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Add pathfinding support for NPCs climbing tables (#17415)

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This commit is contained in:
Vordenburg
2023-07-28 02:37:29 -04:00
committed by GitHub
parent 494b9e5b93
commit 49f3f07e30
11 changed files with 114 additions and 15 deletions
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4
Content.IntegrationTests/Tests/Climbing/ClimbingTest.cs
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@@ -29,7 +29,7 @@ public sealed class ClimbingTest : MovementTest
// Try to start climbing
var sys = SEntMan.System<ClimbSystem>();
await Server.WaitPost(() => sys.TryClimb(Player, Player, Target.Value));
await Server.WaitPost(() => sys.TryClimb(Player, Player, Target.Value, out _));
await AwaitDoAfters();
// Player should now be climbing
@@ -56,7 +56,7 @@ public sealed class ClimbingTest : MovementTest
Assert.That(Delta(), Is.LessThan(0));
// Start climbing
await Server.WaitPost(() => sys.TryClimb(Player, Player, Target.Value));
await Server.WaitPost(() => sys.TryClimb(Player, Player, Target.Value, out _));
await AwaitDoAfters();
Assert.Multiple(() =>

20
Content.Server/Climbing/ClimbSystem.cs
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@@ -95,7 +95,7 @@ public sealed class ClimbSystem : SharedClimbSystem
// TODO VERBS ICON add a climbing icon?
args.Verbs.Add(new AlternativeVerb
{
Act = () => TryClimb(args.User, args.User, args.Target, component),
Act = () => TryClimb(args.User, args.User, args.Target, out _, component),
Text = Loc.GetString("comp-climbable-verb-climb")
});
}
@@ -106,22 +106,25 @@ public sealed class ClimbSystem : SharedClimbSystem
// but don't have computer access and i have to do this without syntax
if (args.Handled || args.User != args.Dragged && !HasComp<HandsComponent>(args.User))
return;
TryClimb(args.User, args.Dragged, uid, component);
TryClimb(args.User, args.Dragged, uid, out _, component);
}
public void TryClimb(EntityUid user,
public bool TryClimb(EntityUid user,
EntityUid entityToMove,
EntityUid climbable,
out DoAfterId? id,
ClimbableComponent? comp = null,
ClimbingComponent? climbing = null)
{
id = null;
if (!Resolve(climbable, ref comp) || !Resolve(entityToMove, ref climbing))
return;
return false;
// Note, IsClimbing does not mean a DoAfter is active, it means the target has already finished a DoAfter and
// is currently on top of something..
if (climbing.IsClimbing)
return;
return true;
var args = new DoAfterArgs(user, comp.ClimbDelay, new ClimbDoAfterEvent(), entityToMove, target: climbable, used: entityToMove)
{
@@ -130,7 +133,8 @@ public sealed class ClimbSystem : SharedClimbSystem
BreakOnDamage = true
};
_doAfterSystem.TryStartDoAfter(args);
_doAfterSystem.TryStartDoAfter(args, out id);
return true;
}
private void OnDoAfter(EntityUid uid, ClimbingComponent component, ClimbDoAfterEvent args)
@@ -279,7 +283,7 @@ public sealed class ClimbSystem : SharedClimbSystem
/// <param name="target">The object that is being vaulted</param>
/// <param name="reason">The reason why it cant be dropped</param>
/// <returns></returns>
private bool CanVault(ClimbableComponent component, EntityUid user, EntityUid target, out string reason)
public bool CanVault(ClimbableComponent component, EntityUid user, EntityUid target, out string reason)
{
if (!_actionBlockerSystem.CanInteract(user, target))
{
@@ -315,7 +319,7 @@ public sealed class ClimbSystem : SharedClimbSystem
/// <param name="target">The object that is being vaulted onto</param>
/// <param name="reason">The reason why it cant be dropped</param>
/// <returns></returns>
private bool CanVault(ClimbableComponent component, EntityUid user, EntityUid dragged, EntityUid target,
public bool CanVault(ClimbableComponent component, EntityUid user, EntityUid dragged, EntityUid target,
out string reason)
{
if (!_actionBlockerSystem.CanInteract(user, dragged) || !_actionBlockerSystem.CanInteract(user, target))

5
Content.Server/NPC/NPCBlackboard.cs
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@@ -225,6 +225,11 @@ public sealed class NPCBlackboard : IEnumerable<KeyValuePair<string, object>>
/// </summary>
public const string NavSmash = "NavSmash";
/// <summary>
/// Can the NPC climb obstacles for steering.
/// </summary>
public const string NavClimb = "NavClimb";
/// <summary>
/// Default key storage for a movement pathfind.
/// </summary>

