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Add NPC stuck detection (#14410)

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This commit is contained in:
metalgearsloth
2023-03-05 16:13:09 +11:00
committed by GitHub
parent bb4d5064ad
commit 28dbbbb734
3 changed files with 127 additions and 70 deletions
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14
Content.Server/NPC/Components/NPCSteeringComponent.cs
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@@ -2,6 +2,7 @@ using System.Threading;
using Content.Server.NPC.Pathfinding;
using Content.Shared.NPC;
using Robust.Shared.Map;
using Robust.Shared.Serialization.TypeSerializers.Implementations.Custom;
namespace Content.Server.NPC.Components;
@@ -39,12 +40,25 @@ public sealed class NPCSteeringComponent : Component
/// <summary>
/// Next time we can change our steering direction.
/// </summary>
[DataField("nextSteer", customTypeSerializer:typeof(TimeOffsetSerializer))]
public TimeSpan NextSteer = TimeSpan.Zero;
[DataField("lastSteerDirection")]
public Vector2 LastSteerDirection = Vector2.Zero;
public const int SteeringFrequency = 10;
/// <summary>
/// Last position we considered for being stuck.
/// </summary>
[DataField("lastStuckCoordinates")]
public EntityCoordinates LastStuckCoordinates;
[DataField("lastStuckTime", customTypeSerializer:typeof(TimeOffsetSerializer))]
public TimeSpan LastStuckTime;
public const float StuckDistance = 0.5f;
/// <summary>
/// Have we currently requested a path.
/// </summary>

72
Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs
View File

@@ -45,7 +45,8 @@ public sealed partial class NPCSteeringSystem
float moveSpeed,
float[] interest,
EntityQuery<PhysicsComponent> bodyQuery,
float frameTime)
float frameTime,
ref bool forceSteer)
{
var ourCoordinates = xform.Coordinates;
var destinationCoordinates = steering.Coordinates;
@@ -72,6 +73,7 @@ public sealed partial class NPCSteeringSystem
// Try to get the next node temporarily.
targetCoordinates = GetTargetCoordinates(steering);
needsPath = true;
ResetStuck(steering, ourCoordinates);
}
}
@@ -84,14 +86,22 @@ public sealed partial class NPCSteeringSystem
// If it's a pathfinding node it might be different to the destination.
arrivalDistance = steering.Range;
}
// If next node is a free tile then get within its bounds.
// This is to avoid popping it too early
else if (steering.CurrentPath.TryPeek(out var node) && node.Data.IsFreeSpace)
{
arrivalDistance = MathF.Min(node.Box.Width, node.Box.Height) - 0.01f;
}
// Try getting into blocked range I guess?
// TODO: Consider melee range or the likes.
else
{
arrivalDistance = SharedInteractionSystem.InteractionRange - 0.65f;
}
// Check if mapids match.
var targetMap = targetCoordinates.ToMap(EntityManager);
var ourMap = ourCoordinates.ToMap(EntityManager);
var targetMap = targetCoordinates.ToMap(EntityManager, _transform);
var ourMap = ourCoordinates.ToMap(EntityManager, _transform);
if (targetMap.MapId != ourMap.MapId)
{
@@ -107,6 +117,8 @@ public sealed partial class NPCSteeringSystem
// Node needs some kind of special handling like access or smashing.
if (steering.CurrentPath.TryPeek(out var node) && !node.Data.IsFreeSpace)
{
// Ignore stuck while handling obstacles.
ResetStuck(steering, ourCoordinates);
SteeringObstacleStatus status;
// Breaking behaviours and the likes.
@@ -125,25 +137,24 @@ public sealed partial class NPCSteeringSystem
steering.Status = SteeringStatus.NoPath;
return false;
case SteeringObstacleStatus.Continuing:
CheckPath(steering, xform, needsPath, distance);
CheckPath(uid, steering, xform, needsPath, distance);
return true;
default:
throw new ArgumentOutOfRangeException();
}
}
// Otherwise it's probably regular pathing so just keep going a bit more to get to tile centre
if (direction.Length <= TileTolerance)
{
// Distance should already be handled above.
// It was just a node, not the target, so grab the next destination (either the target or next node).
if (steering.CurrentPath.Count > 0)
{
forceSteer = true;
steering.CurrentPath.Dequeue();
// Alright just adjust slightly and grab the next node so we don't stop moving for a tick.
