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NPC utility queries (#15843)

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This commit is contained in:
metalgearsloth
2023-05-02 04:57:11 +10:00
committed by GitHub
parent ac5afa794e
commit ca07522c03
50 changed files with 873 additions and 246 deletions
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2
Content.Client/Entry/EntryPoint.cs
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@@ -88,6 +88,8 @@ namespace Content.Client.Entry
_componentFactory.RegisterClass<SharedAMEControllerComponent>();
// Do not add to the above, they are legacy
_prototypeManager.RegisterIgnore("utilityQuery");
_prototypeManager.RegisterIgnore("utilityCurvePreset");
_prototypeManager.RegisterIgnore("accent");
_prototypeManager.RegisterIgnore("material");
_prototypeManager.RegisterIgnore("reaction"); //Chemical reactions only needed by server. Reactions checks are server-side.

2
Content.Client/NPC/HTN/HTNOverlay.cs
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@@ -35,7 +35,7 @@ public sealed class HTNOverlay : Overlay
continue;
var screenPos = args.ViewportControl.WorldToScreen(worldPos);
handle.DrawString(_font, screenPos + new Vector2(0, 10f), comp.DebugText);
handle.DrawString(_font, screenPos + new Vector2(0, 10f), comp.DebugText, Color.White);
}
}
}

9
Content.Server/NPC/HTN/HTNComponent.cs
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@@ -20,6 +20,13 @@ public sealed class HTNComponent : NPCComponent
[ViewVariables]
public HTNPlan? Plan;
// TODO: Need dictionary timeoffsetserializer.
/// <summary>
/// Last time we tried a particular <see cref="UtilityService"/>.
/// </summary>
[DataField("serviceCooldowns")]
public Dictionary<string, TimeSpan> ServiceCooldowns = new();
/// <summary>
/// How long to wait after having planned to try planning again.
/// </summary>
@@ -42,6 +49,4 @@ public sealed class HTNComponent : NPCComponent
/// Is this NPC currently planning?
/// </summary>
[ViewVariables] public bool Planning => PlanningJob != null;
}

41
Content.Server/NPC/HTN/HTNSystem.cs
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@@ -13,17 +13,22 @@ using JetBrains.Annotations;
using Robust.Server.Player;
using Robust.Shared.Players;
using Robust.Shared.Prototypes;
using Robust.Shared.Random;
using Robust.Shared.Timing;
namespace Content.Server.NPC.HTN;
public sealed class HTNSystem : EntitySystem
{
[Dependency] private readonly IAdminManager _admin = default!;
[Dependency] private readonly IGameTiming _timing = default!;
[Dependency] private readonly IPrototypeManager _prototypeManager = default!;
[Dependency] private readonly IRobustRandom _random = default!;
[Dependency] private readonly NPCSystem _npc = default!;
[Dependency] private readonly NPCUtilitySystem _utility = default!;
private ISawmill _sawmill = default!;
private readonly JobQueue _planQueue = new();
private readonly JobQueue _planQueue = new(0.004);
private readonly HashSet<ICommonSession> _subscribers = new();
@@ -37,12 +42,22 @@ public sealed class HTNSystem : EntitySystem
base.Initialize();
_sawmill = Logger.GetSawmill("npc.htn");
SubscribeLocalEvent<HTNComponent, ComponentShutdown>(OnHTNShutdown);
SubscribeLocalEvent<HTNComponent, EntityUnpausedEvent>(OnHTNUnpaused);
SubscribeNetworkEvent<RequestHTNMessage>(OnHTNMessage);
_prototypeManager.PrototypesReloaded += OnPrototypeLoad;
OnLoad();
}
private void OnHTNUnpaused(EntityUid uid, HTNComponent component, ref EntityUnpausedEvent args)
{
foreach (var (service, cooldown) in component.ServiceCooldowns)
{
var newCooldown = cooldown + args.PausedTime;
component.ServiceCooldowns[service] = newCooldown;
}
}
private void OnHTNMessage(RequestHTNMessage msg, EntitySessionEventArgs args)
{
if (!_admin.HasAdminFlag((IPlayerSession) args.SenderSession, AdminFlags.Debug))
@@ -251,7 +266,7 @@ public sealed class HTNSystem : EntitySystem
// If it's the selected BTR then highlight.
for (var i = 0; i < btr.Count; i++)
{
text.Append('-');
text.Append("--");
}
text.Append(' ');
@@ -272,7 +287,7 @@ public sealed class HTNSystem : EntitySystem
{
var branch = branches[i];
btr.Add(i);
text.AppendLine($" branch {string.Join(" ", btr)}:");
text.AppendLine($" branch {string.Join(", ", btr)}:");
foreach (var sub in branch)
{
@@ -313,7 +328,25 @@ public sealed class HTNSystem : EntitySystem
{
// Run the existing operator
var currentOperator = component.Plan.CurrentOperator;
var currentTask = component.Plan.CurrentTask;
var blackboard = component.Blackboard;
foreach (var service in currentTask.Services)
{
// Service still on cooldown.
if (component.ServiceCooldowns.TryGetValue(service.ID, out var lastService) &&
_timing.CurTime < lastService)
{
continue;
}
var serviceResult = _utility.GetEntities(blackboard, service.Prototype);
blackboard.SetValue(service.Key, serviceResult.GetHighest());
var cooldown = TimeSpan.FromSeconds(_random.NextFloat(service.MinCooldown, service.MaxCooldown));
component.ServiceCooldowns[service.ID] = _timing.CurTime + cooldown;
}
status = currentOperator.Update(blackboard, frameTime);
switch (status)
@@ -322,6 +355,7 @@ public sealed class HTNSystem : EntitySystem
break;
case HTNOperatorStatus.Failed:
currentOperator.Shutdown(blackboard, status);
component.ServiceCooldowns.Clear();
component.Plan = null;
break;
// Operator completed so go to the next one.
@@ -332,6 +366,7 @@ public sealed class HTNSystem : EntitySystem
// Plan finished!
if (component.Plan.Tasks.Count <= component.Plan.Index)
{
component.ServiceCooldowns.Clear();
component.Plan = null;
break;
}

