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