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Fix NPC assert (#17770)

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This commit is contained in:
metalgearsloth
2023-07-01 23:38:14 +10:00
committed by GitHub
parent 67d7be9978
commit c2e5990c2e
3 changed files with 38 additions and 46 deletions
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35
Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs
View File

@@ -46,7 +46,6 @@ public sealed partial class NPCSteeringSystem
Angle offsetRot,
float moveSpeed,
float[] interest,
EntityQuery<PhysicsComponent> bodyQuery,
float frameTime,
ref bool forceSteer)
{
@@ -132,7 +131,7 @@ public sealed partial class NPCSteeringSystem
return true;
}
status = TryHandleFlags(uid, steering, node, bodyQuery);
status = TryHandleFlags(uid, steering, node);
}
// TODO: Need to handle re-pathing in case the target moves around.
@@ -202,7 +201,7 @@ public sealed partial class NPCSteeringSystem
// A) NPCs get stuck on non-anchored static bodies still (e.g. closets)
// B) NPCs still try to move in locked containers (e.g. cow, hamster)
// and I don't want to spam grafana even harder than it gets spammed rn.
_sawmill.Debug($"NPC {ToPrettyString(uid)} found stuck at {ourCoordinates}");
Log.Debug($"NPC {ToPrettyString(uid)} found stuck at {ourCoordinates}");
steering.Status = SteeringStatus.NoPath;
return false;
}
@@ -380,10 +379,7 @@ public sealed partial class NPCSteeringSystem
int layer,
int mask,
TransformComponent xform,
float[] danger,
List<Vector2> dangerPoints,
EntityQuery<PhysicsComponent> bodyQuery,
EntityQuery<TransformComponent> xformQuery)
float[] danger)
{
var objectRadius = 0.15f;
var detectionRadius = MathF.Max(0.35f, agentRadius + objectRadius);
@@ -392,7 +388,7 @@ public sealed partial class NPCSteeringSystem
{
// TODO: If we can access the door or smth.
if (ent == uid ||
!bodyQuery.TryGetComponent(ent, out var otherBody) ||
!_physicsQuery.TryGetComponent(ent, out var otherBody) ||
!otherBody.Hard ||
!otherBody.CanCollide ||
(mask & otherBody.CollisionLayer) == 0x0 &&
@@ -401,7 +397,7 @@ public sealed partial class NPCSteeringSystem
continue;
}
var xformB = xformQuery.GetComponent(ent);
var xformB = _xformQuery.GetComponent(ent);
if (!_physics.TryGetNearest(uid, ent, out var pointA, out var pointB, out var distance, xform, xformB))
{
@@ -417,19 +413,16 @@ public sealed partial class NPCSteeringSystem
// 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;
}
obstacleDirection = _transform.GetWorldPosition(xformB) - worldPos;
}
else
{
weight = distance / detectionRadius;
}
if (obstacleDirection == Vector2.Zero)
continue;
obstacleDirection = offsetRot.RotateVec(obstacleDirection);
var norm = obstacleDirection.Normalized;
@@ -458,9 +451,7 @@ public sealed partial class NPCSteeringSystem
int mask,
PhysicsComponent body,
TransformComponent xform,
float[] danger,
EntityQuery<PhysicsComponent> bodyQuery,
EntityQuery<TransformComponent> xformQuery)
float[] danger)
{
var objectRadius = 0.25f;
var detectionRadius = MathF.Max(0.35f, agentRadius + objectRadius);
@@ -472,7 +463,7 @@ public sealed partial class NPCSteeringSystem
{
// TODO: If we can access the door or smth.
if (ent == uid ||
!bodyQuery.TryGetComponent(ent, out var otherBody) ||
!_physicsQuery.TryGetComponent(ent, out var otherBody) ||
!otherBody.Hard ||
!otherBody.CanCollide ||
(mask & otherBody.CollisionLayer) == 0x0 &&
@@ -485,7 +476,7 @@ public sealed partial class NPCSteeringSystem
continue;
}
var xformB = xformQuery.GetComponent(ent);
var xformB = _xformQuery.GetComponent(ent);
if (!_physics.TryGetNearest(uid, ent, out var pointA, out var pointB, out var distance, xform, xformB))
{
@@ -501,7 +492,7 @@ public sealed partial class NPCSteeringSystem
// Inside each other so just use worldPos
if (distance == 0f)
{
obstacleDirection = _transform.GetWorldPosition(xformB, xformQuery) - worldPos;
obstacleDirection = _transform.GetWorldPosition(xformB) - worldPos;
// Welp
if (obstacleDirection == Vector2.Zero)

