Add utility AI (#806)

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>
2020-06-18 22:52:44 +10:00
parent 9b8cedf6c6
commit 5391d3c72a
211 changed files with 10335 additions and 527 deletions
--- a/Content.Server/GameObjects/EntitySystems/AI/Pathfinding/ServerPathfindingDebugSystem.cs
+++ b/Content.Server/GameObjects/EntitySystems/AI/Pathfinding/ServerPathfindingDebugSystem.cs
@@ -0,0 +1,136 @@
+using System.Collections.Generic;
+using Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders;
+using Content.Shared.AI;
+using JetBrains.Annotations;
+using Robust.Shared.GameObjects.Systems;
+using Robust.Shared.Interfaces.Map;
+using Robust.Shared.IoC;
+using Robust.Shared.Maths;
+
+namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
+{
+#if DEBUG
+    [UsedImplicitly]
+    public class ServerPathfindingDebugSystem : EntitySystem
+    {
+        public override void Initialize()
+        {
+            base.Initialize();
+            AStarPathfindingJob.DebugRoute += DispatchAStarDebug;
+            JpsPathfindingJob.DebugRoute += DispatchJpsDebug;
+            SubscribeNetworkEvent<SharedAiDebug.RequestPathfindingGraphMessage>(DispatchGraph);
+        }
+
+        public override void Shutdown()
+        {
+            base.Shutdown();
+            AStarPathfindingJob.DebugRoute -= DispatchAStarDebug;
+            JpsPathfindingJob.DebugRoute -= DispatchJpsDebug;
+        }
+
+        private void DispatchAStarDebug(SharedAiDebug.AStarRouteDebug routeDebug)
+        {
+            var mapManager = IoCManager.Resolve<IMapManager>();
+            var route = new List<Vector2>();
+            foreach (var tile in routeDebug.Route)
+            {
+                var tileGrid = mapManager.GetGrid(tile.GridIndex).GridTileToLocal(tile.GridIndices);
+                route.Add(mapManager.GetGrid(tile.GridIndex).LocalToWorld(tileGrid).Position);
+            }
+
+            var cameFrom = new Dictionary<Vector2, Vector2>();
+            foreach (var (from, to) in routeDebug.CameFrom)
+            {
+                var tileOneGrid = mapManager.GetGrid(from.GridIndex).GridTileToLocal(from.GridIndices);
+                var tileOneWorld = mapManager.GetGrid(from.GridIndex).LocalToWorld(tileOneGrid).Position;
+                var tileTwoGrid = mapManager.GetGrid(to.GridIndex).GridTileToLocal(to.GridIndices);
+                var tileTwoWorld = mapManager.GetGrid(to.GridIndex).LocalToWorld(tileTwoGrid).Position;
+                cameFrom.Add(tileOneWorld, tileTwoWorld);
+            }
+
+            var gScores = new Dictionary<Vector2, float>();
+            foreach (var (tile, score) in routeDebug.GScores)
+            {
+                var tileGrid = mapManager.GetGrid(tile.GridIndex).GridTileToLocal(tile.GridIndices);
+                gScores.Add(mapManager.GetGrid(tile.GridIndex).LocalToWorld(tileGrid).Position, score);
+            }
+
+            var closedTiles = new List<Vector2>();
+            foreach (var tile in routeDebug.ClosedTiles)
+            {
+                var tileGrid = mapManager.GetGrid(tile.GridIndex).GridTileToLocal(tile.GridIndices);
+                closedTiles.Add(mapManager.GetGrid(tile.GridIndex).LocalToWorld(tileGrid).Position);
+            }
+
+            var systemMessage = new SharedAiDebug.AStarRouteMessage(
+                routeDebug.EntityUid,
+                route,
+                cameFrom,
+                gScores,
+                closedTiles,
+                routeDebug.TimeTaken
+                );
+
+            EntityManager.EntityNetManager.SendSystemNetworkMessage(systemMessage);
+        }
+
+        private void DispatchJpsDebug(SharedAiDebug.JpsRouteDebug routeDebug)
+        {
+            var mapManager = IoCManager.Resolve<IMapManager>();
+            var route = new List<Vector2>();
+            foreach (var tile in routeDebug.Route)
+            {
+                var tileGrid = mapManager.GetGrid(tile.GridIndex).GridTileToLocal(tile.GridIndices);
+                route.Add(mapManager.GetGrid(tile.GridIndex).LocalToWorld(tileGrid).Position);
+            }
+
+            var jumpNodes = new List<Vector2>();
+            foreach (var tile in routeDebug.JumpNodes)
+            {
+                var tileGrid = mapManager.GetGrid(tile.GridIndex).GridTileToLocal(tile.GridIndices);
+                jumpNodes.Add(mapManager.GetGrid(tile.GridIndex).LocalToWorld(tileGrid).Position);
+            }
+
+            var systemMessage = new SharedAiDebug.JpsRouteMessage(
+                routeDebug.EntityUid,
+                route,
+                jumpNodes,
+                routeDebug.TimeTaken
+            );
+
+            EntityManager.EntityNetManager.SendSystemNetworkMessage(systemMessage);
+        }
+
+        private void DispatchGraph(SharedAiDebug.RequestPathfindingGraphMessage message)
+        {
+            var pathfindingSystem = EntitySystemManager.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);
+            EntityManager.EntityNetManager.SendSystemNetworkMessage(systemMessage);
+        }
+    }
+#endif
+}