Make sure pathfinding doesn't go through bedrock

mine.lua

@@ -44,19 +44,16 @@ end
 
 function findDistances(points)
   local dist = arr2(#points, #points, math.huge)
-  -- local prev = arr2(#points, #points)
 
   for i = 1, #points do
     for j = 1, #points do
       if i ~= j then
         dist[i][j] = (points[i] - points[j]):length()
-        -- prev[i][j] = i
       end
     end
   end
   for i = 1, #points do
     dist[i][i] = 0
-    -- prev[i][i] = i
   end
 
   return dist
@@ -119,35 +116,8 @@ function groupOres(ores, dist, offset)
   return retGroups
 end
 
-function pathThrough(points, dist, s, e)
-  -- local n = #points
-
-  -- dist[s][n] = 0
-  -- dist[n][s] = 0
-  -- dist[e][n] = 0
-  -- dist[n][e] = 0
-
-  -- for k = 1, #points do
-  --   for i = 1, #points do
-  --     for j = 1, #points do
-  --       if dist[i][j] > dist[i][k] + dist[k][j] then
-  --         dist[i][j] = dist[i][k] + dist[k][j]
-  --         prev[i][j] = prev[k][j]
-  --       end
-  --     end
-  --     yield()
-  --   end
-  -- end
-
-  -- local path = {e}
-  -- while s ~= e do
-  --   e = prev[s][e]
-  --   table.insert(path, 1, e)
-  -- end
-
-  -- return path
-
 -- nearest neighbour
+function pathThrough(points, dist, s, e)
   local unvisited = {}
   local ui = nil
   for i = 1, #points do
@@ -188,7 +158,7 @@ function pathThrough(points, dist, s, e)
 end
 
 -- A*
-function findPath(s, e)
+function findPath(s, e, neighbors)
   local points = {}
   function addPoint(p)
     local k = p:tostring()
@@ -204,23 +174,6 @@ function findPath(s, e)
     return (points[e] - points[i]):length()
   end
 
-  function neighbors(k)
-    local p = points[k]
-    local ns = {
-      p + vector.new( 1,  0,  0),
-      p + vector.new( 0,  1,  0),
-      p + vector.new( 0,  0,  1),
-      p + vector.new(-1,  0,  0),
-      p + vector.new( 0, -1,  0),
-      p + vector.new( 0,  0, -1),
-    }
-
-    for i, n in ipairs(ns) do
-      ns[i] = addPoint(n)
-    end
-    return ns
-  end
-
   local gScoreT = {}
   gScoreT[s] = 0
   function gScore(i)
@@ -255,7 +208,11 @@ function findPath(s, e)
       break
     end
 
-    local ns = neighbors(current)
+    local ns = neighbors(points[current])
+    for i, n in ipairs(ns) do
+      ns[i] = addPoint(n)
+    end
+
     for _, n in ipairs(ns) do
       tentativeG = gScore(current) + 1
       if tentativeG < gScore(n) then
@@ -452,6 +409,22 @@ function Miner:xchgItems()
   end
 end
 
+function Miner:safeNeighbors(p)
+  local ns = {
+    p + vector.new( 1,  0,  0),
+    p + vector.new( 0,  1,  0),
+    p + vector.new( 0,  0,  1),
+    p + vector.new(-1,  0,  0),
+    p + vector.new( 0,  0, -1),
+  }
+  -- only allow downwards if above bedrock
+  if (self.absolutePos + p).y - 1 > -60 then
+    table.insert(ns, p + vector.new(0, -1, 0))
+  end
+
+  return ns
+end
+
 function Miner:safeMove(dir)
   if dir == "up" then
     while turtle.detectUp() do
@@ -493,7 +466,7 @@ function Miner:findOres(radius)
   local found = {}
   for _, b in ipairs(info) do
     -- only ores and avoid bedrock
-    if ORES[b.name] and self.absolutePos.y + b.y >= -58 then
+    if ORES[b.name] and self.absolutePos.y + b.y > -60 then
       table.insert(found, b)
     end
   end
@@ -527,7 +500,7 @@ function Miner:navigateThrough(path)
     -- print("doing", delta)
     if delta:length() ~= 1 then
       -- print("path finding between points")
-      local path = findPath(self.pos, p)
+      local path = findPath(self.pos, p, function(v) return self:safeNeighbors(v) end)
       table.remove(path, 1)
       table.remove(path, #path)
       assert(#path ~= 0)
@@ -626,7 +599,8 @@ function Miner:mineOres(radius)
     end
     assert(closest)
 
-    local pathToStart = findPath(self.pos, closest)
+    -- Find path here so we can strip out the actual ore itself
+    local pathToStart = findPath(self.pos, closest, function(v) return self:safeNeighbors(v) end)
     table.remove(pathToStart, 1)
     table.remove(pathToStart, #pathToStart)