom(e => OnBotEnteredNewRoom()); 
OnIntercept(In["WiredMovements"], e => InterceptWiredMovements(e)); 
OnIntercept(In["UserUpdate"], e => InterceptUserUpdate(e));

Point[] threatMoveDirs = { (0, 1), (0, -1), (1, 0), (-1, 0) };

while(Run)
{
    try
    {
        if (!Run) break; 
        Point currentSelfLocationXY = CurrentAnticipatedBotPosition;
        if (currentSelfLocationXY.Equals(default(Point))) { Delay(30); continue; }
        
        if (!floorPlanParsedSuccessfully) TryParseFloorPlan();
        if (!floorPlanParsedSuccessfully) { Delay(50); continue; }

        var currentThreats = new HashSet<Point>();
        long currentRoomId = RoomId;

        if (AllTrackedFurnisGlobal.TryGetValue(currentRoomId, out var currentRoomTrackedItems)) {
             foreach(var item in currentRoomTrackedItems.Values) {
                if (item?.Location != null && (dangerousFurniIdsToAvoid.Contains(item.Id) || (item.Name != null && dangerousFurniNamesToAvoid.Contains(item.Name))))
                    currentThreats.Add(item.Location.XY);
             }
        }
            
        foreach(string dangerousName in dangerousFurniNamesToAvoid) {
            try { 
                var itemsByName = FloorItems.Named(dangerousName);
                if (itemsByName != null) { 
                    foreach(var item in itemsByName) { 
                        if (item?.Location != null) currentThreats.Add(new Point(item.Location.X, item.Location.Y));
                    } 
                } 
            } catch {}
        }

        Point lastPositionThisTick = _lastKnownActualPosition;
        _lastKnownActualPosition = currentSelfLocationXY;

        if (currentThreats.Any())
        {
            var predictiveDangerZone = new HashSet<Point>(currentThreats);
            foreach (var threatPos in currentThreats) {
                foreach (var dir in threatMoveDirs) {
                    predictiveDangerZone.Add(new Point(threatPos.X + dir.X, threatPos.Y + dir.Y));
                }
            }

            Point ultimateGoal = FindSafestUltimateDestination(predictiveDangerZone);
            Point nextStep = FindBestImmediateStep(currentSelfLocationXY, lastPositionThisTick, predictiveDangerZone, ultimateGoal);
            
            if (!nextStep.Equals(currentSelfLocationXY)) {
                Log($"Target: {ultimateGoal}. Best step: {nextStep}");
                ExecuteMove(nextStep.X, nextStep.Y);
            } else {
                _lastMoveDirection = default(Point);
            }
        } else {
             _lastMoveDirection = default(Point);
        }
    }
    catch (Exception ex) { Log($"LOOP ERROR: {ex.GetType().Name} - {ex.Message}"); }
    if (!Run) break;
    Delay(30);
}

Log("closed");