6
Content.Server/NPC/HTN/PrimitiveTasks/HTNPrimitiveTask.cs
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@@ -1,4 +1,5 @@
using Content.Server.NPC.HTN.Preconditions;
using Content.Server.NPC.Queries;
using Robust.Shared.Prototypes;
namespace Content.Server.NPC.HTN.PrimitiveTasks;
@@ -19,4 +20,9 @@ public sealed class HTNPrimitiveTask : HTNTask
[DataField("preconditions")] public List<HTNPrecondition> Preconditions = new();
[DataField("operator", required:true)] public HTNOperator Operator = default!;
/// <summary>
/// Services actively tick and can potentially update keys, such as combat target.
/// </summary>
[DataField("services")] public List<UtilityService> Services = new();
}

57
Content.Server/NPC/HTN/PrimitiveTasks/Operators/AltInteractOperator.cs Normal file
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@@ -0,0 +1,57 @@
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Content.Shared.DoAfter;
using Content.Shared.Interaction;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
public sealed class AltInteractOperator : HTNOperator
{
[Dependency] private readonly IEntityManager _entManager = default!;
[DataField("targetKey")]
public string Key = "CombatTarget";
/// <summary>
/// If this alt-interaction started a do_after where does the key get stored.
/// </summary>
[DataField("idleKey")]
public string IdleKey = "IdleTime";
public override async Task<(bool Valid, Dictionary<string, object>? Effects)> Plan(NPCBlackboard blackboard, CancellationToken cancelToken)
{
return new(true, new Dictionary<string, object>()
{
{ IdleKey, 1f }
});
}
public override HTNOperatorStatus Update(NPCBlackboard blackboard, float frameTime)
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var target = blackboard.GetValue<EntityUid>(Key);
var intSystem = _entManager.System<SharedInteractionSystem>();
var count = 0;
if (_entManager.TryGetComponent<DoAfterComponent>(owner, out var doAfter))
{
count = doAfter.DoAfters.Count;
}
var result = intSystem.AltInteract(owner, target);
// Interaction started a doafter so set the idle time to it.
if (result && doAfter != null && count != doAfter.DoAfters.Count)
{
var wait = doAfter.DoAfters.First().Value.Args.Delay;
blackboard.SetValue(IdleKey, (float) wait.TotalSeconds + 0.5f);
}
else
{
blackboard.SetValue(IdleKey, 1f);
}
return result ? HTNOperatorStatus.Finished : HTNOperatorStatus.Failed;
}
}

15
Content.Server/NPC/HTN/PrimitiveTasks/Operators/Melee/MeleeOperator.cs
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@@ -45,7 +45,6 @@ public sealed class MeleeOperator : HTNOperator
}
if (_entManager.TryGetComponent<MobStateComponent>(target, out var mobState) &&
mobState.CurrentState != null &&
mobState.CurrentState > TargetState)
{
return (false, null);
@@ -65,13 +64,15 @@ public sealed class MeleeOperator : HTNOperator
{
base.Update(blackboard, frameTime);
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var status = HTNOperatorStatus.Continuing;
HTNOperatorStatus status;
if (_entManager.TryGetComponent<NPCMeleeCombatComponent>(owner, out var combat))
if (_entManager.TryGetComponent<NPCMeleeCombatComponent>(owner, out var combat) &&
blackboard.TryGetValue<EntityUid>(TargetKey, out var target, _entManager))
{
combat.Target = target;
// Success
if (_entManager.TryGetComponent<MobStateComponent>(combat.Target, out var mobState) &&
mobState.CurrentState != null &&
if (_entManager.TryGetComponent<MobStateComponent>(target, out var mobState) &&
mobState.CurrentState > TargetState)
{
status = HTNOperatorStatus.Finished;
@@ -90,6 +91,10 @@ public sealed class MeleeOperator : HTNOperator
}
}
}
else
{
status = HTNOperatorStatus.Failed;
}
if (status != HTNOperatorStatus.Continuing)
{

25
Content.Server/NPC/HTN/PrimitiveTasks/Operators/Melee/PickMeleeTargetOperator.cs
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@@ -1,25 +0,0 @@
using JetBrains.Annotations;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators.Melee;
/// <summary>
/// Selects a target for melee.
/// </summary>
[MeansImplicitUse]
public sealed class PickMeleeTargetOperator : NPCCombatOperator
{
protected override float GetRating(NPCBlackboard blackboard, EntityUid uid, EntityUid existingTarget, float distance, bool canMove, EntityQuery<TransformComponent> xformQuery)
{
var rating = 0f;
if (existingTarget == uid)
{
rating += 2f;
}
if (distance > 0f)
rating += 50f / distance;
return rating;
}
}

