NPC obstacle fixes (#15645)
This commit is contained in:
metalgearsloth
@@ -98,7 +98,7 @@ public sealed partial class NPCSteeringSystem
|
|||||||
// TODO: Consider melee range or the likes.
|
// TODO: Consider melee range or the likes.
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
arrivalDistance = SharedInteractionSystem.InteractionRange - 0.65f;
|
arrivalDistance = SharedInteractionSystem.InteractionRange - 0.05f;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Check if mapids match.
|
// Check if mapids match.
|
||||||
@@ -126,6 +126,12 @@ public sealed partial class NPCSteeringSystem
|
|||||||
// Breaking behaviours and the likes.
|
// Breaking behaviours and the likes.
|
||||||
lock (_obstacles)
|
lock (_obstacles)
|
||||||
{
|
{
|
||||||
|
// We're still coming to a stop so wait for the do_after.
|
||||||
|
if (body.LinearVelocity.LengthSquared > 0.01f)
|
||||||
|
{
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
status = TryHandleFlags(uid, steering, node, bodyQuery);
|
status = TryHandleFlags(uid, steering, node, bodyQuery);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -28,453 +28,452 @@ using Robust.Shared.Threading;
|
|||||||
using Robust.Shared.Timing;
|
using Robust.Shared.Timing;
|
||||||
using Robust.Shared.Utility;
|
using Robust.Shared.Utility;
|
||||||
|
|
||||||
namespace Content.Server.NPC.Systems
|
namespace Content.Server.NPC.Systems;
|
||||||
|
|
||||||
|
public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
|
||||||
{
|
{
|
||||||
public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
|
/*
|
||||||
|
* We use context steering to determine which way to move.
|
||||||
|
* This involves creating an array of possible directions and assigning a value for the desireability of each direction.
|
||||||
|
*
|
||||||
|
* There's multiple ways to implement this, e.g. you can average all directions, or you can choose the highest direction
|
||||||
|
* , or you can remove the danger map entirely and only having an interest map (AKA game endeavour).
|
||||||
|
* See http://www.gameaipro.com/GameAIPro2/GameAIPro2_Chapter18_Context_Steering_Behavior-Driven_Steering_at_the_Macro_Scale.pdf
|
||||||
|
* (though in their case it was for an F1 game so used context steering across the width of the road).
|
||||||
|
*/
|
||||||
|
|
||||||
|
[Dependency] private readonly IAdminManager _admin = default!;
|
||||||
|
[Dependency] private readonly IConfigurationManager _configManager = default!;
|
||||||
|
[Dependency] private readonly IGameTiming _timing = default!;
|
||||||
|
[Dependency] private readonly IMapManager _mapManager = default!;
|
||||||
|
[Dependency] private readonly IParallelManager _parallel = default!;
|
||||||
|
[Dependency] private readonly IRobustRandom _random = default!;
|
||||||
|
[Dependency] private readonly DoAfterSystem _doAfter = default!;
|
||||||
|
[Dependency] private readonly DoorSystem _doors = default!;
|
||||||
|
[Dependency] private readonly EntityLookupSystem _lookup = default!;
|
||||||
|
[Dependency] private readonly FactionSystem _faction = default!;
|
||||||
|
[Dependency] private readonly PathfindingSystem _pathfindingSystem = default!;
|
||||||
|
[Dependency] private readonly SharedInteractionSystem _interaction = default!;
|
||||||
|
[Dependency] private readonly SharedMeleeWeaponSystem _melee = default!;
|
||||||
|
[Dependency] private readonly SharedMoverController _mover = default!;
|
||||||
|
[Dependency] private readonly SharedPhysicsSystem _physics = default!;
|
||||||
|
[Dependency] private readonly SharedTransformSystem _transform = default!;
|
||||||
|
[Dependency] private readonly SharedCombatModeSystem _combat = default!;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Enabled antistuck detection so if an NPC is in the same spot for a while it will re-path.
|
||||||
|
/// </summary>
|
||||||
|
public bool AntiStuck = true;
|
||||||
|
|
||||||
|
private bool _enabled;
|
||||||
|
|
||||||
|
private bool _pathfinding = true;
|
||||||
|
|
||||||
|
public static readonly Vector2[] Directions = new Vector2[InterestDirections];
|
||||||
|
|
||||||
|
private readonly HashSet<ICommonSession> _subscribedSessions = new();
|
||||||
|
|
||||||
|
private object _obstacles = new();
|
||||||
|
|
||||||
|
private ISawmill _sawmill = default!;
|
||||||
|
|
||||||
|
public override void Initialize()
|
||||||
{
|
{
|
||||||
/*
|
base.Initialize();
|
||||||
* We use context steering to determine which way to move.
|
_sawmill = Logger.GetSawmill("npc.steering");
|
||||||
* This involves creating an array of possible directions and assigning a value for the desireability of each direction.
|
|
||||||
*
|
|
||||||
* There's multiple ways to implement this, e.g. you can average all directions, or you can choose the highest direction
|
|
||||||
* , or you can remove the danger map entirely and only having an interest map (AKA game endeavour).
