Pathfinder hotfixes (#8201)

Content.Client/AI/ClientPathfindingDebugSystem.cs

@@ -335,7 +335,7 @@ namespace Content.Client.AI
                 {
                     Regions[gridId][chunk].Add(region, nodes);
                     _regionColors[gridId][chunk][region] = new Color(robustRandom.NextFloat(), robustRandom.NextFloat(),
-                        robustRandom.NextFloat(), 0.3f);
+                        robustRandom.NextFloat(), 0.5f);
                 }
             }
         }

Content.IntegrationTests/Tests/Pathfinding/PathfindingChunkTest.cs

@@ -1,62 +0,0 @@
-using System.Linq;
-using System.Threading.Tasks;
-using Content.Server.AI.Pathfinding;
-using NUnit.Framework;
-using Robust.Shared.GameObjects;
-using Robust.Shared.IoC;
-using Robust.Shared.Map;
-using Robust.Shared.Maths;
-
-namespace Content.IntegrationTests.Tests.Pathfinding
-{
-    [TestFixture]
-    [TestOf(typeof(PathfindingChunk))]
-    public sealed class PathfindingChunkTest : ContentIntegrationTest
-    {
-        [Test]
-        public async Task Test()
-        {
-            var server = StartServer();
-
-            server.Assert(() =>
-            {
-                var pathfindingSystem = EntitySystem.Get<PathfindingSystem>();
-                var mapMan = IoCManager.Resolve<IMapManager>();
-
-                // Setup
-                var grid = GetMainGrid(mapMan);
-                var chunkTile = grid.GetTileRef(new Vector2i(0, 0));
-                var chunk = pathfindingSystem.GetChunk(chunkTile);
-                Assert.That(chunk.Nodes.Length == PathfindingChunk.ChunkSize * PathfindingChunk.ChunkSize);
-
-                // Neighbors
-                var chunkNeighbors = chunk.GetNeighbors().ToList();
-                Assert.That(chunkNeighbors.Count == 0);
-                var neighborChunkTile = grid.GetTileRef(new Vector2i(PathfindingChunk.ChunkSize, PathfindingChunk.ChunkSize));
-                var neighborChunk = pathfindingSystem.GetChunk(neighborChunkTile);
-                chunkNeighbors = chunk.GetNeighbors().ToList();
-                Assert.That(chunkNeighbors.Count == 1);
-
-                // Directions
-                Assert.That(PathfindingHelpers.RelativeDirection(neighborChunk, chunk) == Direction.NorthEast);
-                Assert.That(PathfindingHelpers.RelativeDirection(chunk.Nodes[0, 1], chunk.Nodes[0, 0]) == Direction.North);
-
-                // Nodes
-                var node = chunk.Nodes[1, 1];
-                var nodeNeighbors = node.GetNeighbors().ToList();
-                Assert.That(nodeNeighbors.Count == 8);
-
-                // Bottom-left corner with no chunk neighbor
-                node = chunk.Nodes[0, 0];
-                nodeNeighbors = node.GetNeighbors().ToList();
-                Assert.That(nodeNeighbors.Count == 3);
-
-                // Given we have 1 NE neighbor then NE corner should have 4 neighbors due to the 1 extra from the neighbor chunk
-                node = chunk.Nodes[PathfindingChunk.ChunkSize - 1, PathfindingChunk.ChunkSize - 1];
-                nodeNeighbors = node.GetNeighbors().ToList();
-                Assert.That(nodeNeighbors.Count == 4);
-            });
-            await server.WaitIdleAsync();
-        }
-    }
-}

Content.Server/AI/Pathfinding/GridPathfindingComponent.cs

@@ -0,0 +1,8 @@
+namespace Content.Server.AI.Pathfinding;
+
+[RegisterComponent]
+[Friend(typeof(PathfindingSystem))]
+public sealed class GridPathfindingComponent : Component, IPathfindingGraph
+{
+    public Dictionary<Vector2i, PathfindingChunk> Graph = new();
+}

Content.Server/AI/Pathfinding/IPathfindingGraph.cs

@@ -0,0 +1,6 @@
+namespace Content.Server.AI.Pathfinding;
+
+public interface IPathfindingGraph
+{
+    
+}