170
Content.Server/NPC/HTN/PrimitiveTasks/Operators/NPCCombatOperator.cs
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@@ -1,170 +0,0 @@
using System.Threading;
using System.Threading.Tasks;
using Content.Server.Interaction;
using Content.Server.NPC.Components;
using Content.Server.NPC.Pathfinding;
using Content.Server.NPC.Systems;
using Content.Shared.Examine;
using Content.Shared.Interaction;
using Content.Shared.Mobs;
using Content.Shared.Mobs.Components;
using Robust.Shared.Map;
//using Robust.Shared.Prototypes;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
public abstract class NPCCombatOperator : HTNOperator
{
[Dependency] protected readonly IEntityManager EntManager = default!;
private FactionSystem _factions = default!;
private FactionExceptionSystem _factionException = default!;
protected InteractionSystem Interaction = default!;
private PathfindingSystem _pathfinding = default!;
[DataField("key")] public string Key = "CombatTarget";
/// <summary>
/// The EntityCoordinates of the specified target.
/// </summary>
[DataField("keyCoordinates")]
public string KeyCoordinates = "CombatTargetCoordinates";
/// <summary>
/// Regardless of pathfinding or LOS these are the max we'll check
/// </summary>
private const int MaxConsideredTargets = 10;
protected virtual bool IsRanged => false;
public override void Initialize(IEntitySystemManager sysManager)
{
base.Initialize(sysManager);
sysManager.GetEntitySystem<ExamineSystemShared>();
_factions = sysManager.GetEntitySystem<FactionSystem>();
_factionException = sysManager.GetEntitySystem<FactionExceptionSystem>();
Interaction = sysManager.GetEntitySystem<InteractionSystem>();
_pathfinding = sysManager.GetEntitySystem<PathfindingSystem>();
}
public override async Task<(bool Valid, Dictionary<string, object>? Effects)> Plan(NPCBlackboard blackboard,
CancellationToken cancelToken)
{
var targets = await GetTargets(blackboard);
if (targets.Count == 0)
{
return (false, null);
}
// TODO: Need some level of rng in ratings (outside of continuing to attack the same target)
var selectedTarget = targets[0].Entity;
var effects = new Dictionary<string, object>()
{
{Key, selectedTarget},
{KeyCoordinates, new EntityCoordinates(selectedTarget, Vector2.Zero)}
};
return (true, effects);
}
private async Task<List<(EntityUid Entity, float Rating, float Distance)>> GetTargets(NPCBlackboard blackboard)
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var ownerCoordinates = blackboard.GetValueOrDefault<EntityCoordinates>(NPCBlackboard.OwnerCoordinates, EntManager);
var radius = blackboard.GetValueOrDefault<float>(NPCBlackboard.VisionRadius, EntManager);
var targets = new List<(EntityUid Entity, float Rating, float Distance)>();
blackboard.TryGetValue<EntityUid>(Key, out var existingTarget, EntManager);
var xformQuery = EntManager.GetEntityQuery<TransformComponent>();
var mobQuery = EntManager.GetEntityQuery<MobStateComponent>();
var canMove = blackboard.GetValueOrDefault<bool>(NPCBlackboard.CanMove, EntManager);
var count = 0;
var paths = new List<Task>();
// TODO: Really this should be a part of perception so we don't have to constantly re-plan targets.
// Special-case existing target.
if (EntManager.EntityExists(existingTarget))
{
paths.Add(UpdateTarget(owner, existingTarget, existingTarget, ownerCoordinates, blackboard, radius, canMove, xformQuery, targets));
}
EntManager.TryGetComponent<FactionExceptionComponent>(owner, out var factionException);
// TODO: Need a perception system instead
// TODO: This will be expensive so will be good to optimise and cut corners.
foreach (var target in _factions
.GetNearbyHostiles(owner, radius))
{
if (mobQuery.TryGetComponent(target, out var mobState) &&
mobState.CurrentState > MobState.Alive ||
target == existingTarget ||
target == owner ||
(factionException != null && _factionException.IsIgnored(factionException, target)))
{
continue;
}
count++;
if (count >= MaxConsideredTargets)
break;
paths.Add(UpdateTarget(owner, target, existingTarget, ownerCoordinates, blackboard, radius, canMove, xformQuery, targets));
}
await Task.WhenAll(paths);
targets.Sort((x, y) => y.Rating.CompareTo(x.Rating));
return targets;
}
private async Task UpdateTarget(
EntityUid owner,
EntityUid target,
EntityUid existingTarget,
EntityCoordinates ownerCoordinates,
NPCBlackboard blackboard,
float radius,
bool canMove,
EntityQuery<TransformComponent> xformQuery,
List<(EntityUid Entity, float Rating, float Distance)> targets)
{
if (!xformQuery.TryGetComponent(target, out var targetXform))
return;
var inLos = false;
// If it's not an existing target then check LOS.
if (target != existingTarget)
{
inLos = ExamineSystemShared.InRangeUnOccluded(owner, target, radius, null);
if (!inLos)
return;
}
// Turret or the likes, check LOS only.
if (IsRanged && !canMove)
{
inLos = inLos || ExamineSystemShared.InRangeUnOccluded(owner, target, radius, null);
if (!inLos || !targetXform.Coordinates.TryDistance(EntManager, ownerCoordinates, out var distance))
return;
targets.Add((target, GetRating(blackboard, target, existingTarget, distance, canMove, xformQuery), distance));
return;
}
var nDistance = await _pathfinding.GetPathDistance(owner, targetXform.Coordinates,
SharedInteractionSystem.InteractionRange, default, _pathfinding.GetFlags(blackboard));
if (nDistance == null)
return;
targets.Add((target, GetRating(blackboard, target, existingTarget, nDistance.Value, canMove, xformQuery), nDistance.Value));
}
protected abstract float GetRating(NPCBlackboard blackboard, EntityUid uid, EntityUid existingTarget, float distance, bool canMove,
EntityQuery<TransformComponent> xformQuery);
}

27
Content.Server/NPC/HTN/PrimitiveTasks/Operators/Ranged/PickRangedTargetOperator.cs
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@@ -1,27 +0,0 @@
using JetBrains.Annotations;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators.Ranged;
/// <summary>
/// Selects a target for ranged combat.
/// </summary>
[UsedImplicitly]
public sealed class PickRangedTargetOperator : NPCCombatOperator
{
protected override bool IsRanged => true;
protected override float GetRating(NPCBlackboard blackboard, EntityUid uid, EntityUid existingTarget, float distance, bool canMove, EntityQuery<TransformComponent> xformQuery)
{
// Yeah look I just came up with values that seemed okay but they will need a lot of tweaking.
// Having a debug overlay just to project these would be very useful when finetuning in future.
var rating = 0f;
if (existingTarget == uid)
{
rating += 2f;
}
rating += 1f / distance * 4f;
return rating;
}
}

