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Add utility AI (#806)

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Co-authored-by: Pieter-Jan Briers <pieterjan.briers@gmail.com>
Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
Co-authored-by: Pieter-Jan Briers <pieterjan.briers+git@gmail.com>
This commit is contained in:
metalgearsloth
2020-06-18 22:52:44 +10:00
committed by GitHub
parent 9b8cedf6c6
commit 5391d3c72a
211 changed files with 10335 additions and 527 deletions
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Content.Client/GameObjects/EntitySystems/AI/ClientPathfindingDebugSystem.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using Content.Shared.AI;
using Robust.Client.Graphics.Drawing;
using Robust.Client.Graphics.Overlays;
using Robust.Client.Graphics.Shaders;
using Robust.Client.Interfaces.Graphics.ClientEye;
using Robust.Client.Interfaces.Graphics.Overlays;
using Robust.Shared.GameObjects.Systems;
using Robust.Shared.Interfaces.Random;
using Robust.Shared.IoC;
using Robust.Shared.Maths;
using Robust.Shared.Prototypes;
using Robust.Shared.Random;
using Robust.Shared.Timers;
namespace Content.Client.GameObjects.EntitySystems.AI
{
#if DEBUG
public class ClientPathfindingDebugSystem : EntitySystem
{
private PathfindingDebugMode _modes = PathfindingDebugMode.None;
private float _routeDuration = 4.0f; // How long before we remove a route from the overlay
private DebugPathfindingOverlay _overlay;
public override void Initialize()
{
base.Initialize();
SubscribeNetworkEvent<SharedAiDebug.AStarRouteMessage>(HandleAStarRouteMessage);
SubscribeNetworkEvent<SharedAiDebug.JpsRouteMessage>(HandleJpsRouteMessage);
SubscribeNetworkEvent<SharedAiDebug.PathfindingGraphMessage>(HandleGraphMessage);
}
private void HandleAStarRouteMessage(SharedAiDebug.AStarRouteMessage message)
{
if ((_modes & PathfindingDebugMode.Nodes) != 0 ||
(_modes & PathfindingDebugMode.Route) != 0)
{
_overlay.AStarRoutes.Add(message);
Timer.Spawn(TimeSpan.FromSeconds(_routeDuration), () =>
{
if (_overlay == null) return;
_overlay.AStarRoutes.Remove(message);
});
}
}
private void HandleJpsRouteMessage(SharedAiDebug.JpsRouteMessage message)
{
if ((_modes & PathfindingDebugMode.Nodes) != 0 ||
(_modes & PathfindingDebugMode.Route) != 0)
{
_overlay.JpsRoutes.Add(message);
Timer.Spawn(TimeSpan.FromSeconds(_routeDuration), () =>
{
if (_overlay == null) return;
_overlay.JpsRoutes.Remove(message);
});
}
}
private void HandleGraphMessage(SharedAiDebug.PathfindingGraphMessage message)
{
if ((_modes & PathfindingDebugMode.Graph) != 0)
{
_overlay.UpdateGraph(message.Graph);
}
}
private void EnableOverlay()
{
if (_overlay != null)
{
return;
}
var overlayManager = IoCManager.Resolve<IOverlayManager>();
_overlay = new DebugPathfindingOverlay {Modes = _modes};
overlayManager.AddOverlay(_overlay);
}
private void DisableOverlay()
{
if (_overlay == null)
{
return;
}
_overlay.Modes = 0;
var overlayManager = IoCManager.Resolve<IOverlayManager>();
overlayManager.RemoveOverlay(_overlay.ID);
_overlay = null;
}
public void Disable()
{
_modes = PathfindingDebugMode.None;
DisableOverlay();
}
private void EnableMode(PathfindingDebugMode tooltip)
{
_modes |= tooltip;
if (_modes != 0)
{
EnableOverlay();
}
_overlay.Modes = _modes;
if (tooltip == PathfindingDebugMode.Graph)
{
var systemMessage = new SharedAiDebug.RequestPathfindingGraphMessage();
EntityManager.EntityNetManager.SendSystemNetworkMessage(systemMessage);
}
}
private void DisableMode(PathfindingDebugMode mode)
{
_modes &= ~mode;
if (_modes == 0)
{
DisableOverlay();
}
else
{
_overlay.Modes = _modes;
}
}
public void ToggleTooltip(PathfindingDebugMode mode)
{
if ((_modes & mode) != 0)
{
DisableMode(mode);
}
else
{
EnableMode(mode);
}
}
}
internal sealed class DebugPathfindingOverlay : Overlay
{
// TODO: Add a box like the debug one and show the most recent path stuff
public override OverlaySpace Space => OverlaySpace.ScreenSpace;