Content.Server/AI/Pathfinding/PathfindingChunk.cs

@@ -17,7 +17,7 @@ namespace Content.Server.AI.Pathfinding
     public sealed class PathfindingChunk
     {
         public TimeSpan LastUpdate { get; private set; }
-        public GridId GridId { get; }
+        public EntityUid GridId { get; }
 
         public Vector2i Indices => _indices;
         private readonly Vector2i _indices;
@@ -27,7 +27,7 @@ namespace Content.Server.AI.Pathfinding
         public PathfindingNode[,] Nodes => _nodes;
         private readonly PathfindingNode[,] _nodes = new PathfindingNode[ChunkSize,ChunkSize];
 
-        public PathfindingChunk(GridId gridId, Vector2i indices)
+        public PathfindingChunk(EntityUid gridId, Vector2i indices)
         {
             GridId = gridId;
             _indices = indices;
@@ -57,10 +57,10 @@ namespace Content.Server.AI.Pathfinding
                 .RaiseEvent(EventSource.Local, new PathfindingChunkUpdateMessage(this));
         }
 
-        public IEnumerable<PathfindingChunk> GetNeighbors()
+        public IEnumerable<PathfindingChunk> GetNeighbors(IEntityManager? entManager = null)
         {
-            var pathfindingSystem = EntitySystem.Get<PathfindingSystem>();
+            IoCManager.Resolve(ref entManager);
-            var chunkGrid = pathfindingSystem.Graph[GridId];
+            var chunkGrid = entManager.GetComponent<GridPathfindingComponent>(GridId).Graph;
 
             for (var x = -1; x <= 1; x++)
             {

Content.Server/AI/Pathfinding/PathfindingNode.cs

@@ -38,17 +38,6 @@ namespace Content.Server.AI.Pathfinding
             GenerateMask();
         }
 
-        public static bool IsRelevant(EntityUid entity, IPhysBody physicsComponent)
-        {
-            if (IoCManager.Resolve<IEntityManager>().GetComponent<TransformComponent>(entity).GridID == GridId.Invalid ||
-                (PathfindingSystem.TrackedCollisionLayers & physicsComponent.CollisionLayer) == 0)
-            {
-                return false;
-            }
-
-            return true;
-        }
-
         /// <summary>
         /// Return our neighboring nodes (even across chunks)
         /// </summary>
@@ -93,7 +82,7 @@ namespace Content.Server.AI.Pathfinding
             }
         }
 
-        public PathfindingNode? GetNeighbor(Direction direction)
+        public PathfindingNode? GetNeighbor(Direction direction, IEntityManager? entManager = null)
         {
             var chunkXOffset = TileRef.X - ParentChunk.Indices.X;
             var chunkYOffset = TileRef.Y - ParentChunk.Indices.Y;
@@ -254,9 +243,9 @@ namespace Content.Server.AI.Pathfinding
         /// <param name="entity"></param>
         /// TODO: These 2 methods currently don't account for a bunch of changes (e.g. airlock unpowered, wrenching, etc.)
         /// TODO: Could probably optimise this slightly more.
-        public void AddEntity(EntityUid entity, IPhysBody physicsComponent)
+        public void AddEntity(EntityUid entity, IPhysBody physicsComponent, IEntityManager? entMan = null)
         {
-            var entMan = IoCManager.Resolve<IEntityManager>();
+            IoCManager.Resolve(ref entMan);
             // If we're a door
             if (entMan.HasComponent<AirlockComponent>(entity) || entMan.HasComponent<DoorComponent>(entity))
             {

