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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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47
Content.Server/NPC/HTN/PrimitiveTasks/Operators/PickAccessibleOperator.cs
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@@ -1,6 +1,7 @@
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Content.Server.NPC.Pathfinding;
using Content.Server.NPC.Pathfinding.Accessible;
using Robust.Shared.Random;
namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
@@ -10,9 +11,7 @@ namespace Content.Server.NPC.HTN.PrimitiveTasks.Operators;
/// </summary>
public sealed class PickAccessibleOperator : HTNOperator
{
[Dependency] private readonly IEntityManager _entManager = default!;
[Dependency] private readonly IRobustRandom _random = default!;
private AiReachableSystem _reachable = default!;
private PathfindingSystem _pathfinding = default!;
[DataField("rangeKey", required: true)]
public string RangeKey = string.Empty;
@@ -20,44 +19,48 @@ public sealed class PickAccessibleOperator : HTNOperator
[ViewVariables, DataField("targetKey", required: true)]
public string TargetKey = string.Empty;
/// <summary>
/// Where the pathfinding result will be stored (if applicable). This gets removed after execution.
/// </summary>
[ViewVariables, DataField("pathfindKey")]
public string PathfindKey = "MovementPathfind";
public override void Initialize(IEntitySystemManager sysManager)
{
base.Initialize(sysManager);
_reachable = IoCManager.Resolve<IEntitySystemManager>().GetEntitySystem<AiReachableSystem>();
_pathfinding = sysManager.GetEntitySystem<PathfindingSystem>();
}
/// <inheritdoc/>
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)
{
// Very inefficient (should weight each region by its node count) but better than the old system
var owner = blackboard.GetValue<EntityUid>(NPCBlackboard.Owner);
if (!_entManager.TryGetComponent(_entManager.GetComponent<TransformComponent>(owner).GridUid, out IMapGridComponent? grid))
return (false, null);
blackboard.TryGetValue<float>(RangeKey, out var maxRange);
var reachableArgs = ReachableArgs.GetArgs(owner, blackboard.GetValueOrDefault<float>(RangeKey));
var entityRegion = _reachable.GetRegion(owner);
var reachableRegions = _reachable.GetReachableRegions(reachableArgs, entityRegion);
if (maxRange == 0f)
maxRange = 7f;
if (reachableRegions.Count == 0)
return (false, null);
var path = await _pathfinding.GetRandomPath(
owner,
1.4f,
maxRange,
cancelToken,
flags: _pathfinding.GetFlags(blackboard));
var reachableNodes = new List<PathfindingNode>();
foreach (var region in reachableRegions)
if (path.Result != PathResult.Path)
{
foreach (var node in region.Nodes)
{
reachableNodes.Add(node);
}
return (false, null);
}
var targetNode = _random.Pick(reachableNodes);
var target = path.Path.Last().Coordinates;
var target = grid.Grid.GridTileToLocal(targetNode.TileRef.GridIndices);
return (true, new Dictionary<string, object>()
{
{ TargetKey, target },
{ PathfindKey, path}
});
}
}