// TODO: If it's the last node just grab the target instead.
targetCoordinates = GetTargetCoordinates(steering);
targetMap = targetCoordinates.ToMap(EntityManager);
targetMap = targetCoordinates.ToMap(EntityManager, _transform);
// Can't make it again.
if (ourMap.MapId != targetMap.MapId)
@@ -155,6 +166,7 @@ public sealed partial class NPCSteeringSystem
// Gonna resume now business as usual
direction = targetMap.Position - ourMap.Position;
ResetStuck(steering, ourCoordinates);
}
else
{
@@ -163,6 +175,30 @@ public sealed partial class NPCSteeringSystem
return false;
}
}
// Stuck detection
// Check if we have moved further than the movespeed * stuck time.
else if (ourCoordinates.TryDistance(EntityManager, steering.LastStuckCoordinates, out var stuckDistance) &&
stuckDistance < NPCSteeringComponent.StuckDistance)
{
var stuckTime = _timing.CurTime - steering.LastStuckTime;
// Either 1 second or how long it takes to move the stuck distance + buffer if we're REALLY slow.
var maxStuckTime = Math.Max(1, NPCSteeringComponent.StuckDistance / moveSpeed * 1.2f);
if (stuckTime.TotalSeconds > maxStuckTime)
{
// TODO: Blacklist nodes (pathfinder factor wehn)
// TODO: This should be a warning but
// A) NPCs get stuck on non-anchored static bodies still (e.g. closets)
// B) NPCs still try to move in locked containers (e.g. cow, hamster)
// and I don't want to spam grafana even harder than it gets spammed rn.
_sawmill.Debug($"NPC {ToPrettyString(uid)} found stuck at {ourCoordinates}");
steering.Status = SteeringStatus.NoPath;
return false;
}
}
else
{
ResetStuck(steering, ourCoordinates);
}
// Do we have no more nodes to follow OR has the target moved sufficiently? If so then re-path.
@@ -172,7 +208,7 @@ public sealed partial class NPCSteeringSystem
}
// TODO: Probably need partial planning support i.e. patch from the last node to where the target moved to.
CheckPath(steering, xform, needsPath, distance);
CheckPath(uid, steering, xform, needsPath, distance);
// If we don't have a path yet then do nothing; this is to avoid stutter-stepping if it turns out there's no path
// available but we assume there was.
@@ -198,17 +234,22 @@ public sealed partial class NPCSteeringSystem
// Prefer our current direction
if (weight > 0f && body.LinearVelocity.LengthSquared > 0f)
{
const float SameDirectionWeight = 0.1f;
const float sameDirectionWeight = 0.1f;
norm = body.LinearVelocity.Normalized;
ApplySeek(interest, norm, SameDirectionWeight);
ApplySeek(interest, norm, sameDirectionWeight);
}
return true;
}
private void ResetStuck(NPCSteeringComponent component, EntityCoordinates ourCoordinates)
{
component.LastStuckCoordinates = ourCoordinates;
component.LastStuckTime = _timing.CurTime;
}
private void CheckPath(NPCSteeringComponent steering, TransformComponent xform, bool needsPath, float targetDistance)
private void CheckPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, bool needsPath, float targetDistance)
{
if (!_pathfinding)
{
@@ -233,7 +274,7 @@ public sealed partial class NPCSteeringSystem
// Request the new path.
if (needsPath)
{
RequestPath(steering, xform, targetDistance);
RequestPath(uid, steering, xform, targetDistance);
}
}
@@ -253,7 +294,7 @@ public sealed partial class NPCSteeringSystem
if (!node.Data.IsFreeSpace)
break;
var nodeMap = node.Coordinates.ToMap(EntityManager);
var nodeMap = node.Coordinates.ToMap(EntityManager, _transform);
// If any nodes are 'behind us' relative to the target we'll prune them.
// This isn't perfect but should fix most cases of stutter stepping.