Content.Server/AI/Pathfinding/PathfindingSystem.Grid.cs

@@ -0,0 +1,273 @@
+using Content.Server.Access;
+using Content.Shared.Access.Systems;
+using Content.Shared.GameTicking;
+using Robust.Shared.Map;
+using Robust.Shared.Physics;
+using Robust.Shared.Utility;
+
+namespace Content.Server.AI.Pathfinding;
+
+/// <summary>
+/// Handles pathfinding while on a grid.
+/// </summary>
+public sealed partial class PathfindingSystem
+{
+    [Dependency] private readonly AccessReaderSystem _accessReader = default!;
+    [Dependency] private readonly IMapManager _mapManager = default!;
+
+    // Queued pathfinding graph updates
+    private readonly Queue<MoveEvent> _moveUpdateQueue = new();
+    private readonly Queue<AccessReaderChangeEvent> _accessReaderUpdateQueue = new();
+    private readonly Queue<TileRef> _tileUpdateQueue = new();
+
+    public override void Initialize()
+    {
+        SubscribeLocalEvent<RoundRestartCleanupEvent>(OnRoundRestart);
+        SubscribeLocalEvent<CollisionChangeEvent>(OnCollisionChange);
+        SubscribeLocalEvent<MoveEvent>(OnMoveEvent);
+        SubscribeLocalEvent<AccessReaderChangeEvent>(OnAccessChange);
+        SubscribeLocalEvent<GridAddEvent>(OnGridAdd);
+        SubscribeLocalEvent<TileChangedEvent>(OnTileChange);
+
+        // Handle all the base grid changes
+        // Anything that affects traversal (i.e. collision layer) is handled separately.
+    }
+
+    private void OnGridAdd(GridAddEvent ev)
+    {
+        EnsureComp<GridPathfindingComponent>(ev.EntityUid);
+    }
+
+    private void OnCollisionChange(ref CollisionChangeEvent collisionEvent)
+    {
+        if (collisionEvent.CanCollide)
+        {
+            OnEntityAdd(collisionEvent.Body.Owner);
+        }
+        else
+        {
+            OnEntityRemove(collisionEvent.Body.Owner);
+        }
+    }
+
+    private void OnMoveEvent(ref MoveEvent moveEvent)
+    {
+        _moveUpdateQueue.Enqueue(moveEvent);
+    }
+
+    private void OnTileChange(TileChangedEvent ev)
+    {
+        _tileUpdateQueue.Enqueue(ev.NewTile);
+    }
+
+    private void OnAccessChange(AccessReaderChangeEvent message)
+    {
+        _accessReaderUpdateQueue.Enqueue(message);
+    }
+
+    private PathfindingChunk GetOrCreateChunk(TileRef tile)
+    {
+        var chunkX = (int) (Math.Floor((float) tile.X / PathfindingChunk.ChunkSize) * PathfindingChunk.ChunkSize);
+        var chunkY = (int) (Math.Floor((float) tile.Y / PathfindingChunk.ChunkSize) * PathfindingChunk.ChunkSize);
+        var vector2i = new Vector2i(chunkX, chunkY);
+        var comp = Comp<GridPathfindingComponent>(tile.GridUid);
+        var chunks = comp.Graph;
+
+        if (!chunks.TryGetValue(vector2i, out var chunk))
+        {
+            chunk = CreateChunk(comp, vector2i);
+        }
+
+        return chunk;
+    }
+
+    private PathfindingChunk CreateChunk(GridPathfindingComponent comp, Vector2i indices)
+    {
+        var grid = _mapManager.GetGrid(comp.Owner);
+        var newChunk = new PathfindingChunk(grid.Index, indices);
+        comp.Graph.Add(indices, newChunk);
+        newChunk.Initialize(grid);
+
+        return newChunk;
+    }
+
+    /// <summary>
+    /// Return the corresponding PathfindingNode for this tile
+    /// </summary>
+    /// <param name="tile"></param>
+    /// <returns></returns>
+    public PathfindingNode GetNode(TileRef tile)
+    {
+        var chunk = GetOrCreateChunk(tile);
+        var node = chunk.GetNode(tile);
+
+        return node;
+    }
+
+    private void OnTileUpdate(TileRef tile)
+    {
+        if (!_mapManager.GridExists(tile.GridIndex)) return;
+
+        var node = GetNode(tile);
+        node.UpdateTile(tile);
+    }
+
+    private bool IsRelevant(TransformComponent xform, PhysicsComponent physics)
+    {
+        return xform.GridID != GridId.Invalid && (TrackedCollisionLayers & physics.CollisionLayer) != 0;
+    }
+
+    /// <summary>
+    /// Tries to add the entity to the relevant pathfinding node
+    /// </summary>
+    /// The node will filter it to the correct category (if possible)
+    /// <param name="entity"></param>
+    private void OnEntityAdd(EntityUid entity, TransformComponent? xform = null, PhysicsComponent? physics = null)
+    {
+        if (!Resolve(entity, ref xform, false) ||
+            !Resolve(entity, ref physics, false)) return;
+
+        if (!IsRelevant(xform, physics) ||
+            !_mapManager.TryGetGrid(xform.GridID, out var grid))
+        {
+            return;
+        }
+
+        var tileRef = grid.GetTileRef(xform.Coordinates);
+
+        var chunk = GetOrCreateChunk(tileRef);
