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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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68
Content.Server/NPC/HTN/PrimitiveTasks/Operators/NPCCombatOperator.cs
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@@ -1,6 +1,10 @@
using System.Threading;
using System.Threading.Tasks;
using Content.Server.Interaction;
using Content.Server.NPC.Pathfinding;
using Content.Server.NPC.Systems;
using Content.Shared.Examine;
using Content.Shared.Interaction;
using Content.Shared.MobState;
using Content.Shared.MobState.Components;
using Robust.Shared.Map;
@@ -10,8 +14,9 @@ namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
public abstract class NPCCombatOperator : HTNOperator
{
[Dependency] protected readonly IEntityManager EntManager = default!;
private FactionSystem _tags = default!;
private FactionSystem _factions = default!;
protected InteractionSystem Interaction = default!;
private PathfindingSystem _pathfinding = default!;
[ViewVariables, DataField("key")] public string Key = "CombatTarget";
@@ -21,16 +26,25 @@ public abstract class NPCCombatOperator : HTNOperator
[ViewVariables, 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;
private const int MaxTargetCount = 5;
public override void Initialize(IEntitySystemManager sysManager)
{
base.Initialize(sysManager);
_tags = sysManager.GetEntitySystem<FactionSystem>();
sysManager.GetEntitySystem<ExamineSystemShared>();
_factions = sysManager.GetEntitySystem<FactionSystem>();
Interaction = sysManager.GetEntitySystem<InteractionSystem>();
_pathfinding = sysManager.GetEntitySystem<PathfindingSystem>();
}
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)
{
var targets = GetTargets(blackboard);
var targets = await GetTargets(blackboard);
if (targets.Count == 0)
{
@@ -49,34 +63,68 @@ public abstract class NPCCombatOperator : HTNOperator
return (true, effects);
}
private List<(EntityUid Entity, float Rating)> GetTargets(NPCBlackboard blackboard)
private async Task<List<(EntityUid Entity, float Rating, float Distance)>> GetTargets(NPCBlackboard blackboard)
{
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
var radius = blackboard.GetValueOrDefault<float>(NPCBlackboard.VisionRadius, EntManager);
var targets = new List<(EntityUid Entity, float Rating)>();
var targets = new List<(EntityUid Entity, float Rating, float Distance)>();
blackboard.TryGetValue<EntityUid>(Key, out var existingTarget);
var xformQuery = EntManager.GetEntityQuery<TransformComponent>();
var mobQuery = EntManager.GetEntityQuery<MobStateComponent>();
var canMove = blackboard.GetValueOrDefault<bool>(NPCBlackboard.CanMove, EntManager);
var cancelToken = new CancellationTokenSource();
var count = 0;
if (xformQuery.TryGetComponent(existingTarget, out var targetXform))
{
var distance = await _pathfinding.GetPathDistance(owner, targetXform.Coordinates,
SharedInteractionSystem.InteractionRange, cancelToken.Token, _pathfinding.GetFlags(blackboard));
if (distance != null)
{
targets.Add((existingTarget, GetRating(blackboard, existingTarget, existingTarget, distance.Value, canMove, xformQuery), distance.Value));
}
}
// TODO: Need a perception system instead
foreach (var target in _tags
// 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 > DamageState.Alive)
mobState.CurrentState > DamageState.Alive ||
!xformQuery.TryGetComponent(target, out targetXform))
{
continue;
}
targets.Add((target, GetRating(blackboard, target, existingTarget, canMove, xformQuery)));
count++;
if (count >= MaxConsideredTargets)
break;
if (!ExamineSystemShared.InRangeUnOccluded(owner, target, radius, null))
{
continue;
}
var distance = await _pathfinding.GetPathDistance(owner, targetXform.Coordinates,
SharedInteractionSystem.InteractionRange, cancelToken.Token, _pathfinding.GetFlags(blackboard));
if (distance == null)
continue;
targets.Add((target, GetRating(blackboard, target, existingTarget, distance.Value, canMove, xformQuery), distance.Value));
if (targets.Count >= MaxTargetCount)
break;
}
targets.Sort((x, y) => y.Rating.CompareTo(x.Rating));
return targets;
}
protected abstract float GetRating(NPCBlackboard blackboard, EntityUid uid, EntityUid existingTarget, bool canMove,
protected abstract float GetRating(NPCBlackboard blackboard, EntityUid uid, EntityUid existingTarget, float distance, bool canMove,
EntityQuery<TransformComponent> xformQuery);
}