9
Content.Server/NPC/Systems/NPCSteeringSystem.Obstacles.cs
View File

@@ -33,7 +33,7 @@ public sealed partial class NPCSteeringSystem
*/
private SteeringObstacleStatus TryHandleFlags(EntityUid uid, NPCSteeringComponent component, PathPoly poly, EntityQuery<PhysicsComponent> bodyQuery)
private SteeringObstacleStatus TryHandleFlags(EntityUid uid, NPCSteeringComponent component, PathPoly poly)
{
DebugTools.Assert(!poly.Data.IsFreeSpace);
// TODO: Store PathFlags on the steering comp
@@ -71,7 +71,7 @@ public sealed partial class NPCSteeringSystem
var obstacleEnts = new List<EntityUid>();
GetObstacleEntities(poly, mask, layer, bodyQuery, obstacleEnts);
GetObstacleEntities(poly, mask, layer, obstacleEnts);
var isDoor = (poly.Data.Flags & PathfindingBreadcrumbFlag.Door) != 0x0;
var isAccessRequired = (poly.Data.Flags & PathfindingBreadcrumbFlag.Access) != 0x0;
@@ -157,8 +157,7 @@ public sealed partial class NPCSteeringSystem
return SteeringObstacleStatus.Completed;
}
private void GetObstacleEntities(PathPoly poly, int mask, int layer, EntityQuery<PhysicsComponent> bodyQuery,
List<EntityUid> ents)
private void GetObstacleEntities(PathPoly poly, int mask, int layer, List<EntityUid> ents)
{
// TODO: Can probably re-use this from pathfinding or something
if (!_mapManager.TryGetGrid(poly.GraphUid, out var grid))
@@ -168,7 +167,7 @@ public sealed partial class NPCSteeringSystem
foreach (var ent in grid.GetLocalAnchoredEntities(poly.Box))
{
if (!bodyQuery.TryGetComponent(ent, out var body) ||
if (!_physicsQuery.TryGetComponent(ent, out var body) ||
!body.Hard ||
!body.CanCollide ||
(body.CollisionMask & layer) == 0x0 && (body.CollisionLayer & mask) == 0x0)

40
Content.Server/NPC/Systems/NPCSteeringSystem.cs
View File

@@ -19,6 +19,7 @@ using Content.Shared.Weapons.Melee;
using Robust.Server.Player;
using Robust.Shared.Configuration;
using Robust.Shared.Map;
using Robust.Shared.Physics;
using Robust.Shared.Physics.Components;
using Robust.Shared.Physics.Systems;
using Robust.Shared.Player;
@@ -60,6 +61,11 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
[Dependency] private readonly SharedTransformSystem _transform = default!;
[Dependency] private readonly SharedCombatModeSystem _combat = default!;
private EntityQuery<FixturesComponent> _fixturesQuery;
private EntityQuery<PhysicsComponent> _physicsQuery;
private EntityQuery<MovementSpeedModifierComponent> _modifierQuery;
private EntityQuery<TransformComponent> _xformQuery;
/// <summary>
/// Enabled antistuck detection so if an NPC is in the same spot for a while it will re-path.
/// </summary>
@@ -75,16 +81,19 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
private object _obstacles = new();
private ISawmill _sawmill = default!;
public override void Initialize()
{
base.Initialize();
_sawmill = Logger.GetSawmill("npc.steering");
_fixturesQuery = GetEntityQuery<FixturesComponent>();
_physicsQuery = GetEntityQuery<PhysicsComponent>();
_modifierQuery = GetEntityQuery<MovementSpeedModifierComponent>();
_xformQuery = GetEntityQuery<TransformComponent>();
#if DEBUG
_sawmill.Level = LogLevel.Warning;
Log.Level = LogLevel.Warning;
#else
_sawmill.Level = LogLevel.Debug;
Log.Level = LogLevel.Debug;
#endif
for (var i = 0; i < InterestDirections; i++)
@@ -226,10 +235,6 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
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();
@@ -243,7 +248,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
Parallel.For(0, npcs.Length, options, i =>
{
var (uid, steering, mover, xform) = npcs[i];
Steer(uid, steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
Steer(uid, steering, mover, xform, frameTime, curTime);
});
@@ -288,9 +293,6 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
NPCSteeringComponent steering,
InputMoverComponent mover,
TransformComponent xform,
EntityQuery<MovementSpeedModifierComponent> modifierQuery,
EntityQuery<PhysicsComponent> bodyQuery,
EntityQuery<TransformComponent> xformQuery,
float frameTime,
TimeSpan curTime)
{
@@ -319,14 +321,14 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
var interest = steering.Interest;
var danger = steering.Danger;
var agentRadius = steering.Radius;
var worldPos = _transform.GetWorldPosition(xform, xformQuery);
var worldPos = _transform.GetWorldPosition(xform);
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);
_modifierQuery.TryGetComponent(uid, out var modifier);
var moveSpeed = GetSprintSpeed(uid, modifier);
var body = bodyQuery.GetComponent(uid);
var body = _physicsQuery.GetComponent(uid);
var dangerPoints = steering.DangerPoints;
dangerPoints.Clear();
@@ -341,7 +343,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
// 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))
if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, frameTime, ref forceSteer))
{
SetDirection(mover, steering, Vector2.Zero);
return;
@@ -360,10 +362,10 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
}
// Avoid static objects like walls
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger);
DebugTools.Assert(!float.IsNaN(danger[0]));
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger, bodyQuery, xformQuery);
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger);
// Remove the danger map from the interest map.
var desiredDirection = -1;