+        var node = chunk.GetNode(tileRef);
+        node.AddEntity(entity, physics, EntityManager);
+    }
+
+    private void OnEntityRemove(EntityUid entity, TransformComponent? xform = null)
+    {
+        if (!Resolve(entity, ref xform, false) ||
+            !_mapManager.TryGetGrid(xform.GridID, out var grid)) return;
+
+        var node = GetNode(grid.GetTileRef(xform.Coordinates));
+        node.RemoveEntity(entity);
+    }
+
+    /// <summary>
+    /// When an entity moves around we'll remove it from its old node and add it to its new node (if applicable)
+    /// </summary>
+    /// <param name="moveEvent"></param>
+    private void OnEntityMove(MoveEvent moveEvent)
+    {
+        if (!TryComp<TransformComponent>(moveEvent.Sender, out var xform)) return;
+
+        // If we've moved to space or the likes then remove us.
+        if (!TryComp<PhysicsComponent>(moveEvent.Sender, out var physics) ||
+            !IsRelevant(xform, physics) ||
+            moveEvent.NewPosition.GetGridId(EntityManager) == GridId.Invalid)
+        {
+            OnEntityRemove(moveEvent.Sender, xform);
+            return;
+        }
+
+        var oldGridId = moveEvent.OldPosition.GetGridId(EntityManager);
+        var gridId = moveEvent.NewPosition.GetGridId(EntityManager);
+
+        if (_mapManager.TryGetGrid(oldGridId, out var oldGrid))
+        {
+            var oldNode = GetNode(oldGrid.GetTileRef(moveEvent.OldPosition));
+            oldNode.RemoveEntity(moveEvent.Sender);
+        }
+
+        if (_mapManager.TryGetGrid(gridId, out var grid))
+        {
+            var newNode = GetNode(grid.GetTileRef(moveEvent.OldPosition));
+            newNode.AddEntity(moveEvent.Sender, physics, EntityManager);
+        }
+    }
+
+    // TODO: Need to rethink the pathfinder utils (traversable etc.). Maybe just chuck them all in PathfindingSystem
+    // Otherwise you get the steerer using this and the pathfinders using a different traversable.
+    // Also look at increasing tile cost the more physics entities are on it
+    public bool CanTraverse(EntityUid entity, EntityCoordinates coordinates)
+    {
+        var gridId = coordinates.GetGridId(EntityManager);
+        var tile = _mapManager.GetGrid(gridId).GetTileRef(coordinates);
+        var node = GetNode(tile);
+        return CanTraverse(entity, node);
+    }
+
+    private bool CanTraverse(EntityUid entity, PathfindingNode node)
+    {
+        if (EntityManager.TryGetComponent(entity, out IPhysBody? physics) &&
+            (physics.CollisionMask & node.BlockedCollisionMask) != 0)
+        {
+            return false;
+        }
+
+        var access = _accessReader.FindAccessTags(entity);
+        foreach (var reader in node.AccessReaders)
+        {
+            if (!_accessReader.IsAllowed(reader, access))
+            {
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    public void OnRoundRestart(RoundRestartCleanupEvent ev)
+    {
+        _moveUpdateQueue.Clear();
+        _accessReaderUpdateQueue.Clear();
+        _tileUpdateQueue.Clear();
+    }
+
+    private void ProcessGridUpdates()
+    {
+        var totalUpdates = 0;
+        var bodyQuery = GetEntityQuery<PhysicsComponent>();
+        var xformQuery = GetEntityQuery<TransformComponent>();
+
+        foreach (var update in _accessReaderUpdateQueue)
+        {
+            if (!xformQuery.TryGetComponent(update.Sender, out var xform) ||
+                !bodyQuery.TryGetComponent(update.Sender, out var body)) continue;
+
+            if (update.Enabled)
+            {
+                OnEntityAdd(update.Sender, xform, body);
+            }
+            else
+            {
+                OnEntityRemove(update.Sender, xform);
+            }
+
+            totalUpdates++;
+        }
+
+        _accessReaderUpdateQueue.Clear();
+
+        foreach (var tile in _tileUpdateQueue)
+        {
+            OnTileUpdate(tile);
+            totalUpdates++;
+        }
+
+        _tileUpdateQueue.Clear();
+        var moveUpdateCount = Math.Max(50 - totalUpdates, 0);
+
+        // Other updates are high priority so for this we'll just defer it if there's a spike (explosion, etc.)
+        // If the move updates grow too large then we'll just do it
+        if (_moveUpdateQueue.Count > 100)
+        {
+            moveUpdateCount = _moveUpdateQueue.Count - 100;
+        }
+
+        moveUpdateCount = Math.Min(moveUpdateCount, _moveUpdateQueue.Count);
+
+        for (var i = 0; i < moveUpdateCount; i++)
+        {
+            OnEntityMove(_moveUpdateQueue.Dequeue());
+        }
+
+        DebugTools.Assert(_moveUpdateQueue.Count < 1000);
+    }
+}