|
|
||||||
* See http://www.gameaipro.com/GameAIPro2/GameAIPro2_Chapter18_Context_Steering_Behavior-Driven_Steering_at_the_Macro_Scale.pdf
|
|
||||||
* (though in their case it was for an F1 game so used context steering across the width of the road).
|
|
||||||
*/
|
|
||||||
|
|
||||||
[Dependency] private readonly IAdminManager _admin = default!;
|
|
||||||
[Dependency] private readonly IConfigurationManager _configManager = default!;
|
|
||||||
[Dependency] private readonly IGameTiming _timing = default!;
|
|
||||||
[Dependency] private readonly IMapManager _mapManager = default!;
|
|
||||||
[Dependency] private readonly IParallelManager _parallel = default!;
|
|
||||||
[Dependency] private readonly IRobustRandom _random = default!;
|
|
||||||
[Dependency] private readonly DoAfterSystem _doAfter = default!;
|
|
||||||
[Dependency] private readonly DoorSystem _doors = default!;
|
|
||||||
[Dependency] private readonly EntityLookupSystem _lookup = default!;
|
|
||||||
[Dependency] private readonly FactionSystem _faction = default!;
|
|
||||||
[Dependency] private readonly PathfindingSystem _pathfindingSystem = default!;
|
|
||||||
[Dependency] private readonly SharedInteractionSystem _interaction = default!;
|
|
||||||
[Dependency] private readonly SharedMeleeWeaponSystem _melee = default!;
|
|
||||||
[Dependency] private readonly SharedMoverController _mover = default!;
|
|
||||||
[Dependency] private readonly SharedPhysicsSystem _physics = default!;
|
|
||||||
[Dependency] private readonly SharedTransformSystem _transform = default!;
|
|
||||||
[Dependency] private readonly SharedCombatModeSystem _combat = default!;
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Enabled antistuck detection so if an NPC is in the same spot for a while it will re-path.
|
|
||||||
/// </summary>
|
|
||||||
public bool AntiStuck = true;
|
|
||||||
|
|
||||||
private bool _enabled;
|
|
||||||
|
|
||||||
private bool _pathfinding = true;
|
|
||||||
|
|
||||||
public static readonly Vector2[] Directions = new Vector2[InterestDirections];
|
|
||||||
|
|
||||||
private readonly HashSet<ICommonSession> _subscribedSessions = new();
|
|
||||||
|
|
||||||
private object _obstacles = new();
|
|
||||||
|
|
||||||
private ISawmill _sawmill = default!;
|
|
||||||
|
|
||||||
public override void Initialize()
|
|
||||||
{
|
|
||||||
base.Initialize();
|
|
||||||
_sawmill = Logger.GetSawmill("npc.steering");
|
|
||||||
#if DEBUG
|
#if DEBUG
|
||||||
_sawmill.Level = LogLevel.Warning;
|
_sawmill.Level = LogLevel.Warning;
|
||||||
#else
|
#else
|
||||||
_sawmill.Level = LogLevel.Debug;
|
_sawmill.Level = LogLevel.Debug;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
for (var i = 0; i < InterestDirections; i++)
|
for (var i = 0; i < InterestDirections; i++)
|
||||||
{
|
{
|
||||||
Directions[i] = new Angle(InterestRadians * i).ToVec();
|
Directions[i] = new Angle(InterestRadians * i).ToVec();
|
||||||
}
|
|
||||||
|
|
||||||
UpdatesBefore.Add(typeof(SharedPhysicsSystem));
|
|
||||||
_configManager.OnValueChanged(CCVars.NPCEnabled, SetNPCEnabled, true);
|
|
||||||
_configManager.OnValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding, true);
|
|
||||||
|
|
||||||
SubscribeLocalEvent<NPCSteeringComponent, ComponentShutdown>(OnSteeringShutdown);
|
|
||||||
SubscribeLocalEvent<NPCSteeringComponent, EntityUnpausedEvent>(OnSteeringUnpaused);
|
|
||||||
SubscribeNetworkEvent<RequestNPCSteeringDebugEvent>(OnDebugRequest);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
private void SetNPCEnabled(bool obj)
|
UpdatesBefore.Add(typeof(SharedPhysicsSystem));
|
||||||
|
_configManager.OnValueChanged(CCVars.NPCEnabled, SetNPCEnabled, true);
|
||||||
|
_configManager.OnValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding, true);
|
||||||
|
|
||||||
|
SubscribeLocalEvent<NPCSteeringComponent, ComponentShutdown>(OnSteeringShutdown);
|
||||||
|
SubscribeLocalEvent<NPCSteeringComponent, EntityUnpausedEvent>(OnSteeringUnpaused);
|
||||||
|
SubscribeNetworkEvent<RequestNPCSteeringDebugEvent>(OnDebugRequest);
|
||||||
|
}
|
||||||
|
|
||||||
|
private void SetNPCEnabled(bool obj)
|
||||||
|
{
|
||||||
|
if (!obj)
|
||||||
{
|
{
|
||||||
if (!obj)
|
foreach (var (comp, mover) in EntityQuery<NPCSteeringComponent, InputMoverComponent>())
|
||||||
{
|
{
|
||||||
foreach (var (comp, mover) in EntityQuery<NPCSteeringComponent, InputMoverComponent>())
|