@@ -311,7 +352,6 @@ public sealed partial class NPCSteeringSystem
Angle offsetRot,
Vector2 worldPos,
float agentRadius,
float moveSpeed,
int layer,
int mask,
TransformComponent xform,
@@ -414,7 +454,7 @@ public sealed partial class NPCSteeringSystem
var xformB = xformQuery.GetComponent(ent);
if (!_physics.TryGetNearestPoints(uid, ent, out var pointA, out var pointB, xform, xformB))
if (!_physics.TryGetNearestPoints(uid, ent, out _, out var pointB, xform, xformB))
{
continue;
}

69
Content.Server/NPC/Systems/NPCSteeringSystem.cs
View File

@@ -12,7 +12,6 @@ using Content.Shared.Movement.Components;
using Content.Shared.Movement.Systems;
using Content.Shared.NPC;
using Content.Shared.NPC.Events;
using Content.Shared.Physics;
using Content.Shared.Weapons.Melee;
using Robust.Server.Player;
using Robust.Shared.Configuration;
@@ -49,15 +48,12 @@ namespace Content.Server.NPC.Systems
[Dependency] private readonly DoorSystem _doors = default!;
[Dependency] private readonly EntityLookupSystem _lookup = default!;
[Dependency] private readonly FactionSystem _faction = default!;
// [Dependency] private readonly MetaDataSystem _metadata = default!;
[Dependency] private readonly PathfindingSystem _pathfindingSystem = default!;
[Dependency] private readonly SharedInteractionSystem _interaction = default!;
[Dependency] private readonly SharedMeleeWeaponSystem _melee = default!;
[Dependency] private readonly SharedMoverController _mover = default!;
[Dependency] private readonly SharedPhysicsSystem _physics = default!;
// This will likely get moved onto an abstract pathfinding node that specifies the max distance allowed from the coordinate.
private const float TileTolerance = 0.40f;
[Dependency] private readonly SharedTransformSystem _transform = default!;
private bool _enabled;
@@ -69,9 +65,17 @@ namespace Content.Server.NPC.Systems
private object _obstacles = new();
private ISawmill _sawmill = default!;
public override void Initialize()
{
base.Initialize();
_sawmill = Logger.GetSawmill("npc.steering");
#if DEBUG
_sawmill.Level = LogLevel.Warning;
#else
_sawmill.Level = LogLevel.Debug;
#endif
for (var i = 0; i < InterestDirections; i++)
{
@@ -83,6 +87,7 @@ namespace Content.Server.NPC.Systems
_configManager.OnValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding, true);
SubscribeLocalEvent<NPCSteeringComponent, ComponentShutdown>(OnSteeringShutdown);
SubscribeLocalEvent<NPCSteeringComponent, EntityUnpausedEvent>(OnSteeringUnpaused);
SubscribeNetworkEvent<RequestNPCSteeringDebugEvent>(OnDebugRequest);
}
@@ -140,6 +145,12 @@ namespace Content.Server.NPC.Systems
component.PathfindToken = null;
}
private void OnSteeringUnpaused(EntityUid uid, NPCSteeringComponent component, ref EntityUnpausedEvent args)
{
component.LastStuckTime += args.PausedTime;
component.NextSteer += args.PausedTime;
}
/// <summary>
/// Adds the AI to the steering system to move towards a specific target
/// </summary>
@@ -157,6 +168,7 @@ namespace Content.Server.NPC.Systems
component.Flags = _pathfindingSystem.GetFlags(uid);
}
ResetStuck(component, Transform(uid).Coordinates);
component.Coordinates = coordinates;
return component;
}
@@ -183,7 +195,7 @@ namespace Content.Server.NPC.Systems
if (!Resolve(uid, ref component, false))
return;
if (EntityManager.TryGetComponent(component.Owner, out InputMoverComponent? controller))
if (EntityManager.TryGetComponent(uid, out InputMoverComponent? controller))
{
controller.CurTickSprintMovement = Vector2.Zero;
}
@@ -206,7 +218,7 @@ namespace Content.Server.NPC.Systems
var xformQuery = GetEntityQuery<TransformComponent>();
var npcs = EntityQuery<ActiveNPCComponent, NPCSteeringComponent, InputMoverComponent, TransformComponent>()
.ToArray();
.Select(o => (o.Item1.Owner, o.Item2, o.Item3, o.Item4)).ToArray();
// Dependency issues across threads.