Content.Server/AI/Pathfinding/PathfindingSystem.cs

@@ -12,35 +12,14 @@ using Robust.Shared.Utility;
 
 namespace Content.Server.AI.Pathfinding
 {
-    /*
-    // TODO: IMO use rectangular symmetry reduction on the nodes with collision at all. (currently planned to be implemented via AiReachableSystem and expanded later).
-    alternatively store all rooms and have an alternative graph for humanoid mobs (same collision mask, needs access etc). You could also just path from room to room as needed.
-    // TODO: Longer term -> Handle collision layer changes?
-    TODO: Handle container entities so they're not tracked.
-    */
     /// <summary>
     /// This system handles pathfinding graph updates as well as dispatches to the pathfinder
     /// (90% of what it's doing is graph updates so not much point splitting the 2 roles)
     /// </summary>
-    public sealed class PathfindingSystem : EntitySystem
+    public sealed partial class PathfindingSystem : EntitySystem
     {
-        [Dependency] private readonly IMapManager _mapManager = default!;
-        [Dependency] private readonly AccessReaderSystem _accessReader = default!;
-
-        public IReadOnlyDictionary<GridId, Dictionary<Vector2i, PathfindingChunk>> Graph => _graph;
-        private readonly Dictionary<GridId, Dictionary<Vector2i, PathfindingChunk>> _graph = new();
-
         private readonly PathfindingJobQueue _pathfindingQueue = new();
 