mover.CurTickSprintMovement = Vector2.Zero;
|
||||||
{
|
comp.PathfindToken?.Cancel();
|
||||||
mover.CurTickSprintMovement = Vector2.Zero;
|
comp.PathfindToken = null;
|
||||||
comp.PathfindToken?.Cancel();
|
|
||||||
comp.PathfindToken = null;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
_enabled = obj;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void SetNPCPathfinding(bool value)
|
|
||||||
{
|
|
||||||
_pathfinding = value;
|
|
||||||
|
|
||||||
if (!_pathfinding)
|
|
||||||
{
|
|
||||||
foreach (var comp in EntityQuery<NPCSteeringComponent>(true))
|
|
||||||
{
|
|
||||||
comp.PathfindToken?.Cancel();
|
|
||||||
comp.PathfindToken = null;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
public override void Shutdown()
|
_enabled = obj;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void SetNPCPathfinding(bool value)
|
||||||
|
{
|
||||||
|
_pathfinding = value;
|
||||||
|
|
||||||
|
if (!_pathfinding)
|
||||||
{
|
{
|
||||||
base.Shutdown();
|
foreach (var comp in EntityQuery<NPCSteeringComponent>(true))
|
||||||
_configManager.UnsubValueChanged(CCVars.NPCEnabled, SetNPCEnabled);
|
|
||||||
_configManager.UnsubValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding);
|
|
||||||
}
|
|
||||||
|
|
||||||
private void OnDebugRequest(RequestNPCSteeringDebugEvent msg, EntitySessionEventArgs args)
|
|
||||||
{
|
|
||||||
if (!_admin.IsAdmin((IPlayerSession) args.SenderSession))
|
|
||||||
return;
|
|
||||||
|
|
||||||
if (msg.Enabled)
|
|
||||||
_subscribedSessions.Add(args.SenderSession);
|
|
||||||
else
|
|
||||||
_subscribedSessions.Remove(args.SenderSession);
|
|
||||||
}
|
|
||||||
|
|
||||||
private void OnSteeringShutdown(EntityUid uid, NPCSteeringComponent component, ComponentShutdown args)
|
|
||||||
{
|
|
||||||
// Cancel any active pathfinding jobs as they're irrelevant.
|
|
||||||
component.PathfindToken?.Cancel();
|
|
||||||
component.PathfindToken = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void OnSteeringUnpaused(EntityUid uid, NPCSteeringComponent component, ref EntityUnpausedEvent args)
|
|
||||||
{
|
|
||||||
component.LastStuckTime += args.PausedTime;
|
|
||||||
component.NextSteer += args.PausedTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Adds the AI to the steering system to move towards a specific target
|
|
||||||
/// </summary>
|
|
||||||
public NPCSteeringComponent Register(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
|
|
||||||
{
|
|
||||||
if (Resolve(uid, ref component, false))
|
|
||||||
{
|
{
|
||||||
component.PathfindToken?.Cancel();
|
comp.PathfindToken?.Cancel();
|
||||||
component.PathfindToken = null;
|
comp.PathfindToken = null;
|
||||||
component.CurrentPath.Clear();
|
|
||||||
}
|
}
|
||||||
else
|
|
||||||
{
|
|
||||||
component = AddComp<NPCSteeringComponent>(uid);
|
|
||||||
component.Flags = _pathfindingSystem.GetFlags(uid);
|
|
||||||
}
|
|
||||||
|
|
||||||
ResetStuck(component, Transform(uid).Coordinates);
|
|
||||||
component.Coordinates = coordinates;
|
|
||||||
return component;
|
|
||||||
}
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Attempts to register the entity. Does nothing if the coordinates already registered.
|
|
||||||
/// </summary>
|
|
||||||
public bool TryRegister(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
|
|
||||||
{
|
|
||||||
if (Resolve(uid, ref component, false) && component.Coordinates.Equals(coordinates))
|
|
||||||
{
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
Register(uid, coordinates, component);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Stops the steering behavior for the AI and cleans up.
|
|
||||||
/// </summary>
|
|
||||||
public void Unregister(EntityUid uid, NPCSteeringComponent? component = null)
|
|
||||||
{
|
|
||||||
if (!Resolve(uid, ref component, false))
|
|
||||||
return;
|
|
||||||
|
|
||||||
if (EntityManager.TryGetComponent(uid, out InputMoverComponent? controller))
|
|
||||||
{
|
|
||||||
controller.CurTickSprintMovement = Vector2.Zero;
|
|
||||||
}
|
|
||||||
|
|
||||||
component.PathfindToken?.Cancel();
|
|
||||||
component.PathfindToken = null;
|
|
||||||
RemComp<NPCSteeringComponent>(uid);
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void Update(float frameTime)
|
|
||||||
{
|
|
||||||
base.Update(frameTime);
|
|
||||||
|
|
||||||
if (!_enabled)
|
|
||||||
return;
|
|
||||||
|
|
||||||
// Not every mob has the modifier component so do it as a separate query.