7
Content.Server/NPC/Pathfinding/PathFlags.cs
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@@ -20,8 +20,13 @@ public enum PathFlags : byte
/// </summary>
Smashing = 1 << 2,
/// <summary>
/// Can we climb it like a table or railing.
/// </summary>
Climbing = 1 << 3,
/// <summary>
/// Can we open stuff that requires interaction (e.g. click-open doors).
/// </summary>
Interact = 1 << 3,
Interact = 1 << 4,
}

5
Content.Server/NPC/Pathfinding/PathfindingSystem.Common.cs
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@@ -55,6 +55,7 @@ public sealed partial class PathfindingSystem
{
var isDoor = (end.Data.Flags & PathfindingBreadcrumbFlag.Door) != 0x0;
var isAccess = (end.Data.Flags & PathfindingBreadcrumbFlag.Access) != 0x0;
var isClimb = (end.Data.Flags & PathfindingBreadcrumbFlag.Climb) != 0x0;
// TODO: Handling power + door prying
// Door we should be able to open
@@ -71,6 +72,10 @@ public sealed partial class PathfindingSystem
{
modifier += 10f + end.Data.Damage / 100f;
}
else if (isClimb && (request.Flags & PathFlags.Climbing) != 0x0)
{
modifier += 0.5f;
}
else
{
return 0f;

12
Content.Server/NPC/Pathfinding/PathfindingSystem.Grid.cs
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@@ -5,6 +5,7 @@ using System.Threading;
using System.Threading.Tasks;
using Content.Server.Destructible;
using Content.Shared.Access.Components;
using Content.Shared.Climbing;
using Content.Shared.Doors.Components;
using Content.Shared.NPC;
using Content.Shared.Physics;
@@ -154,11 +155,12 @@ public sealed partial class PathfindingSystem
var accessQuery = GetEntityQuery<AccessReaderComponent>();
var destructibleQuery = GetEntityQuery<DestructibleComponent>();
var doorQuery = GetEntityQuery<DoorComponent>();
var climbableQuery = GetEntityQuery<ClimbableComponent>();
var fixturesQuery = GetEntityQuery<FixturesComponent>();
var physicsQuery = GetEntityQuery<PhysicsComponent>();
var xformQuery = GetEntityQuery<TransformComponent>();
BuildBreadcrumbs(dirt[i], mapGridComp, accessQuery, destructibleQuery, doorQuery, fixturesQuery,
physicsQuery, xformQuery);
BuildBreadcrumbs(dirt[i], mapGridComp, accessQuery, destructibleQuery, doorQuery, climbableQuery,
fixturesQuery, physicsQuery, xformQuery);
});
const int Division = 4;
@@ -423,6 +425,7 @@ public sealed partial class PathfindingSystem
EntityQuery<AccessReaderComponent> accessQuery,
EntityQuery<DestructibleComponent> destructibleQuery,
EntityQuery<DoorComponent> doorQuery,
EntityQuery<ClimbableComponent> climbableQuery,
EntityQuery<FixturesComponent> fixturesQuery,
EntityQuery<PhysicsComponent> physicsQuery,
EntityQuery<TransformComponent> xformQuery)
@@ -540,6 +543,11 @@ public sealed partial class PathfindingSystem
flags |= PathfindingBreadcrumbFlag.Door;
}
if (climbableQuery.HasComponent(ent))
{
flags |= PathfindingBreadcrumbFlag.Climb;
}
if (destructibleQuery.TryGetComponent(ent, out var damageable))
{
damage += _destructible.DestroyedAt(ent, damageable).Float();

6
Content.Server/NPC/Pathfinding/PathfindingSystem.cs
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@@ -7,6 +7,7 @@ using Content.Server.Administration.Managers;
using Content.Server.Destructible;
using Content.Server.NPC.Components;
using Content.Shared.Administration;
using Content.Shared.Climbing;
using Content.Shared.Interaction;
using Content.Shared.NPC;
using Robust.Server.Player;
@@ -436,6 +437,11 @@ namespace Content.Server.NPC.Pathfinding
flags |= PathFlags.Smashing;
}
if (blackboard.TryGetValue<bool>(NPCBlackboard.NavClimb, out var climb, EntityManager) && climb)
{
flags |= PathFlags.Climbing;
}
if (blackboard.TryGetValue<bool>(NPCBlackboard.NavInteract, out var interact, EntityManager) && interact)
{
flags |= PathFlags.Interact;

