NPC steering tweaks (#26351)

- Fix the free node check considering the whole tile and not the poly.
- Clear maps on direction resets.
- More robust arrival checks for pathfinding nodes.

Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs

@@ -58,7 +58,7 @@ public sealed partial class NPCSteeringSystem
 
         // TODO: Ideally for "FreeSpace" we check all entities on the tile and build flags dynamically (pathfinder refactor in future).
         var ents = _entSetPool.Get();
-        _lookup.GetLocalEntitiesIntersecting(node.GraphUid, node.ChunkOrigin, ents, flags: LookupFlags.Static);
+        _lookup.GetLocalEntitiesIntersecting(node.GraphUid, node.Box.Enlarged(-0.04f), ents, flags: LookupFlags.Static);
         var result = true;
 
         if (ents.Count > 0)
@@ -158,28 +158,6 @@ public sealed partial class NPCSteeringSystem
             }
         }
 
-        // Need to be pretty close if it's just a node to make sure LOS for door bashes or the likes.
-        float arrivalDistance;
-
-        if (targetCoordinates.Equals(steering.Coordinates))
-        {
-            // What's our tolerance for arrival.
-            // If it's a pathfinding node it might be different to the destination.
-            arrivalDistance = steering.Range;
-        }
-        // If next node is a free tile then get within its bounds.
-        // This is to avoid popping it too early
-        else if (steering.CurrentPath.TryPeek(out var node) && IsFreeSpace(uid, steering, node))
-        {
-            arrivalDistance = MathF.Max(0.05f, MathF.Min(node.Box.Width / 2f, node.Box.Height / 2f) - 0.05f);
-        }
-        // Try getting into blocked range I guess?
-        // TODO: Consider melee range or the likes.
-        else
-        {
-            arrivalDistance = SharedInteractionSystem.InteractionRange - 0.05f;
-        }
-
         // Check if mapids match.
         var targetMap = targetCoordinates.ToMap(EntityManager, _transform);
         var ourMap = ourCoordinates.ToMap(EntityManager, _transform);
@@ -192,8 +170,30 @@ public sealed partial class NPCSteeringSystem
 
         var direction = targetMap.Position - ourMap.Position;
 
+        // Need to be pretty close if it's just a node to make sure LOS for door bashes or the likes.
+        bool arrived;
+
+        if (targetCoordinates.Equals(steering.Coordinates))
+        {
+            // What's our tolerance for arrival.
+            // If it's a pathfinding node it might be different to the destination.
+            arrived = direction.Length() <= steering.Range;
+        }
+        // If next node is a free tile then get within its bounds.
+        // This is to avoid popping it too early
+        else if (steering.CurrentPath.TryPeek(out var node) && IsFreeSpace(uid, steering, node))
+        {
+            arrived = node.Box.Contains(ourCoordinates.Position);
+        }
+        // Try getting into blocked range I guess?
+        // TODO: Consider melee range or the likes.
+        else
+        {
+            arrived = direction.Length() <= SharedInteractionSystem.InteractionRange - 0.05f;
+        }
+
         // Are we in range
-        if (direction.Length() <= arrivalDistance)
+        if (arrived)
         {
             // Node needs some kind of special handling like access or smashing.
             if (steering.CurrentPath.TryPeek(out var node) && !IsFreeSpace(uid, steering, node))

Content.Server/NPC/Systems/NPCSteeringSystem.cs

@@ -274,6 +274,8 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
         if (clear && value.Equals(Vector2.Zero))
         {
             steering.CurrentPath.Clear();
+            Array.Clear(steering.Interest);
+            Array.Clear(steering.Danger);
         }
 
         component.CurTickSprintMovement = value;