-        // Queued pathfinding graph updates
-        private readonly Queue<CollisionChangeMessage> _collidableUpdateQueue = new();
-        private readonly Queue<MoveEvent> _moveUpdateQueue = new();
-        private readonly Queue<AccessReaderChangeMessage> _accessReaderUpdateQueue = new();
-        private readonly Queue<TileRef> _tileUpdateQueue = new();
-
-        // Need to store previously known entity positions for collidables for when they move
-        private readonly Dictionary<EntityUid, PathfindingNode> _lastKnownPositions = new();
-
         public const int TrackedCollisionLayers = (int)
             (CollisionGroup.Impassable |
              CollisionGroup.MidImpassable |
@@ -66,315 +45,8 @@ namespace Content.Server.AI.Pathfinding
         public override void Update(float frameTime)
         {
             base.Update(frameTime);
-
+            ProcessGridUpdates();
-            // Make sure graph is updated, then get pathfinders
-            ProcessGraphUpdates();
             _pathfindingQueue.Process();
         }
-
-        private void ProcessGraphUpdates()
-        {
-            var totalUpdates = 0;
-
-            foreach (var update in _collidableUpdateQueue)
-            {
-                if (!EntityManager.EntityExists(update.Owner)) continue;
-
-                if (update.CanCollide)
-                {
-                    HandleEntityAdd(update.Owner);
-                }
-                else
-                {
-                    HandleEntityRemove(update.Owner);
-                }
-
-                totalUpdates++;
-            }
-
-            _collidableUpdateQueue.Clear();
-
-            foreach (var update in _accessReaderUpdateQueue)
-            {
-                if (update.Enabled)
-                {
-                    HandleEntityAdd(update.Sender);
-                }
-                else
-                {
-                    HandleEntityRemove(update.Sender);
-                }
-
-                totalUpdates++;
-            }
-
-            _accessReaderUpdateQueue.Clear();
-
-            foreach (var tile in _tileUpdateQueue)
-            {
-                HandleTileUpdate(tile);
-                totalUpdates++;
-            }
-
-            _tileUpdateQueue.Clear();
-            var moveUpdateCount = Math.Max(50 - totalUpdates, 0);
-
-            // Other updates are high priority so for this we'll just defer it if there's a spike (explosion, etc.)
-            // If the move updates grow too large then we'll just do it
-            if (_moveUpdateQueue.Count > 100)
-            {
-                moveUpdateCount = _moveUpdateQueue.Count - 100;
-            }
-
-            moveUpdateCount = Math.Min(moveUpdateCount, _moveUpdateQueue.Count);
-
-            for (var i = 0; i < moveUpdateCount; i++)
-            {
-                HandleEntityMove(_moveUpdateQueue.Dequeue());
-            }
-
-            DebugTools.Assert(_moveUpdateQueue.Count < 1000);
-        }
-
-        public PathfindingChunk GetChunk(TileRef tile)
-        {
-            var chunkX = (int) (Math.Floor((float) tile.X / PathfindingChunk.ChunkSize) * PathfindingChunk.ChunkSize);
-            var chunkY = (int) (Math.Floor((float) tile.Y / PathfindingChunk.ChunkSize) * PathfindingChunk.ChunkSize);
-            var vector2i = new Vector2i(chunkX, chunkY);
-
-            if (_graph.TryGetValue(tile.GridIndex, out var chunks))
-            {
-                if (!chunks.ContainsKey(vector2i))
-                {
-                    CreateChunk(tile.GridIndex, vector2i);
-                }
-
-                return chunks[vector2i];
-            }
-
-            var newChunk = CreateChunk(tile.GridIndex, vector2i);
-            return newChunk;
-        }
-
-        private PathfindingChunk CreateChunk(GridId gridId, Vector2i indices)
-        {
-            var newChunk = new PathfindingChunk(gridId, indices);
-            if (!_graph.ContainsKey(gridId))
-            {
-                _graph.Add(gridId, new Dictionary<Vector2i, PathfindingChunk>());
-            }
-
-            _graph[gridId].Add(indices, newChunk);
-            newChunk.Initialize(_mapManager.GetGrid(gridId));
-
-            return newChunk;
-        }
-
-        /// <summary>
-        /// Get the entity's tile position, then get the corresponding node
-        /// </summary>
-        /// <param name="entity"></param>
-        /// <returns></returns>
-        public PathfindingNode GetNode(EntityUid entity)
-        {
-            var tile = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(entity).GridID).GetTileRef(EntityManager.GetComponent<TransformComponent>(entity).Coordinates);
-            return GetNode(tile);
-        }
-
-        /// <summary>
-        /// Return the corresponding PathfindingNode for this tile
-        /// </summary>
-        /// <param name="tile"></param>
-        /// <returns></returns>
-        public PathfindingNode GetNode(TileRef tile)
-        {
-            var chunk = GetChunk(tile);
-            var node = chunk.GetNode(tile);
-
-            return node;
-        }
-
-        public override void Initialize()
-        {
-            SubscribeLocalEvent<RoundRestartCleanupEvent>(Reset);
-            SubscribeLocalEvent<CollisionChangeMessage>(QueueCollisionChangeMessage);
-            SubscribeLocalEvent<MoveEvent>(QueueMoveEvent);
-            SubscribeLocalEvent<AccessReaderChangeMessage>(QueueAccessChangeMessage);
-            SubscribeLocalEvent<GridRemovalEvent>(HandleGridRemoval);
-            SubscribeLocalEvent<TileChangedEvent>(QueueTileChange);
-
-            // Handle all the base grid changes
-            // Anything that affects traversal (i.e. collision layer) is handled separately.
-
-        }
-
-        private void HandleTileUpdate(TileRef tile)
-        {
-            if (!_mapManager.GridExists(tile.GridIndex)) return;
-
-            var node = GetNode(tile);
-            node.UpdateTile(tile);
-        }
-
-        private void HandleGridRemoval(GridRemovalEvent ev)
-        {
-            if (_graph.ContainsKey(ev.GridId))
-            {
-                _graph.Remove(ev.GridId);
