tommy/tbd-station-14
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

NPC steering blending (#25666)

Browse Source 
* NPC steering blending

Significantly more stable than using LastSteerDirection and also AntiStuck never got tripped locally when I was running around. I also left future notes for me to cleanup the pathfinder in future.

* Remove index
This commit is contained in:
metalgearsloth
2024-02-28 17:41:15 +11:00
committed by GitHub
parent 1c015d1fd5
commit f819404f6d
3 changed files with 56 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
Content.Server/NPC/Systems/NPCSteeringSystem.cs
View File

@@ -3,7 +3,6 @@ using System.Threading;
using System.Threading.Tasks;
using Content.Server.Administration.Managers;
using Content.Server.DoAfter;
using Content.Server.Doors.Systems;
using Content.Server.NPC.Components;
using Content.Server.NPC.Events;
using Content.Server.NPC.Pathfinding;
@@ -28,7 +27,6 @@ using Robust.Shared.Timing;
using Robust.Shared.Utility;
using Content.Shared.Prying.Systems;
using Microsoft.Extensions.ObjectPool;
using Robust.Shared.Threading;
namespace Content.Server.NPC.Systems;
@@ -315,8 +313,6 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
return;
}
var interest = steering.Interest;
var danger = steering.Danger;
var agentRadius = steering.Radius;
var worldPos = _transform.GetWorldPosition(xform);
var (layer, mask) = _physics.GetHardCollision(uid);
@@ -328,13 +324,10 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
var body = _physicsQuery.GetComponent(uid);
var dangerPoints = steering.DangerPoints;
dangerPoints.Clear();
Span<float> interest = stackalloc float[InterestDirections];
Span<float> danger = stackalloc float[InterestDirections];
for (var i = 0; i < InterestDirections; i++)
{
steering.Interest[i] = 0f;
steering.Danger[i] = 0f;
}
// TODO: This should be fly
steering.CanSeek = true;
var ev = new NPCSteeringEvent(steering, xform, worldPos, offsetRot);
@@ -347,6 +340,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
SetDirection(mover, steering, Vector2.Zero);
return;
}
DebugTools.Assert(!float.IsNaN(interest[0]));
// Don't steer too frequently to avoid twitchiness.
@@ -354,7 +348,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
// I think doing this after all the ops above is best?
// Originally I had it way above but sometimes mobs would overshoot their tile targets.
if (!forceSteer && steering.NextSteer > curTime)
if (!forceSteer)
{
SetDirection(mover, steering, steering.LastSteerDirection, false);
return;
@@ -366,11 +360,8 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger);
// Prioritise whichever direction we went last tick if it's a tie-breaker.
if (steering.LastSteerIndex != -1)
{
interest[steering.LastSteerIndex] *= 1.1f;
}
// Blend last and current tick
Blend(steering, frameTime, interest, danger);
// Remove the danger map from the interest map.
var desiredDirection = -1;
@@ -378,7 +369,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
for (var i = 0; i < InterestDirections; i++)
{
var adjustedValue = Math.Clamp(interest[i] - danger[i], 0f, 1f);
var adjustedValue = Math.Clamp(steering.Interest[i] - steering.Danger[i], 0f, 1f);
if (adjustedValue > desiredValue)
{
@@ -394,9 +385,7 @@ public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
resultDirection = new Angle(desiredDirection * InterestRadians).ToVec();
}
steering.NextSteer = curTime + TimeSpan.FromSeconds(1f / NPCSteeringComponent.SteeringFrequency);
steering.LastSteerDirection = resultDirection;
steering.LastSteerIndex = desiredDirection;
DebugTools.Assert(!float.IsNaN(resultDirection.X));
SetDirection(mover, steering, resultDirection, false);
}