13
Content.Server/NPC/HTN/PrimitiveTasks/Operators/Ranged/RangedOperator.cs
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@@ -35,7 +35,6 @@ public sealed class RangedOperator : HTNOperator
}
if (_entManager.TryGetComponent<MobStateComponent>(target, out var mobState) &&
mobState.CurrentState != null &&
mobState.CurrentState > TargetState)
{
return (false, null);
@@ -72,13 +71,15 @@ public sealed class RangedOperator : HTNOperator
{
base.Update(blackboard, frameTime);
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var status = HTNOperatorStatus.Continuing;
HTNOperatorStatus status;
if (_entManager.TryGetComponent<NPCRangedCombatComponent>(owner, out var combat))
if (_entManager.TryGetComponent<NPCRangedCombatComponent>(owner, out var combat) &&
blackboard.TryGetValue<EntityUid>(TargetKey, out var target, _entManager))
{
combat.Target = target;
// Success
if (_entManager.TryGetComponent<MobStateComponent>(combat.Target, out var mobState) &&
mobState.CurrentState != null &&
mobState.CurrentState > TargetState)
{
status = HTNOperatorStatus.Finished;
@@ -100,6 +101,10 @@ public sealed class RangedOperator : HTNOperator
}
}
}
else
{
status = HTNOperatorStatus.Failed;
}
if (status != HTNOperatorStatus.Continuing)
{

47
Content.Server/NPC/HTN/PrimitiveTasks/Operators/UtilityOperator.cs Normal file
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@@ -0,0 +1,47 @@
using System.Threading;
using System.Threading.Tasks;
using Content.Server.NPC.Queries;
using Content.Server.NPC.Systems;
using Robust.Shared.Map;
using Robust.Shared.Serialization.TypeSerializers.Implementations.Custom.Prototype;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
/// <summary>
/// Utilises a <see cref="UtilityQueryPrototype"/> to determine the best target and sets it to the Key.
/// </summary>
public sealed class UtilityOperator : HTNOperator
{
[Dependency] private readonly IEntityManager _entManager = default!;
[DataField("key")] public string Key = "CombatTarget";
/// <summary>
/// The EntityCoordinates of the specified target.
/// </summary>
[DataField("keyCoordinates")]
public string KeyCoordinates = "CombatTargetCoordinates";
[DataField("proto", required: true, customTypeSerializer:typeof(PrototypeIdSerializer<UtilityQueryPrototype>))]
public string Prototype = string.Empty;
public override async Task<(bool Valid, Dictionary<string, object>? Effects)> Plan(NPCBlackboard blackboard,
CancellationToken cancelToken)
{
var result = _entManager.System<NPCUtilitySystem>().GetEntities(blackboard, Prototype);
var target = result.GetHighest();
if (!target.IsValid())
{
return (false, new Dictionary<string, object>());
}
var effects = new Dictionary<string, object>()
{
{Key, target},
{KeyCoordinates, new EntityCoordinates(target, Vector2.Zero)}
};
return (true, effects);
}
}

5
Content.Server/NPC/NPCBlackboard.cs
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@@ -27,9 +27,9 @@ public sealed class NPCBlackboard : IEnumerable<KeyValuePair<string, object>>
{"MeleeRange", 1f},
{"MinimumIdleTime", 2f},
{"MovementRange", 1.5f},
{"RangedRange", 7f},
{"RangedRange", 10f},
{"RotateSpeed", MathF.PI},
{"VisionRadius", 7f},
{"VisionRadius", 10f},
};
/// <summary>
@@ -228,6 +228,7 @@ public sealed class NPCBlackboard : IEnumerable<KeyValuePair<string, object>>
public const string RotateSpeed = "RotateSpeed";
public const string VisionRadius = "VisionRadius";
public const string UtilityTarget = "Target";
public IEnumerator<KeyValuePair<string, object>> GetEnumerator()
{

6
Content.Server/NPC/Queries/Considerations/FoodValueCon.cs Normal file
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@@ -0,0 +1,6 @@
namespace Content.Server.NPC.Queries.Considerations;
public sealed class FoodValueCon : UtilityConsideration
{
}

9
Content.Server/NPC/Queries/Considerations/TargetAccessibleCon.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Considerations;
/// <summary>
/// Returns 1f if the target is freely accessible (e.g. not in locked storage).
/// </summary>
public sealed class TargetAccessibleCon : UtilityConsideration
{
}

6
Content.Server/NPC/Queries/Considerations/TargetDistanceCon.cs Normal file
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@@ -0,0 +1,6 @@
namespace Content.Server.NPC.Queries.Considerations;
public sealed class TargetDistanceCon : UtilityConsideration
{
}

6
Content.Server/NPC/Queries/Considerations/TargetHealthCon.cs Normal file
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@@ -0,0 +1,6 @@
namespace Content.Server.NPC.Queries.Considerations;
public sealed class TargetHealthCon : UtilityConsideration
{
}

9
Content.Server/NPC/Queries/Considerations/TargetInLOSCon.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Considerations;
/// <summary>
/// Returns whether the target is in line-of-sight.
/// </summary>
public sealed class TargetInLOSCon : UtilityConsideration
{
}

9
Content.Server/NPC/Queries/Considerations/TargetInLOSOrCurrentCon.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Considerations;
/// <summary>
/// Placeholder considerations -> returns 1f if they're in LOS or the current target.
/// </summary>
public sealed class TargetInLOSOrCurrentCon : UtilityConsideration
{
}

9
Content.Server/NPC/Queries/Considerations/TargetIsAliveCon.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Considerations;
/// <summary>
/// Returns 1f if the target is alive or 0f if not.
/// </summary>
public sealed class TargetIsAliveCon : UtilityConsideration
{
}