29
Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs
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@@ -3,6 +3,7 @@ using System.Numerics;
using Content.Server.Examine;
using Content.Server.NPC.Components;
using Content.Server.NPC.Pathfinding;
using Content.Shared.Climbing;
using Content.Shared.Interaction;
using Content.Shared.Movement.Components;
using Content.Shared.NPC;
@@ -35,6 +36,30 @@ public sealed partial class NPCSteeringSystem
#region Seek
/// <summary>
/// Takes into account agent-specific context that may allow it to bypass a node which is not FreeSpace.
/// </summary>
private bool IsFreeSpace(
EntityUid uid,
NPCSteeringComponent steering,
PathPoly node)
{
if (node.Data.IsFreeSpace)
{
return true;
}
// Handle the case where the node is a climb, we can climb, and we are climbing.
else if ((node.Data.Flags & PathfindingBreadcrumbFlag.Climb) != 0x0 &&
(steering.Flags & PathFlags.Climbing) != 0x0 &&
TryComp<ClimbingComponent>(uid, out var climbing) &&
climbing.IsClimbing)
{
return true;
}
return false;
}
/// <summary>
/// Attempts to head to the target destination, either via the next pathfinding node or the final target.
/// </summary>
@@ -90,7 +115,7 @@ public sealed partial class NPCSteeringSystem
}
// 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)
else if (steering.CurrentPath.TryPeek(out var node) && IsFreeSpace(uid, steering, node))
{
arrivalDistance = MathF.Min(node.Box.Width / 2f, node.Box.Height / 2f) - 0.01f;
}
@@ -117,7 +142,7 @@ public sealed partial class NPCSteeringSystem
if (direction.Length() <= arrivalDistance)
{
// Node needs some kind of special handling like access or smashing.
if (steering.CurrentPath.TryPeek(out var node) && !node.Data.IsFreeSpace)
if (steering.CurrentPath.TryPeek(out var node) && !IsFreeSpace(uid, steering, node))
{
// Ignore stuck while handling obstacles.
ResetStuck(steering, ourCoordinates);

34
Content.Server/NPC/Systems/NPCSteeringSystem.Obstacles.cs
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@@ -1,6 +1,7 @@
using Content.Server.Destructible;
using Content.Server.NPC.Components;
using Content.Server.NPC.Pathfinding;
using Content.Shared.Climbing;
using Content.Shared.CombatMode;
using Content.Shared.DoAfter;
using Content.Shared.Doors.Components;
@@ -74,6 +75,7 @@ public sealed partial class NPCSteeringSystem
GetObstacleEntities(poly, mask, layer, obstacleEnts);
var isDoor = (poly.Data.Flags & PathfindingBreadcrumbFlag.Door) != 0x0;
var isAccessRequired = (poly.Data.Flags & PathfindingBreadcrumbFlag.Access) != 0x0;
var isClimbable = (poly.Data.Flags & PathfindingBreadcrumbFlag.Climb) != 0x0;
// Just walk into it stupid
if (isDoor && !isAccessRequired)
@@ -121,6 +123,38 @@ public sealed partial class NPCSteeringSystem
if (obstacleEnts.Count == 0)
return SteeringObstacleStatus.Completed;
}
// Try climbing obstacles
else if ((component.Flags & PathFlags.Climbing) != 0x0 && isClimbable)
{
if (TryComp<ClimbingComponent>(uid, out var climbing))
{
if (climbing.IsClimbing)
{
return SteeringObstacleStatus.Completed;
}
else if (climbing.OwnerIsTransitioning)
{
return SteeringObstacleStatus.Continuing;
}
var climbableQuery = GetEntityQuery<ClimbableComponent>();
// Get the relevant obstacle
foreach (var ent in obstacleEnts)
{
if (climbableQuery.TryGetComponent(ent, out var table) &&
_climb.CanVault(table, uid, uid, out _) &&
_climb.TryClimb(uid, uid, ent, out id, table, climbing))
{
component.DoAfterId = id;
return SteeringObstacleStatus.Continuing;
}
}
}
if (obstacleEnts.Count == 0)
return SteeringObstacleStatus.Completed;
}
// Try smashing obstacles.
else if ((component.Flags & PathFlags.Smashing) != 0x0)
{

2
Content.Server/NPC/Systems/NPCSteeringSystem.cs
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@@ -3,6 +3,7 @@ using System.Numerics;
using System.Threading;
using System.Threading.Tasks;
using Content.Server.Administration.Managers;
using Content.Server.Climbing;
using Content.Server.DoAfter;
using Content.Server.Doors.Systems;
using Content.Server.NPC.Components;
@@ -50,6 +51,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
[Dependency] private readonly IMapManager _mapManager = default!;
[Dependency] private readonly IParallelManager _parallel = default!;
[Dependency] private readonly IRobustRandom _random = default!;
[Dependency] private readonly ClimbSystem _climb = default!;
[Dependency] private readonly DoAfterSystem _doAfter = default!;
[Dependency] private readonly DoorSystem _doors = default!;
[Dependency] private readonly EntityLookupSystem _lookup = default!;

5
Content.Shared/NPC/PathfindingBreadcrumb.cs
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@@ -115,4 +115,9 @@ public enum PathfindingBreadcrumbFlag : ushort
/// Is there access required
/// </summary>
Access = 1 << 3,
/// <summary>
/// Is there climbing involved
/// </summary>
Climb = 1 << 4,
}