|
|
||||||
var bodyQuery = GetEntityQuery<PhysicsComponent>();
|
|
||||||
var modifierQuery = GetEntityQuery<MovementSpeedModifierComponent>();
|
|
||||||
var xformQuery = GetEntityQuery<TransformComponent>();
|
|
||||||
|
|
||||||
var npcs = EntityQuery<ActiveNPCComponent, NPCSteeringComponent, InputMoverComponent, TransformComponent>()
|
|
||||||
.Select(o => (o.Item1.Owner, o.Item2, o.Item3, o.Item4)).ToArray();
|
|
||||||
|
|
||||||
// Dependency issues across threads.
|
|
||||||
var options = new ParallelOptions
|
|
||||||
{
|
|
||||||
MaxDegreeOfParallelism = 1,
|
|
||||||
};
|
|
||||||
var curTime = _timing.CurTime;
|
|
||||||
|
|
||||||
Parallel.For(0, npcs.Length, options, i =>
|
|
||||||
{
|
|
||||||
var (uid, steering, mover, xform) = npcs[i];
|
|
||||||
Steer(uid, steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
|
|
||||||
});
|
|
||||||
|
|
||||||
|
|
||||||
if (_subscribedSessions.Count > 0)
|
|
||||||
{
|
|
||||||
var data = new List<NPCSteeringDebugData>(npcs.Length);
|
|
||||||
|
|
||||||
foreach (var (uid, steering, mover, _) in npcs)
|
|
||||||
{
|
|
||||||
data.Add(new NPCSteeringDebugData(
|
|
||||||
uid,
|
|
||||||
mover.CurTickSprintMovement,
|
|
||||||
steering.Interest,
|
|
||||||
steering.Danger,
|
|
||||||
steering.DangerPoints));
|
|
||||||
}
|
|
||||||
|
|
||||||
var filter = Filter.Empty();
|
|
||||||
filter.AddPlayers(_subscribedSessions);
|
|
||||||
|
|
||||||
RaiseNetworkEvent(new NPCSteeringDebugEvent(data), filter);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private void SetDirection(InputMoverComponent component, NPCSteeringComponent steering, Vector2 value, bool clear = true)
|
|
||||||
{
|
|
||||||
if (clear && value.Equals(Vector2.Zero))
|
|
||||||
{
|
|
||||||
steering.CurrentPath.Clear();
|
|
||||||
}
|
|
||||||
|
|
||||||
component.CurTickSprintMovement = value;
|
|
||||||
component.LastInputTick = _timing.CurTick;
|
|
||||||
component.LastInputSubTick = ushort.MaxValue;
|
|
||||||
}
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Go through each steerer and combine their vectors
|
|
||||||
/// </summary>
|
|
||||||
private void Steer(
|
|
||||||
EntityUid uid,
|
|
||||||
NPCSteeringComponent steering,
|
|
||||||
InputMoverComponent mover,
|
|
||||||
TransformComponent xform,
|
|
||||||
EntityQuery<MovementSpeedModifierComponent> modifierQuery,
|
|
||||||
EntityQuery<PhysicsComponent> bodyQuery,
|
|
||||||
EntityQuery<TransformComponent> xformQuery,
|
|
||||||
float frameTime,
|
|
||||||
TimeSpan curTime)
|
|
||||||
{
|
|
||||||
if (Deleted(steering.Coordinates.EntityId))
|
|
||||||
{
|
|
||||||
SetDirection(mover, steering, Vector2.Zero);
|
|
||||||
steering.Status = SteeringStatus.NoPath;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// No path set from pathfinding or the likes.
|
|
||||||
if (steering.Status == SteeringStatus.NoPath)
|
|
||||||
{
|
|
||||||
SetDirection(mover, steering, Vector2.Zero);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Can't move at all, just noop input.
|
|
||||||
if (!mover.CanMove)
|
|
||||||
{
|
|
||||||
SetDirection(mover, steering, Vector2.Zero);
|
|
||||||
steering.Status = SteeringStatus.NoPath;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
var interest = steering.Interest;
|
|
||||||
var danger = steering.Danger;
|
|
||||||
var agentRadius = steering.Radius;
|
|
||||||
var worldPos = _transform.GetWorldPosition(xform, xformQuery);
|
|
||||||
var (layer, mask) = _physics.GetHardCollision(uid);
|
|
||||||
|
|
||||||
// Use rotation relative to parent to rotate our context vectors by.
|
|
||||||
var offsetRot = -_mover.GetParentGridAngle(mover);
|
|
||||||
modifierQuery.TryGetComponent(uid, out var modifier);
|
|
||||||
var moveSpeed = GetSprintSpeed(uid, modifier);
|
|
||||||
var body = bodyQuery.GetComponent(uid);
|
|
||||||
var dangerPoints = steering.DangerPoints;
|
|
||||||
dangerPoints.Clear();
|
|
||||||
|
|
||||||
for (var i = 0; i < InterestDirections; i++)
|
|
||||||
{
|
|
||||||
steering.Interest[i] = 0f;
|
|
||||||
steering.Danger[i] = 0f;
|
|
||||||
}
|
|
||||||
|
|
||||||
var ev = new NPCSteeringEvent(steering, interest, danger, agentRadius, offsetRot, worldPos);
|
|
||||||
RaiseLocalEvent(uid, ref ev);
|
|
||||||
// If seek has arrived at the target node for example then immediately re-steer.
