64b648ff3c
- Fix the free node check considering the whole tile and not the poly. - Clear maps on direction resets. - More robust arrival checks for pathfinding nodes.
475 lines
16 KiB
C#
475 lines
16 KiB
C#
using System.Numerics;
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using System.Threading;
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using System.Threading.Tasks;
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using Content.Server.Administration.Managers;
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using Content.Server.DoAfter;
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using Content.Server.NPC.Components;
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using Content.Server.NPC.Events;
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using Content.Server.NPC.Pathfinding;
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using Content.Shared.CCVar;
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using Content.Shared.Climbing.Systems;
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using Content.Shared.CombatMode;
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using Content.Shared.Interaction;
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using Content.Shared.Movement.Components;
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using Content.Shared.Movement.Systems;
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using Content.Shared.NPC;
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using Content.Shared.NPC.Components;
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using Content.Shared.NPC.Systems;
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using Content.Shared.NPC.Events;
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using Content.Shared.Physics;
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using Content.Shared.Weapons.Melee;
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using Robust.Shared.Configuration;
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using Robust.Shared.Map;
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using Robust.Shared.Physics;
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using Robust.Shared.Physics.Components;
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using Robust.Shared.Physics.Systems;
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using Robust.Shared.Player;
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using Robust.Shared.Random;
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using Robust.Shared.Timing;
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using Robust.Shared.Utility;
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using Content.Shared.Prying.Systems;
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using Microsoft.Extensions.ObjectPool;
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namespace Content.Server.NPC.Systems;
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public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
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{
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/*
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* We use context steering to determine which way to move.
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* This involves creating an array of possible directions and assigning a value for the desireability of each direction.
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*
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* There's multiple ways to implement this, e.g. you can average all directions, or you can choose the highest direction
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* , or you can remove the danger map entirely and only having an interest map (AKA game endeavour).
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* See http://www.gameaipro.com/GameAIPro2/GameAIPro2_Chapter18_Context_Steering_Behavior-Driven_Steering_at_the_Macro_Scale.pdf
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* (though in their case it was for an F1 game so used context steering across the width of the road).
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*/
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[Dependency] private readonly IAdminManager _admin = default!;
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[Dependency] private readonly IConfigurationManager _configManager = default!;
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[Dependency] private readonly IGameTiming _timing = default!;
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[Dependency] private readonly IRobustRandom _random = default!;
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[Dependency] private readonly ClimbSystem _climb = default!;
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[Dependency] private readonly DoAfterSystem _doAfter = default!;
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[Dependency] private readonly EntityLookupSystem _lookup = default!;
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[Dependency] private readonly NpcFactionSystem _npcFaction = default!;
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[Dependency] private readonly PathfindingSystem _pathfindingSystem = default!;
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[Dependency] private readonly PryingSystem _pryingSystem = default!;
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[Dependency] private readonly SharedInteractionSystem _interaction = default!;
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[Dependency] private readonly SharedMeleeWeaponSystem _melee = default!;
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[Dependency] private readonly SharedMoverController _mover = default!;
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[Dependency] private readonly SharedPhysicsSystem _physics = default!;
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[Dependency] private readonly SharedTransformSystem _transform = default!;
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[Dependency] private readonly SharedCombatModeSystem _combat = default!;
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private EntityQuery<FixturesComponent> _fixturesQuery;
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private EntityQuery<MovementSpeedModifierComponent> _modifierQuery;
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private EntityQuery<NpcFactionMemberComponent> _factionQuery;
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private EntityQuery<PhysicsComponent> _physicsQuery;
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private EntityQuery<TransformComponent> _xformQuery;
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private ObjectPool<HashSet<EntityUid>> _entSetPool =
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new DefaultObjectPool<HashSet<EntityUid>>(new SetPolicy<EntityUid>());
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/// <summary>
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/// Enabled antistuck detection so if an NPC is in the same spot for a while it will re-path.