9
Content.Server/NPC/Queries/Considerations/TargetIsCritCon.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Considerations;
/// <summary>
/// Returns 1f if the target is crit or 0f if not.
/// </summary>
public sealed class TargetIsCritCon : UtilityConsideration
{
}

9
Content.Server/NPC/Queries/Considerations/TargetIsDeadCon.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Considerations;
/// <summary>
/// Returns 1f if the target is dead or 0f if not.
/// </summary>
public sealed class TargetIsDeadCon : UtilityConsideration
{
}

11
Content.Server/NPC/Queries/Considerations/UtilityConsideration.cs Normal file
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@@ -0,0 +1,11 @@
using Content.Server.NPC.Queries.Curves;
using JetBrains.Annotations;
namespace Content.Server.NPC.Queries.Considerations;
[ImplicitDataDefinitionForInheritors, MeansImplicitUse]
public abstract class UtilityConsideration
{
[DataField("curve", required: true)]
public IUtilityCurve Curve = default!;
}

5
Content.Server/NPC/Queries/Curves/BoolCurve.cs Normal file
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@@ -0,0 +1,5 @@
namespace Content.Server.NPC.Queries.Curves;
public sealed class BoolCurve : IUtilityCurve
{
}

7
Content.Server/NPC/Queries/Curves/IUtilityCurve.cs Normal file
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@@ -0,0 +1,7 @@
namespace Content.Server.NPC.Queries.Curves;
[ImplicitDataDefinitionForInheritors]
public interface IUtilityCurve
{
}

6
Content.Server/NPC/Queries/Curves/InverseBoolCurve.cs Normal file
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@@ -0,0 +1,6 @@
namespace Content.Server.NPC.Queries.Curves;
public sealed class InverseBoolCurve : IUtilityCurve
{
}

8
Content.Server/NPC/Queries/Curves/PresetCurve.cs Normal file
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@@ -0,0 +1,8 @@
using Robust.Shared.Serialization.TypeSerializers.Implementations.Custom.Prototype;
namespace Content.Server.NPC.Queries.Curves;
public sealed class PresetCurve : IUtilityCurve
{
[DataField("preset", required: true, customTypeSerializer:typeof(PrototypeIdSerializer<UtilityCurvePresetPrototype>))] public readonly string Preset = default!;
}

12
Content.Server/NPC/Queries/Curves/QuadraticCurve.cs Normal file
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@@ -0,0 +1,12 @@
namespace Content.Server.NPC.Queries.Curves;
public sealed class QuadraticCurve : IUtilityCurve
{
[DataField("slope")] public readonly float Slope;
[DataField("exponent")] public readonly float Exponent;
[DataField("yOffset")] public readonly float YOffset;
[DataField("xOffset")] public readonly float XOffset;
}

11
Content.Server/NPC/Queries/Curves/UtilityCurvePresetPrototype.cs Normal file
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@@ -0,0 +1,11 @@
using Robust.Shared.Prototypes;
namespace Content.Server.NPC.Queries.Curves;
[Prototype("utilityCurvePreset")]
public sealed class UtilityCurvePresetPrototype : IPrototype
{
[IdDataField] public string ID { get; } = string.Empty;
[DataField("curve", required: true)] public IUtilityCurve Curve = default!;
}

6
Content.Server/NPC/Queries/Queries/ClothingSlotFilter.cs Normal file
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@@ -0,0 +1,6 @@
namespace Content.Server.NPC.Queries.Queries;
public sealed class ClothingSlotFilter : UtilityQueryFilter
{
}

12
Content.Server/NPC/Queries/Queries/ComponentQuery.cs Normal file
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@@ -0,0 +1,12 @@
using Robust.Shared.Prototypes;
namespace Content.Server.NPC.Queries.Queries;
/// <summary>
/// Returns nearby components that match the specified components.
/// </summary>
public sealed class ComponentQuery : UtilityQuery
{
[DataField("components", required: true)]
public EntityPrototype.ComponentRegistry Components = default!;
}

9
Content.Server/NPC/Queries/Queries/NearbyComponentsQuery.cs Normal file
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@@ -0,0 +1,9 @@
using Robust.Shared.Prototypes;
namespace Content.Server.NPC.Queries.Queries;
public sealed class NearbyComponentsQuery : UtilityQuery
{
[DataField("components")]
public EntityPrototype.ComponentRegistry Component = default!;
}

9
Content.Server/NPC/Queries/Queries/NearbyHostilesQuery.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Queries;
/// <summary>
/// Returns nearby entities considered hostile from <see cref="FactionSystem"/>
/// </summary>
public sealed class NearbyHostilesQuery : UtilityQuery
{
}

6
Content.Server/NPC/Queries/Queries/PuddlesQuery.cs Normal file
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@@ -0,0 +1,6 @@
namespace Content.Server.NPC.Queries.Queries;
public sealed class PuddlesQuery : UtilityQuery
{
}

10
Content.Server/NPC/Queries/Queries/UtilityQuery.cs Normal file
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@@ -0,0 +1,10 @@
namespace Content.Server.NPC.Queries.Queries;
/// <summary>
/// Adds entities to a query.
/// </summary>
[ImplicitDataDefinitionForInheritors]
public abstract class UtilityQuery
{
}

9
Content.Server/NPC/Queries/Queries/UtilityQueryFilter.cs Normal file
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@@ -0,0 +1,9 @@
namespace Content.Server.NPC.Queries.Queries;
/// <summary>
/// Removes entities from a query.
/// </summary>
public abstract class UtilityQueryFilter : UtilityQuery
{
}