var options = new ParallelOptions
@@ -217,9 +229,8 @@ namespace Content.Server.NPC.Systems
Parallel.For(0, npcs.Length, options, i =>
{
var (_, steering, mover, xform) = npcs[i];
Steer(steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
var (uid, steering, mover, xform) = npcs[i];
Steer(uid, steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
});
@@ -227,10 +238,10 @@ namespace Content.Server.NPC.Systems
{
var data = new List<NPCSteeringDebugData>(npcs.Length);
foreach (var (_, steering, mover, _) in npcs)
foreach (var (uid, steering, mover, _) in npcs)
{
data.Add(new NPCSteeringDebugData(
mover.Owner,
uid,
mover.CurTickSprintMovement,
steering.Interest,
steering.Danger,
@@ -260,6 +271,7 @@ namespace Content.Server.NPC.Systems
/// Go through each steerer and combine their vectors
/// </summary>
private void Steer(
EntityUid uid,
NPCSteeringComponent steering,
InputMoverComponent mover,
TransformComponent xform,
@@ -291,27 +303,16 @@ namespace Content.Server.NPC.Systems
return;
}
/* If you wish to not steer every tick A) Add pause support B) fix overshoots to prevent dancing
var nextSteer = steering.LastTimeSteer + TimeSpan.FromSeconds(1f / NPCSteeringComponent.SteerFrequency);
if (nextSteer > _timing.CurTime)
{
SetDirection(mover, steering, steering.LastSteer, false);
return;
}
*/
var uid = mover.Owner;
var interest = steering.Interest;
var danger = steering.Danger;
var agentRadius = steering.Radius;
var worldPos = xform.WorldPosition;
var worldPos = _transform.GetWorldPosition(xform, xformQuery);
var (layer, mask) = _physics.GetHardCollision(uid);
// Use rotation relative to parent to rotate our context vectors by.
var offsetRot = -_mover.GetParentGridAngle(mover);
modifierQuery.TryGetComponent(uid, out var modifier);
var moveSpeed = GetSprintSpeed(steering.Owner, modifier);
var moveSpeed = GetSprintSpeed(uid, modifier);
var body = bodyQuery.GetComponent(uid);
var dangerPoints = steering.DangerPoints;
dangerPoints.Clear();
@@ -324,8 +325,10 @@ namespace Content.Server.NPC.Systems
var ev = new NPCSteeringEvent(steering, interest, danger, agentRadius, offsetRot, worldPos);
RaiseLocalEvent(uid, ref ev);
// If seek has arrived at the target node for example then immediately re-steer.
var forceSteer = true;
if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, bodyQuery, frameTime))
if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, bodyQuery, frameTime, ref forceSteer))
{
SetDirection(mover, steering, Vector2.Zero);
return;
@@ -333,7 +336,7 @@ namespace Content.Server.NPC.Systems
DebugTools.Assert(!float.IsNaN(interest[0]));
// Avoid static objects like walls
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, moveSpeed, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
DebugTools.Assert(!float.IsNaN(danger[0]));
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger, bodyQuery, xformQuery);
@@ -365,7 +368,7 @@ namespace Content.Server.NPC.Systems
// I think doing this after all the ops above is best?
// Originally I had it way above but sometimes mobs would overshoot their tile targets.
if (steering.NextSteer > curTime)
if (!forceSteer && steering.NextSteer > curTime)
{
SetDirection(mover, steering, steering.LastSteerDirection, false);
return;
@@ -388,7 +391,7 @@ namespace Content.Server.NPC.Systems
/// <summary>
/// Get a new job from the pathfindingsystem
/// </summary>
private async void RequestPath(NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
private async void RequestPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
{
// If we already have a pathfinding request then don't grab another.
// If we're in range then just beeline them; this can avoid stutter stepping and is an easy way to look nicer.
@@ -401,7 +404,7 @@ namespace Content.Server.NPC.Systems
// If this still causes issues future sloth adjust the collision mask.
if (targetPoly != null &&
steering.Coordinates.Position.Equals(Vector2.Zero) &&
_interaction.InRangeUnobstructed(steering.Owner, steering.Coordinates.EntityId, range: 30f))
_interaction.InRangeUnobstructed(uid, steering.Coordinates.EntityId, range: 30f))
{
steering.CurrentPath.Clear();
steering.CurrentPath.Enqueue(targetPoly);
@@ -410,10 +413,10 @@ namespace Content.Server.NPC.Systems
steering.PathfindToken = new CancellationTokenSource();
var flags = _pathfindingSystem.GetFlags(steering.Owner);
var flags = _pathfindingSystem.GetFlags(uid);
var result = await _pathfindingSystem.GetPathSafe(
steering.Owner,
uid,
xform.Coordinates,
steering.Coordinates,
steering.Range,
@@ -435,7 +438,7 @@ namespace Content.Server.NPC.Systems
return;
}
var targetPos = steering.Coordinates.ToMap(EntityManager);
var targetPos = steering.Coordinates.ToMap(EntityManager, _transform);
var ourPos = xform.MapPosition;
PrunePath(ourPos, targetPos.Position - ourPos.Position, result.Path);