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/// </summary>
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public bool AntiStuck = true;
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private bool _enabled;
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private bool _pathfinding = true;
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public static readonly Vector2[] Directions = new Vector2[InterestDirections];
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private readonly HashSet<ICommonSession> _subscribedSessions = new();
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private object _obstacles = new();
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public override void Initialize()
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{
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base.Initialize();
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Log.Level = LogLevel.Info;
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_fixturesQuery = GetEntityQuery<FixturesComponent>();
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_modifierQuery = GetEntityQuery<MovementSpeedModifierComponent>();
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_factionQuery = GetEntityQuery<NpcFactionMemberComponent>();
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_physicsQuery = GetEntityQuery<PhysicsComponent>();
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_xformQuery = GetEntityQuery<TransformComponent>();
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for (var i = 0; i < InterestDirections; i++)
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{
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Directions[i] = new Angle(InterestRadians * i).ToVec();
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}
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UpdatesBefore.Add(typeof(SharedPhysicsSystem));
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Subs.CVar(_configManager, CCVars.NPCEnabled, SetNPCEnabled, true);
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Subs.CVar(_configManager, CCVars.NPCPathfinding, SetNPCPathfinding, true);
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SubscribeLocalEvent<NPCSteeringComponent, ComponentShutdown>(OnSteeringShutdown);
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SubscribeNetworkEvent<RequestNPCSteeringDebugEvent>(OnDebugRequest);
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}
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private void SetNPCEnabled(bool obj)
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{
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if (!obj)
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{
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foreach (var (comp, mover) in EntityQuery<NPCSteeringComponent, InputMoverComponent>())
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{
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mover.CurTickSprintMovement = Vector2.Zero;
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comp.PathfindToken?.Cancel();
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comp.PathfindToken = null;
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}
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}
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_enabled = obj;
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}
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private void SetNPCPathfinding(bool value)
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{
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_pathfinding = value;
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if (!_pathfinding)
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{
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foreach (var comp in EntityQuery<NPCSteeringComponent>(true))
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{
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comp.PathfindToken?.Cancel();
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comp.PathfindToken = null;
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}
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}
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}
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private void OnDebugRequest(RequestNPCSteeringDebugEvent msg, EntitySessionEventArgs args)
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{
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if (!_admin.IsAdmin(args.SenderSession))
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return;
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if (msg.Enabled)
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_subscribedSessions.Add(args.SenderSession);
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else
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_subscribedSessions.Remove(args.SenderSession);
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}
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private void OnSteeringShutdown(EntityUid uid, NPCSteeringComponent component, ComponentShutdown args)
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{
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// Cancel any active pathfinding jobs as they're irrelevant.
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component.PathfindToken?.Cancel();
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component.PathfindToken = null;
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}
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/// <summary>
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/// Adds the AI to the steering system to move towards a specific target
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/// </summary>
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public NPCSteeringComponent Register(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
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{
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if (Resolve(uid, ref component, false))
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{
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if (component.Coordinates.Equals(coordinates))
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return component;
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component.PathfindToken?.Cancel();
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component.PathfindToken = null;
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component.CurrentPath.Clear();
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}
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else
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{
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component = AddComp<NPCSteeringComponent>(uid);
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component.Flags = _pathfindingSystem.GetFlags(uid);
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}
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ResetStuck(component, Transform(uid).Coordinates);
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component.Coordinates = coordinates;
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return component;
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}
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/// <summary>
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/// Attempts to register the entity. Does nothing if the coordinates already registered.
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/// </summary>
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public bool TryRegister(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
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{
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if (Resolve(uid, ref component, false) && component.Coordinates.Equals(coordinates))
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{
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return false;
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}
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Register(uid, coordinates, component);
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return true;
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}
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/// <summary>
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/// Stops the steering behavior for the AI and cleans up.
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/// </summary>
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public void Unregister(EntityUid uid, NPCSteeringComponent? component = null)
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{
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if (!Resolve(uid, ref component, false))
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return;
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if (EntityManager.TryGetComponent(uid, out InputMoverComponent? controller))
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{
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controller.CurTickSprintMovement = Vector2.Zero;
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}
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component.PathfindToken?.Cancel();
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component.PathfindToken = null;
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RemComp<NPCSteeringComponent>(uid);
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}
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public override void Update(float frameTime)
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{
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base.Update(frameTime);
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if (!_enabled)
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return;
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// Not every mob has the modifier component so do it as a separate query.