-            }
-        }
-
-        private void QueueTileChange(TileChangedEvent ev)
-        {
-            _tileUpdateQueue.Enqueue(ev.NewTile);
-        }
-
-        private void QueueAccessChangeMessage(AccessReaderChangeMessage message)
-        {
-            _accessReaderUpdateQueue.Enqueue(message);
-        }
-
-        /// <summary>
-        /// Tries to add the entity to the relevant pathfinding node
-        /// </summary>
-        /// The node will filter it to the correct category (if possible)
-        /// <param name="entity"></param>
-        private void HandleEntityAdd(EntityUid entity)
-        {
-            if (Deleted(entity) ||
-                _lastKnownPositions.ContainsKey(entity) ||
-                !EntityManager.TryGetComponent(entity, out IPhysBody? physics) ||
-                !PathfindingNode.IsRelevant(entity, physics))
-            {
-                return;
-            }
-
-            var xform = EntityManager.GetComponent<TransformComponent>(entity);
-            var grid = _mapManager.GetGrid(xform.GridID);
-            var tileRef = grid.GetTileRef(xform.Coordinates);
-
-            var chunk = GetChunk(tileRef);
-            var node = chunk.GetNode(tileRef);
-            node.AddEntity(entity, physics);
-            _lastKnownPositions.Add(entity, node);
-        }
-
-        private void HandleEntityRemove(EntityUid entity)
-        {
-            if (!_lastKnownPositions.TryGetValue(entity, out var node))
-            {
-                return;
-            }
-
-            node.RemoveEntity(entity);
-            _lastKnownPositions.Remove(entity);
-        }
-
-        private void QueueMoveEvent(ref MoveEvent moveEvent)
-        {
-            _moveUpdateQueue.Enqueue(moveEvent);
-        }
-
-        /// <summary>
-        /// When an entity moves around we'll remove it from its old node and add it to its new node (if applicable)
-        /// </summary>
-        /// <param name="moveEvent"></param>
-        private void HandleEntityMove(MoveEvent moveEvent)
-        {
-            // If we've moved to space or the likes then remove us.
-            if ((!EntityManager.EntityExists(moveEvent.Sender) ? EntityLifeStage.Deleted : EntityManager.GetComponent<MetaDataComponent>(moveEvent.Sender).EntityLifeStage) >= EntityLifeStage.Deleted ||
-                !EntityManager.TryGetComponent(moveEvent.Sender, out IPhysBody? physics) ||
-                !PathfindingNode.IsRelevant(moveEvent.Sender, physics) ||
-                moveEvent.NewPosition.GetGridId(EntityManager) == GridId.Invalid)
-            {
-                HandleEntityRemove(moveEvent.Sender);
-                return;
-            }
-
-            // Memory leak protection until grid parenting confirmed fix / you REALLY need the performance
-            var xform = EntityManager.GetComponent<TransformComponent>(moveEvent.Sender);
-            var gridBounds = _mapManager.GetGrid(xform.GridID).WorldBounds;
-
-            if (!gridBounds.Contains(xform.WorldPosition))
-            {
-                HandleEntityRemove(moveEvent.Sender);
-                return;
-            }
-
-            // If we move from space to a grid we may need to start tracking it.
-            if (!_lastKnownPositions.TryGetValue(moveEvent.Sender, out var oldNode))
-            {
-                HandleEntityAdd(moveEvent.Sender);
-                return;
-            }
-
-            var newGridId = moveEvent.NewPosition.GetGridId(EntityManager);
-            if (newGridId == GridId.Invalid)
-            {
-                HandleEntityRemove(moveEvent.Sender);
-                return;
-            }
-
-            // The pathfinding graph is tile-based so first we'll check if they're on a different tile and if we need to update.
-            // If you get entities bigger than 1 tile wide you'll need some other system so god help you.
-            var newTile = _mapManager.GetGrid(newGridId).GetTileRef(moveEvent.NewPosition);
-
-            if (oldNode == null || oldNode.TileRef == newTile)
-            {
-                return;
-            }
-
-            var newNode = GetNode(newTile);
-            _lastKnownPositions[moveEvent.Sender] = newNode;
-
-            oldNode.RemoveEntity(moveEvent.Sender);
-            newNode.AddEntity(moveEvent.Sender, physics);
-        }
-
-        private void QueueCollisionChangeMessage(CollisionChangeMessage collisionMessage)
-        {
-            _collidableUpdateQueue.Enqueue(collisionMessage);
-        }
-
-        // TODO: Need to rethink the pathfinder utils (traversable etc.). Maybe just chuck them all in PathfindingSystem
-        // Otherwise you get the steerer using this and the pathfinders using a different traversable.
-        // Also look at increasing tile cost the more physics entities are on it
-        public bool CanTraverse(EntityUid entity, EntityCoordinates coordinates)
-        {
-            var gridId = coordinates.GetGridId(EntityManager);
-            var tile = _mapManager.GetGrid(gridId).GetTileRef(coordinates);
-            var node = GetNode(tile);
-            return CanTraverse(entity, node);
-        }
-
-        public bool CanTraverse(EntityUid entity, PathfindingNode node)
-        {
-            if (EntityManager.TryGetComponent(entity, out IPhysBody? physics) &&
-                (physics.CollisionMask & node.BlockedCollisionMask) != 0)
-            {
-                return false;
-            }
-
-            var access = _accessReader.FindAccessTags(entity);
-            foreach (var reader in node.AccessReaders)
-            {
-                if (!_accessReader.IsAllowed(reader, access))
-                {
-                    return false;
-                }
-            }
-
-            return true;
-        }
-
-        public void Reset(RoundRestartCleanupEvent ev)
-        {
-            _graph.Clear();
-            _collidableUpdateQueue.Clear();
-            _moveUpdateQueue.Clear();
-            _accessReaderUpdateQueue.Clear();
-            _tileUpdateQueue.Clear();
-            _lastKnownPositions.Clear();
-        }
     }
 }

