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Docking config changes (#16945)

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* 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
This commit is contained in:
metalgearsloth
2023-06-01 00:09:14 +10:00
committed by GitHub
parent 30a36b2fd5
commit 56371c3acb
5 changed files with 136 additions and 30 deletions
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8
Content.IntegrationTests/PoolManager.cs
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@@ -559,18 +559,22 @@ we are just going to end this here to save a lot of time. This is the exception
public static async Task<TestMapData> CreateTestMap(PairTracker pairTracker)
{
var server = pairTracker.Pair.Server;
await server.WaitIdleAsync();
var settings = pairTracker.Pair.Settings;
var mapManager = server.ResolveDependency<IMapManager>();
var tileDefinitionManager = server.ResolveDependency<ITileDefinitionManager>();
if (settings.NoServer) throw new Exception("Cannot setup test map without server");
var mapData = new TestMapData();
await server.WaitPost(() =>
{
var mapManager = IoCManager.Resolve<IMapManager>();
mapData.MapId = mapManager.CreateMap();
mapData.MapUid = mapManager.GetMapEntityId(mapData.MapId);
mapData.MapGrid = mapManager.CreateGrid(mapData.MapId);
mapData.GridUid = mapData.MapGrid.Owner;
mapData.GridCoords = new EntityCoordinates(mapData.GridUid, 0, 0);
var tileDefinitionManager = IoCManager.Resolve<ITileDefinitionManager>();
var plating = tileDefinitionManager["Plating"];
var platingTile = new Tile(plating.TileId);
mapData.MapGrid.SetTile(mapData.GridCoords, platingTile);

82
Content.IntegrationTests/Tests/Shuttle/DockTest.cs Normal file
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@@ -0,0 +1,82 @@
using System;
using System.Collections.Generic;
using System.Threading.Tasks;
using Content.Server.Shuttles.Systems;
using Content.Tests;
using NUnit.Framework;
using Robust.Shared.GameObjects;
using Robust.Shared.Map;
using Robust.Shared.Maths;
namespace Content.IntegrationTests.Tests.Shuttle;
public sealed class DockTest : ContentUnitTest
{
static IEnumerable<object[]> TestSource()
{
// I-shape for grid1, T-shape for grid2
yield return new object[] { new Vector2(0.5f, 0.5f), new Vector2(0.5f, 0.5f), Angle.Zero, Angle.Zero, true };
yield return new object[] { new Vector2(0.5f, 1.5f), new Vector2(0.5f, 1.5f), Angle.Zero, Angle.Zero, false };
}
[Test]
[TestCaseSource(nameof(TestSource))]
public async Task TestDockingConfig(Vector2 dock1Pos, Vector2 dock2Pos, Angle dock1Angle, Angle dock2Angle, bool result)
{
await using var pair = await PoolManager.GetServerClient(new PoolSettings() { NoClient = true });
var server = pair.Pair.Server;
var map = await PoolManager.CreateTestMap(pair);
var entManager = server.ResolveDependency<IEntityManager>();
var mapManager = server.ResolveDependency<IMapManager>();
var dockingSystem = entManager.System<DockingSystem>();
var mapId = map.MapId;
await server.WaitAssertion(() =>
{
entManager.DeleteEntity(map.GridUid);
var grid1 = mapManager.CreateGrid(mapId);
var grid2 = mapManager.CreateGrid(mapId);
var grid2Offset = new Vector2(50f, 50f);
entManager.GetComponent<TransformComponent>(grid2.Owner).LocalPosition = grid2Offset;
// Tetris tests
// Grid1 is a vertical I
// Grid2 is a T
var tiles1 = new List<(Vector2i Index, Tile Tile)>()
{
new(new Vector2i(0, 0), new Tile(1)),
new(new Vector2i(0, 1), new Tile(1)),
new(new Vector2i(0, 2), new Tile(1)),
};
grid1.SetTiles(tiles1);
var dock1 = entManager.SpawnEntity("AirlockShuttle", new EntityCoordinates(grid1.Owner, dock1Pos));
var dock1Xform = entManager.GetComponent<TransformComponent>(dock1);
dock1Xform.LocalRotation = dock1Angle;
var tiles2 = new List<(Vector2i Index, Tile Tile)>()
{
new(new Vector2i(0, 0), new Tile(1)),
new(new Vector2i(0, 1), new Tile(1)),
new(new Vector2i(0, 2), new Tile(1)),
new(new Vector2i(-1, 2), new Tile(1)),
new(new Vector2i(1, 2), new Tile(1)),
};
grid2.SetTiles(tiles2);
var dock2 = entManager.SpawnEntity("AirlockShuttle", new EntityCoordinates(grid2.Owner, dock2Pos));
var dock2Xform = entManager.GetComponent<TransformComponent>(dock2);
dock2Xform.LocalRotation = dock2Angle;
var config = dockingSystem.GetDockingConfig(grid1.Owner, grid2.Owner);
Assert.That(result, Is.EqualTo(config != null));
});
await pair.CleanReturnAsync();
}
}

