tommy/tbd-station-14
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Significantly improve NPC steering (#17931)

Browse Source
This commit is contained in:
metalgearsloth
2023-07-14 00:48:04 +10:00
committed by GitHub
parent 72f4560483
commit c43db830ea
7 changed files with 62 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Content.Server/NPC/Components/NPCSteeringComponent.cs
View File

@@ -45,6 +45,9 @@ public sealed class NPCSteeringComponent : Component
[DataField("nextSteer", customTypeSerializer:typeof(TimeOffsetSerializer))]
public TimeSpan NextSteer = TimeSpan.Zero;
[DataField("lastSteerIndex")]
public int LastSteerIndex = -1;
[DataField("lastSteerDirection")]
public Vector2 LastSteerDirection = Vector2.Zero;

2
Content.Server/NPC/HTN/PrimitiveTasks/Operators/MoveToOperator.cs
View File

@@ -146,7 +146,7 @@ public sealed class MoveToOperator : HTNOperator
_steering.PrunePath(uid, mapCoords, targetCoordinates.ToMapPos(_entManager, _transform) - mapCoords.Position, result.Path);
}
comp.CurrentPath = result.Path;
comp.CurrentPath = new Queue<PathPoly>(result.Path);
}
}

6
Content.Server/NPC/Pathfinding/PathRequest.cs
View File

@@ -17,7 +17,7 @@ public abstract class PathRequest
public Task<PathResult> Task => Tcs.Task;
public readonly TaskCompletionSource<PathResult> Tcs;
public Queue<PathPoly> Polys = new();
public List<PathPoly> Polys = new();
public bool Started = false;
@@ -103,9 +103,9 @@ public sealed class BFSPathRequest : PathRequest
public sealed class PathResultEvent
{
public PathResult Result;
public readonly Queue<PathPoly> Path;
public readonly List<PathPoly> Path;
public PathResultEvent(PathResult result, Queue<PathPoly> path)
public PathResultEvent(PathResult result, List<PathPoly> path)
{
Result = result;
Path = path;

6
Content.Server/NPC/Pathfinding/PathfindingSystem.Common.cs
View File

@@ -24,7 +24,7 @@ public sealed partial class PathfindingSystem
private static readonly PathComparer PathPolyComparer = new();
private Queue<PathPoly> ReconstructPath(Dictionary<PathPoly, PathPoly> path, PathPoly currentNodeRef)
private List<PathPoly> ReconstructPath(Dictionary<PathPoly, PathPoly> path, PathPoly currentNodeRef)
{
var running = new List<PathPoly> { currentNodeRef };
while (path.ContainsKey(currentNodeRef))
@@ -35,10 +35,8 @@ public sealed partial class PathfindingSystem
running.Add(currentNodeRef);
}
running = Simplify(running);
running.Reverse();
var result = new Queue<PathPoly>(running);
return result;
return running;
}
private float GetTileCost(PathRequest request, PathPoly start, PathPoly end)

17
Content.Server/NPC/Pathfinding/PathfindingSystem.cs
View File

@@ -238,7 +238,7 @@ namespace Content.Server.NPC.Pathfinding
PathFlags flags = PathFlags.None)
{
if (!TryComp<TransformComponent>(entity, out var start))
return new PathResultEvent(PathResult.NoPath, new Queue<PathPoly>());
return new PathResultEvent(PathResult.NoPath, new List<PathPoly>());
var layer = 0;
var mask = 0;
@@ -252,7 +252,7 @@ namespace Content.Server.NPC.Pathfinding
var path = await GetPath(request);
if (path.Result != PathResult.Path)
return new PathResultEvent(PathResult.NoPath, new Queue<PathPoly>());
return new PathResultEvent(PathResult.NoPath, new List<PathPoly>());
return new PathResultEvent(PathResult.Path, path.Path);
}
@@ -280,14 +280,13 @@ namespace Content.Server.NPC.Pathfinding
return 0f;
var distance = 0f;
var node = path.Path.Dequeue();
var lastNode = node;
var lastNode = path.Path[0];
do
for (var i = 1; i < path.Path.Count; i++)
{
var node = path.Path[i];
distance += GetTileCost(request, lastNode, node);
lastNode = node;
} while (path.Path.TryDequeue(out node));
}
return distance;
}
@@ -301,7 +300,7 @@ namespace Content.Server.NPC.Pathfinding
{
if (!TryComp<TransformComponent>(entity, out var xform) ||
!TryComp<TransformComponent>(target, out var targetXform))
return new PathResultEvent(PathResult.NoPath, new Queue<PathPoly>());
return new PathResultEvent(PathResult.NoPath, new List<PathPoly>());
var request = GetRequest(entity, xform.Coordinates, targetXform.Coordinates, range, cancelToken, flags);
return await GetPath(request);
@@ -471,7 +470,7 @@ namespace Content.Server.NPC.Pathfinding
if (!request.Task.IsCompletedSuccessfully)
{
return new PathResultEvent(PathResult.NoPath, new Queue<PathPoly>());
return new PathResultEvent(PathResult.NoPath, new List<PathPoly>());
}
// Same context as do_after and not synchronously blocking soooo