public PathfindingDebugMode Modes { get; set; } = PathfindingDebugMode.None;
// Graph debugging
public readonly Dictionary<int, List<Vector2>> Graph = new Dictionary<int, List<Vector2>>();
private readonly Dictionary<int, Color> _graphColors = new Dictionary<int, Color>();
// Route debugging
// As each pathfinder is very different you'll likely want to draw them completely different
public readonly List<SharedAiDebug.AStarRouteMessage> AStarRoutes = new List<SharedAiDebug.AStarRouteMessage>();
public readonly List<SharedAiDebug.JpsRouteMessage> JpsRoutes = new List<SharedAiDebug.JpsRouteMessage>();
public DebugPathfindingOverlay() : base(nameof(DebugPathfindingOverlay))
{
Shader = IoCManager.Resolve<IPrototypeManager>().Index<ShaderPrototype>("unshaded").Instance();
}
public void UpdateGraph(Dictionary<int, List<Vector2>> graph)
{
Graph.Clear();
_graphColors.Clear();
var robustRandom = IoCManager.Resolve<IRobustRandom>();
foreach (var (chunk, nodes) in graph)
{
Graph[chunk] = nodes;
_graphColors[chunk] = new Color(robustRandom.NextFloat(), robustRandom.NextFloat(),
robustRandom.NextFloat(), 0.3f);
}
}
private void DrawGraph(DrawingHandleScreen screenHandle)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = IoCManager.Resolve<IEyeManager>().GetWorldViewport();
foreach (var (chunk, nodes) in Graph)
{
foreach (var tile in nodes)
{
if (!viewport.Contains(tile)) continue;
var screenTile = eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, _graphColors[chunk]);
}
}
}
#region pathfinder
private void DrawAStarRoutes(DrawingHandleScreen screenHandle)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in AStarRoutes)
{
// Draw box on each tile of route
foreach (var position in route.Route)
{
if (!viewport.Contains(position)) continue;
var screenTile = eyeManager.WorldToScreen(position);
// worldHandle.DrawLine(position, nextWorld.Value, Color.Blue);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, Color.Orange.WithAlpha(0.25f));
}
}
}
private void DrawAStarNodes(DrawingHandleScreen screenHandle)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in AStarRoutes)
{
var highestgScore = route.GScores.Values.Max();
foreach (var (tile, score) in route.GScores)
{
if ((route.Route.Contains(tile) && (Modes & PathfindingDebugMode.Route) != 0) ||
!viewport.Contains(tile))
{
continue;
}
var screenTile = eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, new Color(
0.0f,
score / highestgScore,
1.0f - (score / highestgScore),
0.1f));
}
}
}
private void DrawJpsRoutes(DrawingHandleScreen screenHandle)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in JpsRoutes)
{
// Draw box on each tile of route
foreach (var position in route.Route)
{
if (!viewport.Contains(position)) continue;
var screenTile = eyeManager.WorldToScreen(position);
// worldHandle.DrawLine(position, nextWorld.Value, Color.Blue);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, Color.Orange.WithAlpha(0.25f));
}
}
}
private void DrawJpsNodes(DrawingHandleScreen screenHandle)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in JpsRoutes)
{
foreach (var tile in route.JumpNodes)
{
if ((route.Route.Contains(tile) && (Modes & PathfindingDebugMode.Route) != 0) ||
!viewport.Contains(tile))
{
continue;
}
var screenTile = eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, new Color(
0.0f,
1.0f,
0.0f,
0.2f));
}
}
}
#endregion
protected override void Draw(DrawingHandleBase handle)
{
if (Modes == 0)
{
return;
}
var screenHandle = (DrawingHandleScreen) handle;
if ((Modes & PathfindingDebugMode.Route) != 0)
{
DrawAStarRoutes(screenHandle);
DrawJpsRoutes(screenHandle);
}
if ((Modes & PathfindingDebugMode.Nodes) != 0)
{
DrawAStarNodes(screenHandle);
DrawJpsNodes(screenHandle);
}
if ((Modes & PathfindingDebugMode.Graph) != 0)
{
DrawGraph(screenHandle);
}
}
}
[Flags]
public enum PathfindingDebugMode {
None = 0,
Route = 1 << 0,
Graph = 1 << 1,
Nodes = 1 << 2,
}
#endif
}