5
Content.Server/Shuttles/DockingConfig.cs
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@@ -13,11 +13,6 @@ public sealed class DockingConfig
/// </summary>
public List<(EntityUid DockAUid, EntityUid DockBUid, DockingComponent DockA, DockingComponent DockB)> Docks = new();
/// <summary>
/// Area relative to the target grid the emergency shuttle will spawn in on.
/// </summary>
public Box2 Area;
/// <summary>
/// Target grid for docking.
/// </summary>

68
Content.Server/Shuttles/Systems/DockingSystem.Shuttle.cs
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@@ -4,6 +4,7 @@ using Content.Server.Shuttles.Components;
using Robust.Shared.Map;
using Robust.Shared.Map.Components;
using Robust.Shared.Physics;
using Robust.Shared.Physics.Collision.Shapes;
using Robust.Shared.Physics.Components;
namespace Content.Server.Shuttles.Systems;
@@ -38,16 +39,17 @@ public sealed partial class DockingSystem
TransformComponent shuttleDockXform,
DockingComponent gridDock,
TransformComponent gridDockXform,
Angle targetGridRotation,
Box2 shuttleAABB,
Angle targetGridRotation,
FixturesComponent shuttleFixtures,
MapGridComponent grid,
[NotNullWhen(true)] out Box2? shuttleDockedAABB,
out Matrix3 matty,
[NotNullWhen(true)] out Box2? shuttleDockedAABB,
out Angle gridRotation)
{
shuttleDockedAABB = null;
gridRotation = Angle.Zero;
matty = Matrix3.Identity;
shuttleDockedAABB = null;
if (shuttleDock.Docked ||
gridDock.Docked ||
@@ -64,18 +66,17 @@ public sealed partial class DockingSystem
// Need to invert the grid's angle.
var shuttleDockAngle = shuttleDockXform.LocalRotation;
var gridDockAngle = gridDockXform.LocalRotation.Opposite();
var offsetAngle = gridDockAngle - shuttleDockAngle;
var stationDockMatrix = Matrix3.CreateInverseTransform(stationDockPos, shuttleDockAngle);
var gridXformMatrix = Matrix3.CreateTransform(gridDockXform.LocalPosition, gridDockAngle);
Matrix3.Multiply(in stationDockMatrix, in gridXformMatrix, out matty);
shuttleDockedAABB = matty.TransformBox(shuttleAABB);
// Rounding moment
shuttleDockedAABB = shuttleDockedAABB.Value.Enlarged(-0.01f);
if (!ValidSpawn(grid, shuttleDockedAABB.Value))
if (!ValidSpawn(grid, matty, offsetAngle, shuttleFixtures))
return false;
gridRotation = (targetGridRotation + gridDockAngle - shuttleDockAngle).Reduced();
shuttleDockedAABB = matty.TransformBox(shuttleAABB);
gridRotation = (targetGridRotation + offsetAngle).Reduced();
return true;
}
@@ -129,16 +130,19 @@ public sealed partial class DockingSystem
var targetGridGrid = Comp<MapGridComponent>(targetGrid);
var targetGridXform = xformQuery.GetComponent(targetGrid);
var targetGridAngle = _transform.GetWorldRotation(targetGridXform).Reduced();
var shuttleFixturesComp = Comp<FixturesComponent>(shuttleUid);
var shuttleAABB = Comp<MapGridComponent>(shuttleUid).LocalAABB;
var foundDocks = new HashSet<EntityUid>();
var validDockConfigs = new List<DockingConfig>();
if (shuttleDocks.Count > 0)
{
// We'll try all combinations of shuttle docks and see which one is most suitable
foreach (var (dockUid, shuttleDock) in shuttleDocks)
{
if (foundDocks.Contains(dockUid))
continue;
var shuttleDockXform = xformQuery.GetComponent(dockUid);
foreach (var (gridDockUid, gridDock) in gridDocks)
@@ -148,11 +152,12 @@ public sealed partial class DockingSystem
if (!CanDock(
shuttleDock, shuttleDockXform,
gridDock, gridXform,
targetGridAngle,
shuttleAABB,
targetGridAngle,
shuttleFixturesComp,
targetGridGrid,
out var dockedAABB,
out var matty,
out var dockedAABB,
out var targetAngle))
{
continue;
@@ -162,6 +167,7 @@ public sealed partial class DockingSystem
