Pathfinder tweaks (#12848)

Content.Server/NPC/Components/NPCSteeringComponent.cs

@@ -36,7 +36,7 @@ public sealed class NPCSteeringComponent : Component
     /// <summary>
     /// How far does the last node in the path need to be before considering re-pathfinding.
     /// </summary>
-    [ViewVariables(VVAccess.ReadWrite)] public float RepathRange = 1.2f;
+    [ViewVariables(VVAccess.ReadWrite)] public float RepathRange = 1.5f;
 
     public const int FailedPathLimit = 3;
 

Content.Server/NPC/HTN/PrimitiveTasks/Operators/PickAccessibleComponentOperator.cs

@@ -85,7 +85,6 @@ public sealed class PickAccessibleComponentOperator : HTNOperator
         {
             var path = await _pathfinding.GetRandomPath(
                 owner,
-                1.4f,
                 maxRange,
                 cancelToken,
                 flags: _pathfinding.GetFlags(blackboard));

Content.Server/NPC/HTN/PrimitiveTasks/Operators/PickAccessibleOperator.cs

@@ -45,7 +45,6 @@ public sealed class PickAccessibleOperator : HTNOperator
 
         var path = await _pathfinding.GetRandomPath(
             owner,
-            1.4f,
             maxRange,
             cancelToken,
             flags: _pathfinding.GetFlags(blackboard));

Content.Server/NPC/Pathfinding/PathRequest.cs

@@ -33,17 +33,15 @@ public abstract class PathRequest
     #region Data
 
     public readonly PathFlags Flags;
-    public readonly float Range;
     public readonly int CollisionLayer;
     public readonly int CollisionMask;
 
     #endregion
 
-    public PathRequest(EntityCoordinates start, PathFlags flags, float range, int layer, int mask, CancellationToken cancelToken)
+    public PathRequest(EntityCoordinates start, PathFlags flags, int layer, int mask, CancellationToken cancelToken)
     {
         Start = start;
         Flags = flags;
-        Range = range;
         CollisionLayer = layer;
         CollisionMask = mask;
         Tcs = new TaskCompletionSource<PathResult>(cancelToken);
@@ -54,15 +52,21 @@ public sealed class AStarPathRequest : PathRequest
 {
     public EntityCoordinates End;
 
+    /// <summary>
+    /// How close we need to be to the end node to be considered as arrived.
+    /// </summary>
+    public float Distance;
+
     public AStarPathRequest(
         EntityCoordinates start,
         EntityCoordinates end,
         PathFlags flags,
-        float range,
+        float distance,
         int layer,
         int mask,
-        CancellationToken cancelToken) : base(start, flags, range, layer, mask, cancelToken)
+        CancellationToken cancelToken) : base(start, flags, layer, mask, cancelToken)
     {
+        Distance = distance;
         End = end;
     }
 }
@@ -84,10 +88,9 @@ public sealed class BFSPathRequest : PathRequest
         int expansionLimit,
         EntityCoordinates start,
         PathFlags flags,
-        float range,
         int layer,
         int mask,
-        CancellationToken cancelToken) : base(start, flags, range, layer, mask, cancelToken)
+        CancellationToken cancelToken) : base(start, flags, layer, mask, cancelToken)
         {
             ExpansionRange = expansionRange;
             ExpansionLimit = expansionLimit;

Content.Server/NPC/Pathfinding/PathfindingSystem.AStar.cs

@@ -82,10 +82,11 @@ public sealed partial class PathfindingSystem
             // Actual pathfinding here
             (_, currentNode) = request.Frontier.Take();
 
-            // TODO: Need this at some stage but need to fix some steering bugs first before it's useable.
-            if (currentNode.Equals(endNode))// ||
-                //(endNode.GraphUid == currentNode.GraphUid &&
-                 //(endNode.Box.Center - currentNode.Box.Center).Length < request.Range))
+            // If we're inside the required distance OR we're at the end node.
+            if ((request.Distance > 0f &&
+                currentNode.Coordinates.TryDistance(EntityManager, request.End, out var distance) &&
+                distance <= request.Distance) ||
+                currentNode.Equals(endNode))
             {
                 arrived = true;
                 break;

Content.Server/NPC/Pathfinding/PathfindingSystem.Common.cs

@@ -11,7 +11,7 @@ public sealed partial class PathfindingSystem
     /// <summary>
     /// Maximum amount of nodes we're allowed to expand.
     /// </summary>
-    private const int NodeLimit = 200;
+    private const int NodeLimit = 512;
 
     private sealed class PathComparer : IComparer<ValueTuple<float, PathPoly>>
     {

Content.Server/NPC/Pathfinding/PathfindingSystem.cs

@@ -228,7 +228,6 @@ namespace Content.Server.NPC.Pathfinding
 
         public async Task<PathResultEvent> GetRandomPath(
             EntityUid entity,
-            float range,
             float maxRange,
             CancellationToken cancelToken,
             int limit = 40,
@@ -246,7 +245,7 @@ namespace Content.Server.NPC.Pathfinding
                 mask = body.CollisionMask;
             }
 
-            var request = new BFSPathRequest(maxRange, limit, start.Coordinates, flags, range, layer, mask, cancelToken);
+            var request = new BFSPathRequest(maxRange, limit, start.Coordinates, flags, layer, mask, cancelToken);
             var path = await GetPath(request);
 
             if (path.Result != PathResult.Path)