|
|
||||||
var forceSteer = true;
|
|
||||||
|
|
||||||
if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, bodyQuery, frameTime, ref forceSteer))
|
|
||||||
{
|
|
||||||
SetDirection(mover, steering, Vector2.Zero);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
DebugTools.Assert(!float.IsNaN(interest[0]));
|
|
||||||
|
|
||||||
// Avoid static objects like walls
|
|
||||||
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
|
|
||||||
DebugTools.Assert(!float.IsNaN(danger[0]));
|
|
||||||
|
|
||||||
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger, bodyQuery, xformQuery);
|
|
||||||
|
|
||||||
// Remove the danger map from the interest map.
|
|
||||||
var desiredDirection = -1;
|
|
||||||
var desiredValue = 0f;
|
|
||||||
|
|
||||||
for (var i = 0; i < InterestDirections; i++)
|
|
||||||
{
|
|
||||||
var adjustedValue = Math.Clamp(interest[i] - danger[i], 0f, 1f);
|
|
||||||
|
|
||||||
if (adjustedValue > desiredValue)
|
|
||||||
{
|
|
||||||
desiredDirection = i;
|
|
||||||
desiredValue = adjustedValue;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
var resultDirection = Vector2.Zero;
|
|
||||||
|
|
||||||
if (desiredDirection != -1)
|
|
||||||
{
|
|
||||||
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));
|
|
||||||
SetDirection(mover, steering, resultDirection, false);
|
|
||||||
}
|
|
||||||
|
|
||||||
private EntityCoordinates GetCoordinates(PathPoly poly)
|
|
||||||
{
|
|
||||||
if (!poly.IsValid())
|
|
||||||
return EntityCoordinates.Invalid;
|
|
||||||
|
|
||||||
return new EntityCoordinates(poly.GraphUid, poly.Box.Center);
|
|
||||||
}
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Get a new job from the pathfindingsystem
|
|
||||||
/// </summary>
|
|
||||||
private async void RequestPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
|
|
||||||
{
|
|
||||||
// If we already have a pathfinding request then don't grab another.
|
|
||||||
// If we're in range then just beeline them; this can avoid stutter stepping and is an easy way to look nicer.
|
|
||||||
if (steering.Pathfind || targetDistance < steering.RepathRange)
|
|
||||||
return;
|
|
||||||
|
|
||||||
// Short-circuit with no path.
|
|
||||||
var targetPoly = _pathfindingSystem.GetPoly(steering.Coordinates);
|
|
||||||
|
|
||||||
// If this still causes issues future sloth adjust the collision mask.
|
|
||||||
// Thanks past sloth I already realised.
|
|
||||||
if (targetPoly != null &&
|
|
||||||
steering.Coordinates.Position.Equals(Vector2.Zero) &&
|
|
||||||
TryComp<PhysicsComponent>(uid, out var physics) &&
|
|
||||||
_interaction.InRangeUnobstructed(uid, steering.Coordinates.EntityId, range: 30f, (CollisionGroup) physics.CollisionMask))
|
|
||||||
{
|
|
||||||
steering.CurrentPath.Clear();
|
|
||||||
// Enqueue our poly as it will be pruned later.
|
|
||||||
var ourPoly = _pathfindingSystem.GetPoly(xform.Coordinates);
|
|
||||||
|
|
||||||
if (ourPoly != null)
|
|
||||||
{
|
|
||||||
steering.CurrentPath.Enqueue(ourPoly);
|
|
||||||
}
|
|
||||||
|
|
||||||
steering.CurrentPath.Enqueue(targetPoly);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
steering.PathfindToken = new CancellationTokenSource();
|
|
||||||
|
|
||||||
var flags = _pathfindingSystem.GetFlags(uid);
|
|
||||||
|
|
||||||
var result = await _pathfindingSystem.GetPathSafe(
|
|
||||||
uid,
|
|
||||||
xform.Coordinates,
|
|
||||||
steering.Coordinates,
|
|
||||||
steering.Range,
|
|
||||||
steering.PathfindToken.Token,
|
|
||||||
flags);
|
|
||||||
|
|
||||||
steering.PathfindToken = null;
|
|
||||||
|
|
||||||
if (result.Result == PathResult.NoPath)
|
|
||||||
{
|
|
||||||
steering.CurrentPath.Clear();
|
|
||||||
steering.FailedPathCount++;
|
|
||||||
|
|
||||||
if (steering.FailedPathCount >= NPCSteeringComponent.FailedPathLimit)
|
|
||||||
{
|
|
||||||
steering.Status = SteeringStatus.NoPath;
|
|
||||||
}
|
|
||||||
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
var targetPos = steering.Coordinates.ToMap(EntityManager, _transform);
|
|
||||||
var ourPos = xform.MapPosition;
|
|
||||||
|
|
||||||
PrunePath(uid, ourPos, targetPos.Position - ourPos.Position, result.Path);
|
|
||||||
steering.CurrentPath = result.Path;
|
|
||||||
}
|
|
||||||
|
|
||||||
// TODO: Move these to movercontroller