var spawnPosition = new EntityCoordinates(targetGrid, matty.Transform(Vector2.Zero));
spawnPosition = new EntityCoordinates(targetGridXform.MapUid!.Value, spawnPosition.ToMapPos(EntityManager, _transform));
// TODO: use tight bounds
var dockedBounds = new Box2Rotated(shuttleAABB.Translated(spawnPosition.Position), targetAngle, spawnPosition.Position);
// Check if there's no intersecting grids (AKA oh god it's docking at cargo).
@@ -182,7 +188,7 @@ public sealed partial class DockingSystem
foreach (var (otherUid, other) in shuttleDocks)
{
if (other == shuttleDock)
if (other == shuttleDock || foundDocks.Contains(otherUid))
continue;
foreach (var (otherGridUid, otherGrid) in gridDocks)
@@ -195,13 +201,14 @@ public sealed partial class DockingSystem
xformQuery.GetComponent(otherUid),
otherGrid,
xformQuery.GetComponent(otherGridUid),
shuttleAABB,
targetGridAngle,
shuttleAABB, targetGridGrid,
out var otherDockedAABB,
shuttleFixturesComp, targetGridGrid,
out _,
out var otherdockedAABB,
out var otherTargetAngle) ||
!otherDockedAABB.Equals(dockedAABB) ||
!targetAngle.Equals(otherTargetAngle))
!targetAngle.Equals(otherTargetAngle) ||
!dockedAABB.Equals(otherdockedAABB))
{
continue;
}
@@ -213,21 +220,25 @@ public sealed partial class DockingSystem
validDockConfigs.Add(new DockingConfig()
{
Docks = dockedPorts,
Area = dockedAABB.Value,
Coordinates = spawnPosition,
Angle = targetAngle,
});
foreach (var dock in dockedPorts)
{
foundDocks.Add(dock.DockAUid);
}
}
}
}
if (validDockConfigs.Count <= 0)
return null;
return null;
// Prioritise by priority docks, then by maximum connected ports, then by most similar angle.
validDockConfigs = validDockConfigs
.OrderByDescending(x => x.Docks.Any(docks =>
TryComp<PriorityDockComponent>(docks.DockB.Owner, out var priority) &&
TryComp<PriorityDockComponent>(docks.DockBUid, out var priority) &&
priority.Tag?.Equals(priorityTag) == true))
.ThenByDescending(x => x.Docks.Count)
.ThenBy(x => Math.Abs(Angle.ShortestDistance(x.Angle.Reduced(), targetGridAngle).Theta)).ToList();
@@ -242,9 +253,22 @@ public sealed partial class DockingSystem
/// <summary>
/// Checks whether the emergency shuttle can warp to the specified position.
/// </summary>
private bool ValidSpawn(MapGridComponent grid, Box2 area)
private bool ValidSpawn(MapGridComponent grid, Matrix3 matty, Angle angle, FixturesComponent shuttleFixturesComp)
{
return !grid.GetLocalTilesIntersecting(area).Any();
var transform = new Transform(matty.Transform(Vector2.Zero), angle);
// Because some docking bounds are tight af need to check each chunk individually
foreach (var fix in shuttleFixturesComp.Fixtures.Values)
{
var polyShape = (PolygonShape) fix.Shape;
var aabb = polyShape.ComputeAABB(transform, 0);
aabb = aabb.Enlarged(-0.01f);
if (grid.GetLocalTilesIntersecting(aabb).Any())
return false;
}
return true;
}
public List<(EntityUid Uid, DockingComponent Component)> GetDocks(EntityUid uid)

3
Content.Server/Shuttles/Systems/EmergencyShuttleSystem.cs
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@@ -20,6 +20,7 @@ using Robust.Server.Maps;
using Robust.Server.Player;
using Robust.Shared.Configuration;
using Robust.Shared.Map;
using Robust.Shared.Map.Components;
using Robust.Shared.Player;
using Robust.Shared.Random;
using Robust.Shared.Timing;
@@ -161,7 +162,7 @@ public sealed partial class EmergencyShuttleSystem : EntitySystem
RaiseNetworkEvent(new EmergencyShuttlePositionMessage()
{
StationUid = targetGrid,
Position = config.Area,
Position = Comp<MapGridComponent>(stationShuttle.EmergencyShuttle.Value).LocalAABB.Translated(config.Coordinates.Position)
});
}