29
Content.Server/NPC/Queries/UtilityQueryPrototype.cs Normal file
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@@ -0,0 +1,29 @@
using Content.Server.NPC.Queries.Considerations;
using Content.Server.NPC.Queries.Queries;
using Robust.Shared.Prototypes;
namespace Content.Server.NPC.Queries;
/// <summary>
/// Stores data for generic queries.
/// Each query is run in turn to get the final available results.
/// These results are then run through the considerations.
/// </summary>
[Prototype("utilityQuery")]
public sealed class UtilityQueryPrototype : IPrototype
{
[IdDataField]
public string ID { get; } = default!;
[ViewVariables(VVAccess.ReadWrite), DataField("query")]
public List<UtilityQuery> Query = new();
[ViewVariables(VVAccess.ReadWrite), DataField("considerations")]
public List<UtilityConsideration> Considerations = new();
/// <summary>
/// How many entities we are allowed to consider. This is applied after all queries have run.
/// </summary>
[DataField("limit")]
public int Limit = 128;
}

34
Content.Server/NPC/Queries/UtilityService.cs Normal file
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@@ -0,0 +1,34 @@
using Robust.Shared.Serialization.TypeSerializers.Implementations.Custom.Prototype;
namespace Content.Server.NPC.Queries;
/// <summary>
/// Utility queries that run regularly to update an NPC without re-doing their thinking logic.
/// </summary>
[DataDefinition]
public sealed class UtilityService
{
/// <summary>
/// Identifier to use for this service. This is used to track its cooldown.
/// </summary>
[DataField("id", required: true)]
public string ID = string.Empty;
/// <summary>
/// Prototype of the utility query.
/// </summary>
[DataField("proto", required: true, customTypeSerializer:typeof(PrototypeIdSerializer<UtilityQueryPrototype>))]
public string Prototype = string.Empty;
[DataField("minCooldown")]
public float MinCooldown = 0.25f;
[DataField("maxCooldown")]
public float MaxCooldown = 0.60f;
/// <summary>
/// Key to update with the utility query.
/// </summary>
[DataField("key", required: true)]
public string Key = string.Empty;
}

3
Content.Server/NPC/Systems/NPCCombatSystem.Melee.cs
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@@ -143,6 +143,9 @@ public sealed partial class NPCCombatSystem
return;
}
// TODO: When I get parallel operators move this as NPC combat shouldn't be handling this.
_steering.Register(uid, new EntityCoordinates(component.Target, Vector2.Zero), steering);
if (distance > weapon.Range)
{
component.Status = CombatStatus.TargetOutOfRange;

2
Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs
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@@ -455,7 +455,7 @@ public sealed partial class NPCSteeringSystem
EntityQuery<PhysicsComponent> bodyQuery,
EntityQuery<TransformComponent> xformQuery)
{
var detectionRadius = agentRadius + 0.1f;
var detectionRadius = MathF.Max(0.35f, agentRadius + 0.1f);
var ourVelocity = body.LinearVelocity;
var factionQuery = GetEntityQuery<FactionComponent>();
factionQuery.TryGetComponent(uid, out var ourFaction);

3
Content.Server/NPC/Systems/NPCSteeringSystem.cs
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@@ -168,6 +168,9 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
{
if (Resolve(uid, ref component, false))
{
if (component.Coordinates.Equals(coordinates))
return component;
component.PathfindToken?.Cancel();
component.PathfindToken = null;
component.CurrentPath.Clear();

