Docking config changes (#16945)
* Docking config changes - Should be more flexible with tight bounds. - Arrivals should always go for the 4-way dock. - Don't think it fixes Omega. * weh * Basic test
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metalgearsloth
@@ -4,6 +4,7 @@ using Content.Server.Shuttles.Components;
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using Robust.Shared.Map;
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using Robust.Shared.Map.Components;
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using Robust.Shared.Physics;
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using Robust.Shared.Physics.Collision.Shapes;
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using Robust.Shared.Physics.Components;
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namespace Content.Server.Shuttles.Systems;
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@@ -38,16 +39,17 @@ public sealed partial class DockingSystem
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TransformComponent shuttleDockXform,
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DockingComponent gridDock,
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TransformComponent gridDockXform,
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Angle targetGridRotation,
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Box2 shuttleAABB,
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Angle targetGridRotation,
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FixturesComponent shuttleFixtures,
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MapGridComponent grid,
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[NotNullWhen(true)] out Box2? shuttleDockedAABB,
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out Matrix3 matty,
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[NotNullWhen(true)] out Box2? shuttleDockedAABB,
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out Angle gridRotation)
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{
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shuttleDockedAABB = null;
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gridRotation = Angle.Zero;
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matty = Matrix3.Identity;
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shuttleDockedAABB = null;
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if (shuttleDock.Docked ||
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gridDock.Docked ||
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@@ -64,18 +66,17 @@ public sealed partial class DockingSystem
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// Need to invert the grid's angle.
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var shuttleDockAngle = shuttleDockXform.LocalRotation;
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var gridDockAngle = gridDockXform.LocalRotation.Opposite();
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var offsetAngle = gridDockAngle - shuttleDockAngle;
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var stationDockMatrix = Matrix3.CreateInverseTransform(stationDockPos, shuttleDockAngle);
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var gridXformMatrix = Matrix3.CreateTransform(gridDockXform.LocalPosition, gridDockAngle);
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Matrix3.Multiply(in stationDockMatrix, in gridXformMatrix, out matty);
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shuttleDockedAABB = matty.TransformBox(shuttleAABB);
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// Rounding moment
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shuttleDockedAABB = shuttleDockedAABB.Value.Enlarged(-0.01f);
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if (!ValidSpawn(grid, shuttleDockedAABB.Value))
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if (!ValidSpawn(grid, matty, offsetAngle, shuttleFixtures))
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return false;
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gridRotation = (targetGridRotation + gridDockAngle - shuttleDockAngle).Reduced();
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shuttleDockedAABB = matty.TransformBox(shuttleAABB);
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gridRotation = (targetGridRotation + offsetAngle).Reduced();
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return true;
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}
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@@ -129,16 +130,19 @@ public sealed partial class DockingSystem
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var targetGridGrid = Comp<MapGridComponent>(targetGrid);
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var targetGridXform = xformQuery.GetComponent(targetGrid);
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var targetGridAngle = _transform.GetWorldRotation(targetGridXform).Reduced();
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var shuttleFixturesComp = Comp<FixturesComponent>(shuttleUid);
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var shuttleAABB = Comp<MapGridComponent>(shuttleUid).LocalAABB;
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var foundDocks = new HashSet<EntityUid>();
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var validDockConfigs = new List<DockingConfig>();
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if (shuttleDocks.Count > 0)
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{
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// We'll try all combinations of shuttle docks and see which one is most suitable
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foreach (var (dockUid, shuttleDock) in shuttleDocks)
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{
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if (foundDocks.Contains(dockUid))
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continue;
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var shuttleDockXform = xformQuery.GetComponent(dockUid);
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foreach (var (gridDockUid, gridDock) in gridDocks)
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@@ -148,11 +152,12 @@ public sealed partial class DockingSystem
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if (!CanDock(
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shuttleDock, shuttleDockXform,
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gridDock, gridXform,
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targetGridAngle,
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shuttleAABB,
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targetGridAngle,
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shuttleFixturesComp,
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targetGridGrid,
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out var dockedAABB,
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out var matty,
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out var dockedAABB,
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out var targetAngle))
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{
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continue;
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@@ -162,6 +167,7 @@ public sealed partial class DockingSystem
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var spawnPosition = new EntityCoordinates(targetGrid, matty.Transform(Vector2.Zero));
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spawnPosition = new EntityCoordinates(targetGridXform.MapUid!.Value, spawnPosition.ToMapPos(EntityManager, _transform));
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// TODO: use tight bounds
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var dockedBounds = new Box2Rotated(shuttleAABB.Translated(spawnPosition.Position), targetAngle, spawnPosition.Position);
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// Check if there's no intersecting grids (AKA oh god it's docking at cargo).