48
Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs
View File

@@ -292,13 +292,38 @@ public sealed partial class NPCSteeringSystem
/// <summary>
/// We may be pathfinding and moving at the same time in which case early nodes may be out of date.
/// </summary>
public void PrunePath(EntityUid uid, MapCoordinates mapCoordinates, Vector2 direction, Queue<PathPoly> nodes)
public void PrunePath(EntityUid uid, MapCoordinates mapCoordinates, Vector2 direction, List<PathPoly> nodes)
{
if (nodes.Count <= 1)
return;
// Prune the first node as it's irrelevant (normally it is our node so we don't want to backtrack).
nodes.Dequeue();
// Work out if we're inside any nodes, then use the next one as the starting point.
var index = 0;
var found = false;
for (var i = 0; i < nodes.Count; i++)
{
var node = nodes[i];
var matrix = _transform.GetWorldMatrix(node.GraphUid);
// Always want to prune the poly itself so we point to the next poly and don't backtrack.
if (matrix.TransformBox(node.Box).Contains(mapCoordinates.Position))
{
index = i + 1;
found = true;
break;
}
}
if (found)
{
nodes.RemoveRange(0, index);
_pathfindingSystem.Simplify(nodes);
return;
}
// Otherwise, take the node after the nearest node.
// TODO: Really need layer support
CollisionGroup mask = 0;
@@ -310,11 +335,11 @@ public sealed partial class NPCSteeringSystem
// If we have to backtrack (for example, we're behind a table and the target is on the other side)
// Then don't consider pruning.
var goal = nodes.Last().Coordinates.ToMap(EntityManager, _transform);
var canPrune =
_interaction.InRangeUnobstructed(mapCoordinates, goal, (goal.Position - mapCoordinates.Position).Length() + 0.1f, mask);
while (nodes.TryPeek(out var node))
for (var i = 0; i < nodes.Count; i++)
{
var node = nodes[i];
if (!node.Data.IsFreeSpace)
break;
@@ -322,16 +347,17 @@ public sealed partial class NPCSteeringSystem
// If any nodes are 'behind us' relative to the target we'll prune them.
// This isn't perfect but should fix most cases of stutter stepping.
if (canPrune &&
nodeMap.MapId == mapCoordinates.MapId &&
if (nodeMap.MapId == mapCoordinates.MapId &&
Vector2.Dot(direction, nodeMap.Position - mapCoordinates.Position) < 0f)
{
nodes.Dequeue();
nodes.RemoveAt(i);
continue;
}
break;
}
_pathfindingSystem.Simplify(nodes);
}
/// <summary>
@@ -382,7 +408,7 @@ public sealed partial class NPCSteeringSystem
TransformComponent xform,
float[] danger)
{
var objectRadius = 0.10f;
var objectRadius = 0.15f;
var detectionRadius = MathF.Max(0.35f, agentRadius + objectRadius);
foreach (var ent in _lookup.GetEntitiesInRange(uid, detectionRadius, LookupFlags.Static))
@@ -430,7 +456,7 @@ public sealed partial class NPCSteeringSystem
for (var i = 0; i < InterestDirections; i++)
{
var dot = Vector2.Dot(norm, Directions[i]);
danger[i] = MathF.Max(dot * weight * 0.9f, danger[i]);
danger[i] = MathF.Max(dot * weight, danger[i]);
}
}

17
Content.Server/NPC/Systems/NPCSteeringSystem.cs
View File

@@ -368,6 +368,12 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger);
// Prioritise whichever direction we went last tick if it's a tie-breaker.
if (steering.LastSteerIndex != -1)
{
interest[steering.LastSteerIndex] *= 1.1f;
}
// Remove the danger map from the interest map.
var desiredDirection = -1;
var desiredValue = 0f;
@@ -392,6 +398,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
steering.NextSteer = curTime + TimeSpan.FromSeconds(1f / NPCSteeringComponent.SteeringFrequency);
steering.LastSteerDirection = resultDirection;
steering.LastSteerIndex = desiredDirection;
DebugTools.Assert(!float.IsNaN(resultDirection.X));
SetDirection(mover, steering, resultDirection, false);
}
@@ -425,14 +432,6 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
_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;
}
@@ -468,7 +467,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
var ourPos = xform.MapPosition;
PrunePath(uid, ourPos, targetPos.Position - ourPos.Position, result.Path);
steering.CurrentPath = result.Path;
steering.CurrentPath = new Queue<PathPoly>(result.Path);
}
// TODO: Move these to movercontroller