Added the pathfinding module

nodes/robots/modules/module.gd

@@ -2,11 +2,14 @@ class_name Module extends Node
 
 @onready var cpu := get_parent() as CPU
 
-func set_registers(index:int)->int:
+func get_register_reservation_size()->int:
 	return 0
 
-func early_tick()->void:
+func set_reserved_registers(index:int)->void:
 	pass
 
+func get_register_types()->Dictionary[int, String]:
+	return {}
+
 func late_tick()->void:
 	pass

nodes/robots/modules/path_finder_module.gd

@@ -0,0 +1,75 @@
+extends Module
+
+var enabled := true
+
+var pos_x_register_index:int
+var pos_y_register_index:int
+var pos_z_register_index:int
+var index_register_index:int
+
+var prev_index := 0
+var target := Vector3i.ZERO
+var path : Array[Vector3i]
+
+func _ready() -> void:
+	if Terrain.instance == null:
+		print("No terrain to plan path on")
+	if cpu.get_parent() is not Robot:
+		print("Module not part of Robot")
+
+func get_register_reservation_size()->int:
+	return 4
+
+func set_reserved_registers(index:int)->void:
+	pos_x_register_index = index
+	pos_y_register_index = index+1
+	pos_z_register_index = index+2
+	index_register_index = index+3
+
+func get_register_types()->Dictionary[int, String]:
+	return { 
+		pos_x_register_index: "[X] Path", 
+		pos_y_register_index: "[Y] Path",
+		pos_z_register_index: "[Z] Path",
+		index_register_index: "Idx Path"
+		}
+
+func early_tick()->void:
+	var registers := cpu.cobor_vm.get_registers()
+	prev_index = registers[index_register_index]
+
+func late_tick()->void:
+	var registers := cpu.cobor_vm.get_registers()
+	var index := registers[index_register_index]
+	if index < 0:
+		target = Vector3i(
+			registers[pos_x_register_index],
+			registers[pos_y_register_index],
+			registers[pos_z_register_index]
+		)
+		print("Target set: ", target)
+	else:
+		if index == prev_index:
+			print("index stays same")
+			return
+		if prev_index < 0:
+			var path_finder := VoxelAStarGrid3D.new()
+			path_finder.set_terrain(Terrain.instance)
+			path_finder.set_region(AABB(cpu.get_parent().global_position + Vector3.ONE * -100, Vector3.ONE * 200))
+			path = path_finder.find_path(cpu.get_parent().global_position, target)
+			if not path.is_empty():
+				path.append(target)
+			print("Recalculating path of size:", path.size(), " towards: ", target)
+		if index >= path.size():
+			index = path.size()-1
+		var step:Vector3i
+		if path.size() == 0: 
+			step = Vector3i.ZERO
+		else:
+			step = path[index]
+		print("next step: ", step)
+		registers[pos_x_register_index] = step.x
+		registers[pos_y_register_index] = step.y
+		registers[pos_z_register_index] = step.z
+		registers[index_register_index] = index
+		cpu.cobor_vm.set_registers(cpu.register_size, registers)

nodes/robots/modules/path_finder_module.gd.uid

@@ -0,0 +1 @@
+uid://wsrudejqfo5e

nodes/robots/modules/player_click_module.gd

@@ -1,21 +1,31 @@
 extends Module
 
-
 var enabled := true
 
 var pos_x_register_index:int
 var pos_y_register_index:int
 var pos_z_register_index:int
 
+var pos := Vector3i.ZERO
+
 func _ready() -> void:
 	if Terrain.instance == null:
 		print("No terrain to get clicks from")
 
-func set_registers(index:int)->int:
+func get_register_reservation_size()->int:
+	return 3
+
+func set_reserved_registers(index:int)->void:
 	pos_x_register_index = index
 	pos_y_register_index = index+1
 	pos_z_register_index = index+2
-	return 3
+
+func get_register_types()->Dictionary[int, String]:
+	return { 
+		pos_x_register_index: "[X] Click", 
+		pos_y_register_index: "[Y] Click",
+		pos_z_register_index: "[Z] Click" 
+		}
 
 func _unhandled_input(event: InputEvent) -> void:
 	if not enabled: return
@@ -32,8 +42,11 @@ func set_click_registers()->void:
 	var origin := current_camera.project_ray_origin(mouse_pos_2d)
 	var dir := current_camera.project_ray_normal(mouse_pos_2d)
 	var res := Terrain.instance.get_voxel_tool().raycast(origin, dir, 100)
+	pos = res.previous_position
+
+func early_tick()->void:
 	var registers := cpu.cobor_vm.get_registers()
-	registers[pos_x_register_index] = res.previous_position.x
-	registers[pos_y_register_index] = res.previous_position.y
-	registers[pos_z_register_index] = res.previous_position.z
+	registers[pos_x_register_index] = pos.x
+	registers[pos_y_register_index] = pos.y
+	registers[pos_z_register_index] = pos.z
 	cpu.cobor_vm.set_registers(cpu.register_size, registers)

nodes/robots/modules/player_click_module.tscn

@@ -1,6 +0,0 @@
-[gd_scene load_steps=2 format=3 uid="uid://d22umiybuk0xf"]
-
-[ext_resource type="Script" uid="uid://dii2n2xcatyuh" path="res://nodes/robots/modules/player_click_module.gd" id="1_few5k"]
-
-[node name="PlayerClickModule" type="Node"]
-script = ExtResource("1_few5k")