|
|
||||||
|
|
||||||
private float GetSprintSpeed(EntityUid uid, MovementSpeedModifierComponent? modifier = null)
|
|
||||||
{
|
|
||||||
if (!Resolve(uid, ref modifier, false))
|
|
||||||
{
|
|
||||||
return MovementSpeedModifierComponent.DefaultBaseSprintSpeed;
|
|
||||||
}
|
|
||||||
|
|
||||||
return modifier.CurrentSprintSpeed;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public override void Shutdown()
|
||||||
|
{
|
||||||
|
base.Shutdown();
|
||||||
|
_configManager.UnsubValueChanged(CCVars.NPCEnabled, SetNPCEnabled);
|
||||||
|
_configManager.UnsubValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding);
|
||||||
|
}
|
||||||
|
|
||||||
|
private void OnDebugRequest(RequestNPCSteeringDebugEvent msg, EntitySessionEventArgs args)
|
||||||
|
{
|
||||||
|
if (!_admin.IsAdmin((IPlayerSession) args.SenderSession))
|
||||||
|
return;
|
||||||
|
|
||||||
|
if (msg.Enabled)
|
||||||
|
_subscribedSessions.Add(args.SenderSession);
|
||||||
|
else
|
||||||
|
_subscribedSessions.Remove(args.SenderSession);
|
||||||
|
}
|
||||||
|
|
||||||
|
private void OnSteeringShutdown(EntityUid uid, NPCSteeringComponent component, ComponentShutdown args)
|
||||||
|
{
|
||||||
|
// Cancel any active pathfinding jobs as they're irrelevant.
|
||||||
|
component.PathfindToken?.Cancel();
|
||||||
|
component.PathfindToken = null;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void OnSteeringUnpaused(EntityUid uid, NPCSteeringComponent component, ref EntityUnpausedEvent args)
|
||||||
|
{
|
||||||
|
component.LastStuckTime += args.PausedTime;
|
||||||
|
component.NextSteer += args.PausedTime;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Adds the AI to the steering system to move towards a specific target
|
||||||
|
/// </summary>
|
||||||
|
public NPCSteeringComponent Register(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
|
||||||
|
{
|
||||||
|
if (Resolve(uid, ref component, false))
|
||||||
|
{
|
||||||
|
component.PathfindToken?.Cancel();
|
||||||
|
component.PathfindToken = null;
|
||||||
|
component.CurrentPath.Clear();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
component = AddComp<NPCSteeringComponent>(uid);
|
||||||
|
component.Flags = _pathfindingSystem.GetFlags(uid);
|
||||||
|
}
|
||||||
|
|
||||||
|
ResetStuck(component, Transform(uid).Coordinates);
|
||||||
|
component.Coordinates = coordinates;
|
||||||
|
return component;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Attempts to register the entity. Does nothing if the coordinates already registered.
|
||||||
|
/// </summary>
|
||||||
|
public bool TryRegister(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
|
||||||
|
{
|
||||||
|
if (Resolve(uid, ref component, false) && component.Coordinates.Equals(coordinates))
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
Register(uid, coordinates, component);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Stops the steering behavior for the AI and cleans up.
|
||||||
|
/// </summary>
|
||||||
|
public void Unregister(EntityUid uid, NPCSteeringComponent? component = null)
|
||||||
|
{
|
||||||
|
if (!Resolve(uid, ref component, false))
|
||||||
|
return;
|
||||||
|
|
||||||
|
if (EntityManager.TryGetComponent(uid, out InputMoverComponent? controller))
|
||||||
|
{
|
||||||
|
controller.CurTickSprintMovement = Vector2.Zero;
|
||||||
|
}
|
||||||
|
|
||||||
|
component.PathfindToken?.Cancel();
|
||||||
|
component.PathfindToken = null;
|
||||||
|
RemComp<NPCSteeringComponent>(uid);
|
||||||
|
}
|
||||||
|
|
||||||
|
public override void Update(float frameTime)
|
||||||
|
{
|
||||||
|
base.Update(frameTime);
|
||||||
|
|
||||||
|
if (!_enabled)
|
||||||
|
return;
|
||||||
|
|
||||||
|
// Not every mob has the modifier component so do it as a separate query.
|
||||||
|
var bodyQuery = GetEntityQuery<PhysicsComponent>();
|
||||||
|
var modifierQuery = GetEntityQuery<MovementSpeedModifierComponent>();
|
||||||
|
var xformQuery = GetEntityQuery<TransformComponent>();
|
||||||
|
|
||||||
|
var npcs = EntityQuery<ActiveNPCComponent, NPCSteeringComponent, InputMoverComponent, TransformComponent>()
|
||||||
|
.Select(o => (o.Item1.Owner, o.Item2, o.Item3, o.Item4)).ToArray();
|
||||||
|
|
||||||
|
// Dependency issues across threads.
