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Pathfinder rework (#11452)

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This commit is contained in:
metalgearsloth
2022-09-30 14:39:48 +10:00
committed by GitHub
parent fd3b29fb03
commit f456ad911e
80 changed files with 3606 additions and 4374 deletions
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50
Content.Server/NPC/HTN/PrimitiveTasks/Operators/MoveToOperator.cs
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@@ -2,10 +2,11 @@ using System.Threading;
using System.Threading.Tasks;
using Content.Server.NPC.Components;
using Content.Server.NPC.Pathfinding;
using Content.Server.NPC.Pathfinding.Pathfinders;
using Content.Server.NPC.Systems;
using Content.Shared.NPC;
using Robust.Shared.Map;
using Robust.Shared.Physics.Components;
using YamlDotNet.Core.Tokens;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
@@ -58,7 +59,8 @@ public sealed class MoveToOperator : HTNOperator
_steering = sysManager.GetEntitySystem<NPCSteeringSystem>();
}
public override async Task<(bool Valid, Dictionary<string, object>? Effects)> Plan(NPCBlackboard blackboard)
public override async Task<(bool Valid, Dictionary<string, object>? Effects)> Plan(NPCBlackboard blackboard,
CancellationToken cancelToken)
{
if (!blackboard.TryGetValue<EntityCoordinates>(TargetKey, out var targetCoordinates))
{
@@ -72,8 +74,7 @@ public sealed class MoveToOperator : HTNOperator
return (false, null);
if (!_mapManager.TryGetGrid(xform.GridUid, out var ownerGrid) ||
!_mapManager.TryGetGrid(targetCoordinates.GetGridUid(_entManager), out var targetGrid) ||
ownerGrid != targetGrid)
!_mapManager.TryGetGrid(targetCoordinates.GetGridUid(_entManager), out var targetGrid))
{
return (false, null);
}
@@ -97,30 +98,25 @@ public sealed class MoveToOperator : HTNOperator
});
}
var cancelToken = new CancellationTokenSource();
var access = blackboard.GetValueOrDefault<ICollection<string>>(NPCBlackboard.Access) ?? new List<string>();
var path = await _pathfind.GetPath(
blackboard.GetValue<EntityUid>(NPCBlackboard.Owner),
xform.Coordinates,
targetCoordinates,
range,
cancelToken,
_pathfind.GetFlags(blackboard));
var job = _pathfind.RequestPath(
new PathfindingArgs(
blackboard.GetValue<EntityUid>(NPCBlackboard.Owner),
access,
body.CollisionMask,
ownerGrid.GetTileRef(xform.Coordinates),
ownerGrid.GetTileRef(targetCoordinates),
range), cancelToken.Token);
job.Run();
await job.AsTask.WaitAsync(cancelToken.Token);
if (job.Result == null)
if (path.Result != PathResult.Path)
{
return (false, null);
}
return (true, new Dictionary<string, object>()
{
{NPCBlackboard.OwnerCoordinates, targetCoordinates},
{PathfindKey, job.Result}
{PathfindKey, path}
});
}
// Given steering is complicated we'll hand it off to a dedicated system rather than this singleton operator.
@@ -131,23 +127,25 @@ public sealed class MoveToOperator : HTNOperator
// Need to remove the planning value for execution.
blackboard.Remove<EntityCoordinates>(NPCBlackboard.OwnerCoordinates);
var targetCoordinates = blackboard.GetValue<EntityCoordinates>(TargetKey);
// Re-use the path we may have if applicable.
var comp = _steering.Register(blackboard.GetValue<EntityUid>(NPCBlackboard.Owner), blackboard.GetValue<EntityCoordinates>(TargetKey));
var comp = _steering.Register(blackboard.GetValue<EntityUid>(NPCBlackboard.Owner), targetCoordinates);
if (blackboard.TryGetValue<float>(RangeKey, out var range))
{
comp.Range = range;
}
if (blackboard.TryGetValue<Queue<TileRef>>(PathfindKey, out var path))
if (blackboard.TryGetValue<PathResultEvent>(PathfindKey, out var result))
{
if (blackboard.TryGetValue<EntityCoordinates>(NPCBlackboard.OwnerCoordinates, out var coordinates))
{
_steering.PrunePath(coordinates, path);
var mapCoords = coordinates.ToMap(_entManager);
_steering.PrunePath(mapCoords, targetCoordinates.ToMapPos(_entManager) - mapCoords.Position, result.Path);
}
comp.CurrentPath = path;
comp.CurrentPath = result.Path;
}
}
@@ -163,7 +161,7 @@ public sealed class MoveToOperator : HTNOperator
}
// OwnerCoordinates is only used in planning so dump it.
blackboard.Remove<Queue<TileRef>>(PathfindKey);
blackboard.Remove<PathResultEvent>(PathfindKey);
if (RemoveKeyOnFinish)
{