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@@ -182,7 +188,7 @@ public sealed partial class DockingSystem
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foreach (var (otherUid, other) in shuttleDocks)
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{
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if (other == shuttleDock)
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if (other == shuttleDock || foundDocks.Contains(otherUid))
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continue;
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foreach (var (otherGridUid, otherGrid) in gridDocks)
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@@ -195,13 +201,14 @@ public sealed partial class DockingSystem
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xformQuery.GetComponent(otherUid),
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otherGrid,
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xformQuery.GetComponent(otherGridUid),
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shuttleAABB,
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targetGridAngle,
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shuttleAABB, targetGridGrid,
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out var otherDockedAABB,
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shuttleFixturesComp, targetGridGrid,
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out _,
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out var otherdockedAABB,
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out var otherTargetAngle) ||
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!otherDockedAABB.Equals(dockedAABB) ||
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!targetAngle.Equals(otherTargetAngle))
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!targetAngle.Equals(otherTargetAngle) ||
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!dockedAABB.Equals(otherdockedAABB))
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{
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continue;
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}
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@@ -213,21 +220,25 @@ public sealed partial class DockingSystem
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validDockConfigs.Add(new DockingConfig()
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{
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Docks = dockedPorts,
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Area = dockedAABB.Value,
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Coordinates = spawnPosition,
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Angle = targetAngle,
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});
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foreach (var dock in dockedPorts)
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{
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foundDocks.Add(dock.DockAUid);
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}
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}
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}
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}
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if (validDockConfigs.Count <= 0)
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return null;
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return null;
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// Prioritise by priority docks, then by maximum connected ports, then by most similar angle.
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validDockConfigs = validDockConfigs
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.OrderByDescending(x => x.Docks.Any(docks =>
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TryComp<PriorityDockComponent>(docks.DockB.Owner, out var priority) &&
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TryComp<PriorityDockComponent>(docks.DockBUid, out var priority) &&
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priority.Tag?.Equals(priorityTag) == true))
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.ThenByDescending(x => x.Docks.Count)
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.ThenBy(x => Math.Abs(Angle.ShortestDistance(x.Angle.Reduced(), targetGridAngle).Theta)).ToList();
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@@ -242,9 +253,22 @@ public sealed partial class DockingSystem
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/// <summary>
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/// Checks whether the emergency shuttle can warp to the specified position.
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/// </summary>
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private bool ValidSpawn(MapGridComponent grid, Box2 area)
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private bool ValidSpawn(MapGridComponent grid, Matrix3 matty, Angle angle, FixturesComponent shuttleFixturesComp)
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{
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return !grid.GetLocalTilesIntersecting(area).Any();
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var transform = new Transform(matty.Transform(Vector2.Zero), angle);
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// Because some docking bounds are tight af need to check each chunk individually
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foreach (var fix in shuttleFixturesComp.Fixtures.Values)
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{
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var polyShape = (PolygonShape) fix.Shape;
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var aabb = polyShape.ComputeAABB(transform, 0);
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aabb = aabb.Enlarged(-0.01f);
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if (grid.GetLocalTilesIntersecting(aabb).Any())
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return false;
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}
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return true;
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}
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public List<(EntityUid Uid, DockingComponent Component)> GetDocks(EntityUid uid)
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