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Revert "Add pathfinding for dynamic bodies" (#18397)

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This commit is contained in:
metalgearsloth
2023-07-28 19:58:31 +10:00
committed by GitHub
parent 49f3f07e30
commit e97e7f8137
2 changed files with 48 additions and 64 deletions
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111
Content.Server/NPC/Pathfinding/PathfindingSystem.Grid.cs
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@@ -50,7 +50,6 @@ public sealed partial class PathfindingSystem
SubscribeLocalEvent<GridPathfindingComponent, EntityUnpausedEvent>(OnGridPathPause); SubscribeLocalEvent<GridPathfindingComponent, EntityUnpausedEvent>(OnGridPathPause);
SubscribeLocalEvent<GridPathfindingComponent, ComponentShutdown>(OnGridPathShutdown); SubscribeLocalEvent<GridPathfindingComponent, ComponentShutdown>(OnGridPathShutdown);
SubscribeLocalEvent<CollisionChangeEvent>(OnCollisionChange); SubscribeLocalEvent<CollisionChangeEvent>(OnCollisionChange);
SubscribeLocalEvent<CollisionLayerChangeEvent>(OnCollisionLayerChange);
SubscribeLocalEvent<PhysicsBodyTypeChangedEvent>(OnBodyTypeChange); SubscribeLocalEvent<PhysicsBodyTypeChangedEvent>(OnBodyTypeChange);
SubscribeLocalEvent<TileChangedEvent>(OnTileChange); SubscribeLocalEvent<TileChangedEvent>(OnTileChange);
SubscribeLocalEvent<MoveEvent>(OnMoveEvent); SubscribeLocalEvent<MoveEvent>(OnMoveEvent);
@@ -239,18 +238,17 @@ public sealed partial class PathfindingSystem
} }
} }
private bool IsBodyRelevant(FixturesComponent fixtures) private bool IsBodyRelevant(PhysicsComponent body)
{ {
foreach (var fixture in fixtures.Fixtures.Values) if (!body.Hard || body.BodyType != BodyType.Static)
{ {
if (!fixture.Hard) return false;
continue; }
if ((fixture.CollisionMask & PathfindingCollisionLayer) != 0x0 || if ((body.CollisionMask & PathfindingCollisionLayer) != 0x0 ||
(fixture.CollisionLayer & PathfindingCollisionMask) != 0x0) (body.CollisionLayer & PathfindingCollisionMask) != 0x0)
{ {
return true; return true;
}
} }
return false; return false;
@@ -258,42 +256,35 @@ public sealed partial class PathfindingSystem
private void OnCollisionChange(ref CollisionChangeEvent ev) private void OnCollisionChange(ref CollisionChangeEvent ev)
{ {
if (!IsBodyRelevant(ev.Body))
return;
var xform = Transform(ev.Body.Owner); var xform = Transform(ev.Body.Owner);
if (xform.GridUid == null) if (xform.GridUid == null)
return; return;
// This will also rebuild on door open / closes which I think is good? // This will also rebuild on door open / closes which I think is good?
var aabb = _lookup.GetAABBNoContainer(ev.Body.Owner, xform.Coordinates.Position, xform.LocalRotation); DirtyChunk(xform.GridUid.Value, xform.Coordinates);
DirtyChunkArea(xform.GridUid.Value, aabb);
}
private void OnCollisionLayerChange(ref CollisionLayerChangeEvent ev)
{
var xform = Transform(ev.Body.Owner);
if (xform.GridUid == null)
return;
var aabb = _lookup.GetAABBNoContainer(ev.Body.Owner, xform.Coordinates.Position, xform.LocalRotation);
DirtyChunkArea(xform.GridUid.Value, aabb);
} }
private void OnBodyTypeChange(ref PhysicsBodyTypeChangedEvent ev) private void OnBodyTypeChange(ref PhysicsBodyTypeChangedEvent ev)
{ {
if (TryComp<TransformComponent>(ev.Entity, out var xform) && if (ev.Component.CanCollide &&
IsBodyRelevant(ev.Component) &&
TryComp<TransformComponent>(ev.Entity, out var xform) &&
xform.GridUid != null) xform.GridUid != null)
{ {
var aabb = _lookup.GetAABBNoContainer(ev.Entity, xform.Coordinates.Position, xform.LocalRotation); DirtyChunk(xform.GridUid.Value, xform.Coordinates);
DirtyChunkArea(xform.GridUid.Value, aabb);
} }
} }
private void OnMoveEvent(ref MoveEvent ev) private void OnMoveEvent(ref MoveEvent ev)
{ {
if (!TryComp<FixturesComponent>(ev.Sender, out var fixtures) || if (!TryComp<PhysicsComponent>(ev.Sender, out var body) ||
!IsBodyRelevant(fixtures) || body.BodyType != BodyType.Static ||
HasComp<MapGridComponent>(ev.Sender)) HasComp<MapGridComponent>(ev.Sender) ||
ev.OldPosition.Equals(ev.NewPosition))
{ {
return; return;
} }
@@ -303,16 +294,34 @@ public sealed partial class PathfindingSystem
? gridUid ? gridUid
: ev.OldPosition.GetGridUid(EntityManager); : ev.OldPosition.GetGridUid(EntityManager);
if (oldGridUid != null && oldGridUid != gridUid) // Not on a grid at all so just ignore.
