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More NPC steering fixes (#17042)

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This commit is contained in:
metalgearsloth
2023-06-02 00:28:23 +10:00
committed by GitHub
parent d1de9b1f40
commit 5b1af38277
2 changed files with 59 additions and 27 deletions
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64
Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs
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@@ -401,20 +401,37 @@ public sealed partial class NPCSteeringSystem
continue;
}
if (!_physics.TryGetNearestPoints(uid, ent, out _, out var pointB, xform, xformQuery.GetComponent(ent)))
var xformB = xformQuery.GetComponent(ent);
if (!_physics.TryGetNearest(uid, ent, out var pointA, out var pointB, out var distance, xform, xformB))
{
continue;
}
if (distance > detectionRadius)
continue;
var obstacleDirection = pointB - worldPos;
var obstableDistance = obstacleDirection.Length;
var weight = 1f;
var obstacleDirection = pointB - pointA;
if (obstableDistance > detectionRadius || obstableDistance == 0f)
continue;
// Inside each other so just use worldPos
if (distance == 0f)
{
obstacleDirection = _transform.GetWorldPosition(xformB, xformQuery) - worldPos;
// Welp
if (obstacleDirection == Vector2.Zero)
{
obstacleDirection = Vector2.One.Normalized;
}
}
else
{
weight = distance / detectionRadius;
}
dangerPoints.Add(pointB);
obstacleDirection = offsetRot.RotateVec(obstacleDirection);
var norm = obstacleDirection.Normalized;
// Weight it to 1 if we used the fallback, otherwise relative distance.
var weight = obstableDistance <= agentRadius ? 1f : (obstableDistance - agentRadius) / objectRadius;
for (var i = 0; i < InterestDirections; i++)
{
@@ -445,7 +462,7 @@ public sealed partial class NPCSteeringSystem
EntityQuery<PhysicsComponent> bodyQuery,
EntityQuery<TransformComponent> xformQuery)
{
var objectRadius = 0.1f;
var objectRadius = 0.25f;
var detectionRadius = MathF.Max(0.35f, agentRadius + objectRadius);
var ourVelocity = body.LinearVelocity;
var factionQuery = GetEntityQuery<FactionComponent>();
@@ -470,21 +487,36 @@ public sealed partial class NPCSteeringSystem
var xformB = xformQuery.GetComponent(ent);
if (!_physics.TryGetNearestPoints(uid, ent, out _, out var pointB, xform, xformB))
if (!_physics.TryGetNearest(uid, ent, out var pointA, out var pointB, out var distance, xform, xformB))
{
continue;
}
var obstacleDirection = pointB - worldPos;
var obstableDistance = obstacleDirection.Length;
if (obstableDistance > detectionRadius || obstableDistance == 0f)
if (distance > detectionRadius)
continue;
var weight = 1f;
var obstacleDirection = pointB - pointA;
// Inside each other so just use worldPos
if (distance == 0f)
{
obstacleDirection = _transform.GetWorldPosition(xformB, xformQuery) - worldPos;
// Welp
if (obstacleDirection == Vector2.Zero)
{
obstacleDirection = _random.NextAngle().ToVec();
}
}
else
{
weight = distance / detectionRadius;
}
obstacleDirection = offsetRot.RotateVec(obstacleDirection);
var norm = obstacleDirection.Normalized;
var weight = obstableDistance <= agentRadius ? 1f : (obstableDistance - agentRadius) / objectRadius;
weight *= 1f;
weight *= 0.25f;
for (var i = 0; i < InterestDirections; i++)
{

22
Content.Server/NPC/Systems/NPCSteeringSystem.cs
View File

@@ -348,6 +348,17 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
}
DebugTools.Assert(!float.IsNaN(interest[0]));
// Don't steer too frequently to avoid twitchiness.
// This should also implicitly solve tie situations.
// I think doing this after all the ops above is best?
// Originally I had it way above but sometimes mobs would overshoot their tile targets.
if (!forceSteer && steering.NextSteer > curTime)
{
SetDirection(mover, steering, steering.LastSteerDirection, false);
return;
}
// Avoid static objects like walls
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
DebugTools.Assert(!float.IsNaN(danger[0]));
@@ -376,17 +387,6 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
resultDirection = new Angle(desiredDirection * InterestRadians).ToVec();
}
// Don't steer too frequently to avoid twitchiness.
// This should also implicitly solve tie situations.
// I think doing this after all the ops above is best?
// Originally I had it way above but sometimes mobs would overshoot their tile targets.
if (!forceSteer && steering.NextSteer > curTime)
{
SetDirection(mover, steering, steering.LastSteerDirection, false);
return;
}
steering.NextSteer = curTime + TimeSpan.FromSeconds(1f / NPCSteeringComponent.SteeringFrequency);
steering.LastSteerDirection = resultDirection;
DebugTools.Assert(!float.IsNaN(resultDirection.X));