Content.Server/AI/Pathfinding/ServerPathfindingDebugSystem.cs

@@ -14,7 +14,6 @@ namespace Content.Server.AI.Pathfinding
             base.Initialize();
             AStarPathfindingJob.DebugRoute += DispatchAStarDebug;
             JpsPathfindingJob.DebugRoute += DispatchJpsDebug;
-            SubscribeNetworkEvent<SharedAiDebug.RequestPathfindingGraphMessage>(DispatchGraph);
         }
 
         public override void Shutdown()
@@ -88,37 +87,6 @@ namespace Content.Server.AI.Pathfinding
 
             RaiseNetworkEvent(systemMessage);
         }
-
-        private void DispatchGraph(SharedAiDebug.RequestPathfindingGraphMessage message)
-        {
-            var pathfindingSystem = EntityManager.EntitySysManager.GetEntitySystem<PathfindingSystem>();
-            var mapManager = IoCManager.Resolve<IMapManager>();
-            var result = new Dictionary<int, List<Vector2>>();
-
-            var idx = 0;
-
-            foreach (var (gridId, chunks) in pathfindingSystem.Graph)
-            {
-                var gridManager = mapManager.GetGrid(gridId);
-
-                foreach (var chunk in chunks.Values)
-                {
-                    var nodes = new List<Vector2>();
-                    foreach (var node in chunk.Nodes)
-                    {
-                        var worldTile = gridManager.GridTileToWorldPos(node.TileRef.GridIndices);
-
-                        nodes.Add(worldTile);
-                    }
-
-                    result.Add(idx, nodes);
-                    idx++;
-                }
-            }
-
-            var systemMessage = new SharedAiDebug.PathfindingGraphMessage(result);
-            RaiseNetworkEvent(systemMessage);
-        }
     }
 #endif
 }

Content.Server/AI/Steering/AiSteeringSystem.cs

@@ -387,19 +387,6 @@ namespace Content.Server.AI.Steering
                 movementVector += CollisionAvoidance(entity, movementVector, ignoredCollision);
             }
 
-            // TODO: Jesus this code is shit, slork is a cute dork, but the pathfinder should annotate this.
-            if (_mapManager.TryGetGrid(nextGrid.Value.EntityId, out var grid))
-            {
-                foreach (var ent in grid.GetAnchoredEntities(nextGrid.Value))
-                {
-                    if (HasComp<DoorComponent>(ent))
-                    {
-                        _interactionSystem.InteractHand(entity, ent);
-                        break;
-                    }
-                }
-            }
-
             // Group behaviors would also go here e.g. separation, cohesion, alignment
 
             // Move towards it

Content.Server/Access/AccessReaderChangeEvent.cs

@@ -1,12 +1,12 @@
 namespace Content.Server.Access
 {
-    public sealed class AccessReaderChangeMessage : EntityEventArgs
+    public sealed class AccessReaderChangeEvent : EntityEventArgs
     {
         public EntityUid Sender { get; }
 
         public bool Enabled { get; }
 
-        public AccessReaderChangeMessage(EntityUid entity, bool enabled)
+        public AccessReaderChangeEvent(EntityUid entity, bool enabled)
         {
             Sender = entity;
             Enabled = enabled;

Content.Server/Doors/Systems/DoorSystem.cs

@@ -67,7 +67,7 @@ public sealed class DoorSystem : SharedDoorSystem
             _airtightSystem.SetAirblocked(airtight, collidable);
 
         // Pathfinding / AI stuff.
-        RaiseLocalEvent(new AccessReaderChangeMessage(uid, collidable));
+        RaiseLocalEvent(new AccessReaderChangeEvent(uid, collidable));
 
         base.SetCollidable(uid, collidable, door, physics, occluder);
     }