299
Content.Server/NPC/Systems/NPCUtilitySystem.cs Normal file
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@@ -0,0 +1,299 @@
using System.Linq;
using Content.Server.Examine;
using Content.Server.NPC.Queries;
using Content.Server.NPC.Queries.Considerations;
using Content.Server.NPC.Queries.Curves;
using Content.Server.NPC.Queries.Queries;
using Content.Server.Nutrition.Components;
using Content.Server.Storage.Components;
using Content.Shared.Examine;
using Content.Shared.Mobs.Systems;
using Robust.Server.Containers;
using Robust.Shared.Prototypes;
namespace Content.Server.NPC.Systems;
/// <summary>
/// Handles utility queries for NPCs.
/// </summary>
public sealed class NPCUtilitySystem : EntitySystem
{
[Dependency] private readonly IPrototypeManager _proto = default!;
[Dependency] private readonly ContainerSystem _container = default!;
[Dependency] private readonly EntityLookupSystem _lookup = default!;
[Dependency] private readonly FactionSystem _faction = default!;
[Dependency] private readonly MobStateSystem _mobState = default!;
[Dependency] private readonly SharedTransformSystem _transform = default!;
/// <summary>
/// Runs the UtilityQueryPrototype and returns the best-matching entities.
/// </summary>
/// <param name="bestOnly">Should we only return the entity with the best score.</param>
public UtilityResult GetEntities(
NPCBlackboard blackboard,
string proto,
bool bestOnly = true)
{
// TODO: PickHostilesop or whatever needs to juse be UtilityQueryOperator
var weh = _proto.Index<UtilityQueryPrototype>(proto);
var ents = new HashSet<EntityUid>();
foreach (var query in weh.Query)
{
switch (query)
{
case UtilityQueryFilter filter:
Filter(blackboard, ents, filter);
break;
default:
Add(blackboard, ents, query);
break;
}
}
if (ents.Count == 0)
return UtilityResult.Empty;
var results = new Dictionary<EntityUid, float>();
var highestScore = 0f;
foreach (var ent in ents)
{
if (results.Count > weh.Limit)
break;
var score = 1f;
foreach (var con in weh.Considerations)
{
var conScore = GetScore(blackboard, ent, con);
var curve = con.Curve;
var curveScore = GetScore(curve, conScore);
var adjusted = GetAdjustedScore(curveScore, weh.Considerations.Count);
score *= adjusted;
// If the score is too low OR we only care about best entity then early out.
// Due to the adjusted score only being able to decrease it can never exceed the highest from here.
if (score <= 0f || bestOnly && score <= highestScore)
{
break;
}
}
if (score <= 0f)
continue;
highestScore = MathF.Max(score, highestScore);
results.Add(ent, score);
}
var result = new UtilityResult(results);
blackboard.Remove<EntityUid>(NPCBlackboard.UtilityTarget);
return result;
}
private float GetScore(IUtilityCurve curve, float conScore)
{
switch (curve)
{
case BoolCurve:
return conScore > 0f ? 1f : 0f;
case InverseBoolCurve:
return conScore.Equals(0f) ? 1f : 0f;
case PresetCurve presetCurve:
return GetScore(_proto.Index<UtilityCurvePresetPrototype>(presetCurve.Preset).Curve, conScore);
case QuadraticCurve quadraticCurve:
return Math.Clamp(quadraticCurve.Slope * (float) Math.Pow(conScore - quadraticCurve.XOffset, quadraticCurve.Exponent) + quadraticCurve.YOffset, 0f, 1f);
default:
throw new NotImplementedException();
}
}
private float GetScore(NPCBlackboard blackboard, EntityUid targetUid, UtilityConsideration consideration)
{
switch (consideration)
{
case FoodValueCon:
{
if (!TryComp<FoodComponent>(targetUid, out var food))
return 0f;
return 1f;
}
case TargetAccessibleCon:
{
if (_container.TryGetContainingContainer(targetUid, out var container))
{
if (TryComp<EntityStorageComponent>(container.Owner, out var storageComponent))
{
if (storageComponent is { IsWeldedShut: true, Open: false })
{
return 0.0f;
}
}
else
{
// If we're in a container (e.g. held or whatever) then we probably can't get it. Only exception
// Is a locker / crate
// TODO: Some mobs can break it so consider that.
return 0.0f;
}
}
// TODO: Pathfind there, though probably do it in a separate con.
return 1f;
}
case TargetDistanceCon:
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var radius = blackboard.GetValueOrDefault<float>(NPCBlackboard.VisionRadius, EntityManager);
if (!TryComp<TransformComponent>(targetUid, out var targetXform) ||
!TryComp<TransformComponent>(owner, out var xform))
{
return 0f;
}
if (!targetXform.Coordinates.TryDistance(EntityManager, _transform, xform.Coordinates,
out var distance))
{
return 0f;
}
return Math.Clamp(distance / radius, 0f, 1f);
}
case TargetHealthCon:
{
return 0f;
}
case TargetInLOSCon:
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var radius = blackboard.GetValueOrDefault<float>(NPCBlackboard.VisionRadius, EntityManager);
return ExamineSystemShared.InRangeUnOccluded(owner, targetUid, radius + 0.5f, null) ? 1f : 0f;
}
case TargetInLOSOrCurrentCon:
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var radius = blackboard.GetValueOrDefault<float>(NPCBlackboard.VisionRadius, EntityManager);
const float bufferRange = 0.5f;
if (blackboard.TryGetValue<EntityUid>("CombatTarget", out var currentTarget, EntityManager) &&
currentTarget == targetUid &&
TryComp<TransformComponent>(owner, out var xform) &&
TryComp<TransformComponent>(targetUid, out var targetXform) &&
xform.Coordinates.TryDistance(EntityManager, _transform, targetXform.Coordinates, out var distance) &&
distance <= radius + bufferRange)
{
return 1f;
}
return ExamineSystemShared.InRangeUnOccluded(owner, targetUid, radius + bufferRange, null) ? 1f : 0f;
}
case TargetIsAliveCon:
{
return _mobState.IsAlive(targetUid) ? 1f : 0f;
}
case TargetIsCritCon:
{
return _mobState.IsCritical(targetUid) ? 1f : 0f;
}
case TargetIsDeadCon:
{
return _mobState.IsDead(targetUid) ? 1f : 0f;
}
default:
throw new NotImplementedException();
}
}
private float GetAdjustedScore(float score, int considerations)
{
/*
* Now using the geometric mean
* for n scores you take the n-th root of the scores multiplied
* e.g. a, b, c scores you take Math.Pow(a * b * c, 1/3)
* To get the ACTUAL geometric mean at any one stage you'd need to divide by the running consideration count
* however, the downside to this is it will fluctuate up and down over time.
* For our purposes if we go below the minimum threshold we want to cut it off, thus we take a
* "running geometric mean" which can only ever go down (and by the final value will equal the actual geometric mean).
*/
var adjusted = MathF.Pow(score, 1 / (float) considerations);
return Math.Clamp(adjusted, 0f, 1f);
}
private void Add(NPCBlackboard blackboard, HashSet<EntityUid> entities, UtilityQuery query)
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var vision = blackboard.GetValueOrDefault<float>(NPCBlackboard.VisionRadius, EntityManager);
switch (query)
{
case ComponentQuery compQuery:
foreach (var ent in _lookup.GetEntitiesInRange(owner, vision))
{
foreach (var comp in compQuery.Components.Values)
{
if (!HasComp(ent, comp.Component.GetType()))
continue;
entities.Add(ent);
}
}
break;
case NearbyHostilesQuery:
foreach (var ent in _faction.GetNearbyHostiles(owner, vision))
{
entities.Add(ent);
}
break;
default:
throw new NotImplementedException();
}
}
private void Filter(NPCBlackboard blackboard, HashSet<EntityUid> entities, UtilityQueryFilter filter)
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
switch (filter)
{
default:
throw new NotImplementedException();
}
}
}
public readonly record struct UtilityResult(Dictionary<EntityUid, float> Entities)
{
public static readonly UtilityResult Empty = new(new Dictionary<EntityUid, float>());
public readonly Dictionary<EntityUid, float> Entities = Entities;
/// <summary>
/// Returns the entity with the highest score.
/// </summary>
public EntityUid GetHighest()
{
if (Entities.Count == 0)
return EntityUid.Invalid;
return Entities.MaxBy(x => x.Value).Key;
}
/// <summary>
/// Returns the entity with the lowest score. This does not consider entities with a 0 (invalid) score.
/// </summary>
public EntityUid GetLowest()
{
if (Entities.Count == 0)
return EntityUid.Invalid;
return Entities.MinBy(x => x.Value).Key;
}
}