|
||||||
|
var options = new ParallelOptions
|
||||||
|
{
|
||||||
|
MaxDegreeOfParallelism = 1,
|
||||||
|
};
|
||||||
|
var curTime = _timing.CurTime;
|
||||||
|
|
||||||
|
Parallel.For(0, npcs.Length, options, i =>
|
||||||
|
{
|
||||||
|
var (uid, steering, mover, xform) = npcs[i];
|
||||||
|
Steer(uid, steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
|
||||||
|
});
|
||||||
|
|
||||||
|
|
||||||
|
if (_subscribedSessions.Count > 0)
|
||||||
|
{
|
||||||
|
var data = new List<NPCSteeringDebugData>(npcs.Length);
|
||||||
|
|
||||||
|
foreach (var (uid, steering, mover, _) in npcs)
|
||||||
|
{
|
||||||
|
data.Add(new NPCSteeringDebugData(
|
||||||
|
uid,
|
||||||
|
mover.CurTickSprintMovement,
|
||||||
|
steering.Interest,
|
||||||
|
steering.Danger,
|
||||||
|
steering.DangerPoints));
|
||||||
|
}
|
||||||
|
|
||||||
|
var filter = Filter.Empty();
|
||||||
|
filter.AddPlayers(_subscribedSessions);
|
||||||
|
|
||||||
|
RaiseNetworkEvent(new NPCSteeringDebugEvent(data), filter);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void SetDirection(InputMoverComponent component, NPCSteeringComponent steering, Vector2 value, bool clear = true)
|
||||||
|
{
|
||||||
|
if (clear && value.Equals(Vector2.Zero))
|
||||||
|
{
|
||||||
|
steering.CurrentPath.Clear();
|
||||||
|
}
|
||||||
|
|
||||||
|
component.CurTickSprintMovement = value;
|
||||||
|
component.LastInputTick = _timing.CurTick;
|
||||||
|
component.LastInputSubTick = ushort.MaxValue;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Go through each steerer and combine their vectors
|
||||||
|
/// </summary>
|
||||||
|
private void Steer(
|
||||||
|
EntityUid uid,
|
||||||
|
NPCSteeringComponent steering,
|
||||||
|
InputMoverComponent mover,
|
||||||
|
TransformComponent xform,
|
||||||
|
EntityQuery<MovementSpeedModifierComponent> modifierQuery,
|
||||||
|
EntityQuery<PhysicsComponent> bodyQuery,
|
||||||
|
EntityQuery<TransformComponent> xformQuery,
|
||||||
|
float frameTime,
|
||||||
|
TimeSpan curTime)
|
||||||
|
{
|
||||||
|
if (Deleted(steering.Coordinates.EntityId))
|
||||||
|
{
|
||||||
|
SetDirection(mover, steering, Vector2.Zero);
|
||||||
|
steering.Status = SteeringStatus.NoPath;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// No path set from pathfinding or the likes.
|
||||||
|
if (steering.Status == SteeringStatus.NoPath)
|
||||||
|
{
|
||||||
|
SetDirection(mover, steering, Vector2.Zero);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Can't move at all, just noop input.
|
||||||
|
if (!mover.CanMove)
|
||||||
|
{
|
||||||
|
SetDirection(mover, steering, Vector2.Zero);
|
||||||
|
steering.Status = SteeringStatus.NoPath;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
var interest = steering.Interest;
|
||||||
|
var danger = steering.Danger;
|
||||||
|
var agentRadius = steering.Radius;
|
||||||
|
var worldPos = _transform.GetWorldPosition(xform, xformQuery);
|
||||||
|
var (layer, mask) = _physics.GetHardCollision(uid);
|
||||||
|
|
||||||
|
// Use rotation relative to parent to rotate our context vectors by.
|
||||||
|
var offsetRot = -_mover.GetParentGridAngle(mover);
|
||||||
|
modifierQuery.TryGetComponent(uid, out var modifier);
|
||||||
|
var moveSpeed = GetSprintSpeed(uid, modifier);
|
||||||
|
var body = bodyQuery.GetComponent(uid);
|
||||||
|
var dangerPoints = steering.DangerPoints;
|
||||||
|
dangerPoints.Clear();
|
||||||
|
|
||||||
|
for (var i = 0; i < InterestDirections; i++)
|
||||||
|
{
|
||||||
|
steering.Interest[i] = 0f;
|
||||||
|
steering.Danger[i] = 0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
var ev = new NPCSteeringEvent(steering, interest, danger, agentRadius, offsetRot, worldPos);
|
||||||
|
RaiseLocalEvent(uid, ref ev);
|
||||||
|
// If seek has arrived at the target node for example then immediately re-steer.
|
||||||
|
var forceSteer = true;
|
||||||
|
|
||||||
|
if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, bodyQuery, frameTime, ref forceSteer))
|
||||||
|
{
|
||||||
|
SetDirection(mover, steering, Vector2.Zero);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
DebugTools.Assert(!float.IsNaN(interest[0]));
|
||||||
|
|
||||||
|
// Avoid static objects like walls
|
||||||
|
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
|
||||||
|
DebugTools.Assert(!float.IsNaN(danger[0]));
|
||||||
|
|
||||||
|
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger, bodyQuery, xformQuery);
|
||||||
|
|
||||||
|
// Remove the danger map from the interest map.