if (oldGridUid == gridUid && oldGridUid == null)
{ {
var aabb = _lookup.GetAABBNoContainer(ev.Sender, ev.OldPosition.Position, ev.OldRotation); return;
DirtyChunkArea(oldGridUid.Value, aabb); }
if (oldGridUid != null && gridUid != null)
{
// If the chunk hasn't changed then just dirty that one.
var oldOrigin = GetOrigin(ev.OldPosition, oldGridUid.Value);
var origin = GetOrigin(ev.NewPosition, gridUid.Value);
if (oldOrigin == origin)
{
// TODO: Don't need to transform again numpty.
DirtyChunk(oldGridUid.Value, ev.NewPosition);
return;
}
}
if (oldGridUid != null)
{
DirtyChunk(oldGridUid.Value, ev.OldPosition);
} }
if (gridUid != null) if (gridUid != null)
{ {
var aabb = _lookup.GetAABBNoContainer(ev.Sender, ev.NewPosition.Position, ev.NewRotation); DirtyChunk(gridUid.Value, ev.NewPosition);
DirtyChunkArea(gridUid.Value, aabb);
} }
} }
@@ -355,30 +364,6 @@ public sealed partial class PathfindingSystem
chunks.Add(GetOrigin(coordinates, gridUid)); chunks.Add(GetOrigin(coordinates, gridUid));
} }
private void DirtyChunkArea(EntityUid gridUid, Box2 aabb)
{
if (!TryComp<GridPathfindingComponent>(gridUid, out var comp))
return;
var currentTime = _timing.CurTime;
if (comp.NextUpdate < currentTime)
comp.NextUpdate = currentTime + UpdateCooldown;
var chunks = comp.DirtyChunks;
// This assumes you never have bounds equal to or larger than 2 * ChunkSize.
var corners = new Vector2[] { aabb.BottomLeft, aabb.TopRight, aabb.BottomRight, aabb.TopLeft };
foreach (var corner in corners)
{
var sampledPoint = new Vector2i(
(int) Math.Floor((corner.X) / ChunkSize),
(int) Math.Floor((corner.Y) / ChunkSize));
chunks.Add(sampledPoint);
}
}
private GridPathfindingChunk GetChunk(Vector2i origin, EntityUid uid, GridPathfindingComponent? component = null) private GridPathfindingChunk GetChunk(Vector2i origin, EntityUid uid, GridPathfindingComponent? component = null)
{ {
if (!Resolve(uid, ref component)) if (!Resolve(uid, ref component))
@@ -460,18 +445,18 @@ public sealed partial class PathfindingSystem
// var isBorder = x < 0 || y < 0 || x == ChunkSize - 1 || y == ChunkSize - 1; // var isBorder = x < 0 || y < 0 || x == ChunkSize - 1 || y == ChunkSize - 1;
tileEntities.Clear(); tileEntities.Clear();
var available = _lookup.GetEntitiesIntersecting(tile); var anchored = grid.GetAnchoredEntitiesEnumerator(tilePos);
foreach (var ent in available) while (anchored.MoveNext(out var ent))
{ {
// Irrelevant for pathfinding // Irrelevant for pathfinding
if (!fixturesQuery.TryGetComponent(ent, out var fixtures) || if (!physicsQuery.TryGetComponent(ent, out var body) ||
!IsBodyRelevant(fixtures)) !IsBodyRelevant(body))
{ {
continue; continue;
} }
tileEntities.Add(ent); tileEntities.Add(ent.Value);
} }
for (var subX = 0; subX < SubStep; subX++) for (var subX = 0; subX < SubStep; subX++)

1
Content.Server/NPC/Pathfinding/PathfindingSystem.cs
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@@ -45,7 +45,6 @@ namespace Content.Server.NPC.Pathfinding
[Dependency] private readonly IPlayerManager _playerManager = default!; [Dependency] private readonly IPlayerManager _playerManager = default!;
[Dependency] private readonly IRobustRandom _random = default!; [Dependency] private readonly IRobustRandom _random = default!;
[Dependency] private readonly DestructibleSystem _destructible = default!; [Dependency] private readonly DestructibleSystem _destructible = default!;
[Dependency] private readonly EntityLookupSystem _lookup = default!;
[Dependency] private readonly FixtureSystem _fixtures = default!; [Dependency] private readonly FixtureSystem _fixtures = default!;
[Dependency] private readonly SharedPhysicsSystem _physics = default!; [Dependency] private readonly SharedPhysicsSystem _physics = default!;