5
Content.Server/Nutrition/EntitySystems/FoodSystem.cs
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@@ -176,7 +176,7 @@ namespace Content.Server.Nutrition.EntitySystems
// TODO this should really be checked every tick.
if (!_interactionSystem.InRangeUnobstructed(args.User, args.Target.Value))
return;
var forceFeed = args.User != args.Target;
args.Handled = true;
@@ -229,9 +229,6 @@ namespace Content.Server.Nutrition.EntitySystems
if (component.UsesRemaining > 0)
{
if (!forceFeed)
args.Repeat = true;
return;
}

5
Resources/Prototypes/Entities/Mobs/NPCs/animals.yml
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@@ -786,6 +786,11 @@
equippedPrefix: 0
slots:
- HEAD
- type: Faction
factions:
- Mouse
- type: HTN
rootTask: MouseCompound
- type: Physics
- type: Fixtures
fixtures:

5
Resources/Prototypes/Entities/Mobs/NPCs/pets.yml
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@@ -107,6 +107,11 @@
id: MobCatRuntime
description: Professional mouse hunter. Escape artist.
components:
- type: Faction
factions:
- PetsNT
- type: HTN
rootTask: SimpleHostileCompound
- type: Grammar
attributes:
gender: female

16
Resources/Prototypes/NPCs/attack.yml
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@@ -36,7 +36,8 @@
- type: htnPrimitive
id: PickRangedTargetPrimitive
operator: !type:PickRangedTargetOperator
operator: !type:UtilityOperator
proto: NearbyRangedTargets
# Attacks the specified target if they're in LOS.
- type: htnPrimitive
@@ -53,6 +54,11 @@
- !type:TargetInLOSPrecondition
targetKey: CombatTarget
rangeKey: RangedRange
services:
- !type:UtilityService
id: RangedService
proto: NearbyRangedTargets
key: CombatTarget
# -- Melee --
@@ -84,7 +90,8 @@
- type: htnPrimitive
id: PickMeleeTargetPrimitive
operator: !type:PickMeleeTargetOperator
operator: !type:UtilityOperator
proto: NearbyMeleeTargets
# Attacks the specified target if they're in range.
- type: htnPrimitive
@@ -97,6 +104,11 @@
- !type:TargetInRangePrecondition
targetKey: CombatTarget
rangeKey: MeleeRange
services:
- !type:UtilityService
id: MeleeService
proto: NearbyMeleeTargets
key: CombatTarget
# Moves the owner into range of the combat target.
- type: htnPrimitive

8
Resources/Prototypes/NPCs/mob.yml
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@@ -7,6 +7,14 @@
- tasks:
- id: IdleCompound
- type: htnCompound
id: MouseCompound
branches:
- tasks:
- id: FoodCompound
- tasks:
- id: IdleCompound
- type: htnCompound
id: DragonCarpCompound
branches:

21
Resources/Prototypes/NPCs/nutrition.yml Normal file
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@@ -0,0 +1,21 @@
- type: htnCompound
id: FoodCompound
branches:
- tasks:
- id: PickFoodTargetPrimitive
- id: MoveToCombatTargetPrimitive
- id: EatPrimitive
- id: WaitIdleTimePrimitive
- type: htnPrimitive
id: PickFoodTargetPrimitive
operator: !type:UtilityOperator
proto: NearbyFood
- type: htnPrimitive
id: EatPrimitive
preconditions:
- !type:KeyExistsPrecondition
key: CombatTarget
operator: !type:AltInteractOperator

71
Resources/Prototypes/NPCs/utility_queries.yml Normal file
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@@ -0,0 +1,71 @@
- type: utilityQuery
id: NearbyFood
query:
- !type:ComponentQuery
components:
- type: Food
considerations:
- !type:TargetIsAliveCon
curve: !type:InverseBoolCurve
- !type:TargetDistanceCon
curve: !type:PresetCurve
preset: TargetDistance
- !type:FoodValueCon
curve: !type:QuadraticCurve
slope: 1.0
exponent: 0.4
- !type:TargetAccessibleCon
curve: !type:BoolCurve
- type: utilityQuery
id: NearbyMeleeTargets
query:
- !type:NearbyHostilesQuery
considerations:
- !type:TargetIsAliveCon
curve: !type:BoolCurve
- !type:TargetDistanceCon
curve: !type:PresetCurve
preset: TargetDistance
- !type:TargetHealthCon
curve: !type:PresetCurve
preset: TargetHealth
- !type:TargetAccessibleCon
curve: !type:BoolCurve
- !type:TargetInLOSOrCurrentCon
curve: !type:BoolCurve
- type: utilityQuery
id: NearbyRangedTargets
query:
- !type:NearbyHostilesQuery
considerations:
- !type:TargetIsAliveCon
curve: !type:BoolCurve
- !type:TargetDistanceCon
curve: !type:PresetCurve
preset: TargetDistance
- !type:TargetHealthCon
curve: !type:PresetCurve
preset: TargetHealth
- !type:TargetAccessibleCon
curve: !type:BoolCurve
- !type:TargetInLOSOrCurrentCon
curve: !type:BoolCurve
# Presets
- type: utilityCurvePreset
id: TargetDistance
curve: !type:QuadraticCurve
slope: -1
exponent: 1
yOffset: 1
xOffset: 0
- type: utilityCurvePreset
id: TargetHealth
curve: !type:QuadraticCurve
slope: 1.0
exponent: 0.4
xOffset: -0.02

6
Resources/Prototypes/ai_factions.yml
View File

@@ -12,9 +12,15 @@
- Syndicate
- Xeno
- type: faction
id: Mouse
hostile:
- PetsNT
- type: faction
id: PetsNT
hostile:
- Mouse
- SimpleHostile
- Xeno