|
||||||
|
var desiredDirection = -1;
|
||||||
|
var desiredValue = 0f;
|
||||||
|
|
||||||
|
for (var i = 0; i < InterestDirections; i++)
|
||||||
|
{
|
||||||
|
var adjustedValue = Math.Clamp(interest[i] - danger[i], 0f, 1f);
|
||||||
|
|
||||||
|
if (adjustedValue > desiredValue)
|
||||||
|
{
|
||||||
|
desiredDirection = i;
|
||||||
|
desiredValue = adjustedValue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
var resultDirection = Vector2.Zero;
|
||||||
|
|
||||||
|
if (desiredDirection != -1)
|
||||||
|
{
|
||||||
|
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));
|
||||||
|
SetDirection(mover, steering, resultDirection, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
private EntityCoordinates GetCoordinates(PathPoly poly)
|
||||||
|
{
|
||||||
|
if (!poly.IsValid())
|
||||||
|
return EntityCoordinates.Invalid;
|
||||||
|
|
||||||
|
return new EntityCoordinates(poly.GraphUid, poly.Box.Center);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Get a new job from the pathfindingsystem
|
||||||
|
/// </summary>
|
||||||
|
private async void RequestPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
|
||||||
|
{
|
||||||
|
// If we already have a pathfinding request then don't grab another.
|
||||||
|
// If we're in range then just beeline them; this can avoid stutter stepping and is an easy way to look nicer.
|
||||||
|
if (steering.Pathfind || targetDistance < steering.RepathRange)
|
||||||
|
return;
|
||||||
|
|
||||||
|
// Short-circuit with no path.
|
||||||
|
var targetPoly = _pathfindingSystem.GetPoly(steering.Coordinates);
|
||||||
|
|
||||||
|
// If this still causes issues future sloth adjust the collision mask.
|
||||||
|
// Thanks past sloth I already realised.
|
||||||
|
if (targetPoly != null &&
|
||||||
|
steering.Coordinates.Position.Equals(Vector2.Zero) &&
|
||||||
|
TryComp<PhysicsComponent>(uid, out var physics) &&
|
||||||
|
_interaction.InRangeUnobstructed(uid, steering.Coordinates.EntityId, range: 30f, (CollisionGroup) physics.CollisionMask))
|
||||||
|
{
|
||||||
|
steering.CurrentPath.Clear();
|
||||||
|
// Enqueue our poly as it will be pruned later.
|
||||||
|
var ourPoly = _pathfindingSystem.GetPoly(xform.Coordinates);
|
||||||
|
|
||||||
|
if (ourPoly != null)
|
||||||
|
{
|
||||||
|
steering.CurrentPath.Enqueue(ourPoly);
|
||||||
|
}
|
||||||
|
|
||||||
|
steering.CurrentPath.Enqueue(targetPoly);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
steering.PathfindToken = new CancellationTokenSource();
|
||||||
|
|
||||||
|
var flags = _pathfindingSystem.GetFlags(uid);
|
||||||
|
|
||||||
|
var result = await _pathfindingSystem.GetPathSafe(
|
||||||
|
uid,
|
||||||
|
xform.Coordinates,
|
||||||
|
steering.Coordinates,
|
||||||
|
steering.Range,
|
||||||
|
steering.PathfindToken.Token,
|
||||||
|
flags);
|
||||||
|
|
||||||
|
steering.PathfindToken = null;
|
||||||
|
|
||||||
|
if (result.Result == PathResult.NoPath)
|
||||||
|
{
|
||||||
|
steering.CurrentPath.Clear();
|
||||||
|
steering.FailedPathCount++;
|
||||||
|
|
||||||
|
if (steering.FailedPathCount >= NPCSteeringComponent.FailedPathLimit)
|
||||||
|
{
|
||||||
|
steering.Status = SteeringStatus.NoPath;
|
||||||
|
}
|
||||||
|
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
var targetPos = steering.Coordinates.ToMap(EntityManager, _transform);
|
||||||
|
var ourPos = xform.MapPosition;
|
||||||
|
|
||||||
|
PrunePath(uid, ourPos, targetPos.Position - ourPos.Position, result.Path);
|
||||||
|
steering.CurrentPath = result.Path;
|
||||||
|
}
|
||||||
|
|
||||||
|
// TODO: Move these to movercontroller
|
||||||
|
|
||||||
|
private float GetSprintSpeed(EntityUid uid, MovementSpeedModifierComponent? modifier = null)
|
||||||
|
{
|
||||||
|
if (!Resolve(uid, ref modifier, false))
|
||||||
|
{
|
||||||
|
return MovementSpeedModifierComponent.DefaultBaseSprintSpeed;
|
||||||
|
}
|
||||||
|
|
||||||
|
return modifier.CurrentSprintSpeed;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user