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var npcs = new (EntityUid, NPCSteeringComponent, InputMoverComponent, TransformComponent)[Count<ActiveNPCComponent>()];
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var query = EntityQueryEnumerator<ActiveNPCComponent, NPCSteeringComponent, InputMoverComponent, TransformComponent>();
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var index = 0;
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while (query.MoveNext(out var uid, out _, out var steering, out var mover, out var xform))
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{
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npcs[index] = (uid, steering, mover, xform);
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index++;
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}
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// Dependency issues across threads.
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var options = new ParallelOptions
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{
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MaxDegreeOfParallelism = 1,
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};
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var curTime = _timing.CurTime;
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Parallel.For(0, index, options, i =>
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{
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var (uid, steering, mover, xform) = npcs[i];
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Steer(uid, steering, mover, xform, frameTime, curTime);
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});
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if (_subscribedSessions.Count > 0)
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{
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var data = new List<NPCSteeringDebugData>(index);
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for (var i = 0; i < index; i++)
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{
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var (uid, steering, mover, _) = npcs[i];
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data.Add(new NPCSteeringDebugData(
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GetNetEntity(uid),
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mover.CurTickSprintMovement,
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steering.Interest,
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steering.Danger,
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steering.DangerPoints));
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}
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var filter = Filter.Empty();
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filter.AddPlayers(_subscribedSessions);
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RaiseNetworkEvent(new NPCSteeringDebugEvent(data), filter);
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}
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}
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private void SetDirection(InputMoverComponent component, NPCSteeringComponent steering, Vector2 value, bool clear = true)
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{
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if (clear && value.Equals(Vector2.Zero))
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{
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steering.CurrentPath.Clear();
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Array.Clear(steering.Interest);
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Array.Clear(steering.Danger);
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}
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component.CurTickSprintMovement = value;
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component.LastInputTick = _timing.CurTick;
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component.LastInputSubTick = ushort.MaxValue;
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}
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/// <summary>
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/// Go through each steerer and combine their vectors
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/// </summary>
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private void Steer(
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EntityUid uid,
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NPCSteeringComponent steering,
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InputMoverComponent mover,
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TransformComponent xform,
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float frameTime,
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TimeSpan curTime)
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{
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if (Deleted(steering.Coordinates.EntityId))
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{
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SetDirection(mover, steering, Vector2.Zero);
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steering.Status = SteeringStatus.NoPath;
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return;
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}
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// No path set from pathfinding or the likes.
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if (steering.Status == SteeringStatus.NoPath)
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{
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SetDirection(mover, steering, Vector2.Zero);
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return;
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}
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// Can't move at all, just noop input.
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if (!mover.CanMove)
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{
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SetDirection(mover, steering, Vector2.Zero);
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steering.Status = SteeringStatus.NoPath;
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return;
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}
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var agentRadius = steering.Radius;
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var worldPos = _transform.GetWorldPosition(xform);
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var (layer, mask) = _physics.GetHardCollision(uid);
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// Use rotation relative to parent to rotate our context vectors by.
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var offsetRot = -_mover.GetParentGridAngle(mover);
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_modifierQuery.TryGetComponent(uid, out var modifier);
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var moveSpeed = GetSprintSpeed(uid, modifier);
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var body = _physicsQuery.GetComponent(uid);
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var dangerPoints = steering.DangerPoints;
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dangerPoints.Clear();
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Span<float> interest = stackalloc float[InterestDirections];
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Span<float> danger = stackalloc float[InterestDirections];
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// TODO: This should be fly
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steering.CanSeek = true;
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var ev = new NPCSteeringEvent(steering, xform, worldPos, offsetRot);
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RaiseLocalEvent(uid, ref ev);
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// If seek has arrived at the target node for example then immediately re-steer.
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var forceSteer = true;
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if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, frameTime, ref forceSteer))
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{
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SetDirection(mover, steering, Vector2.Zero);
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return;
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}
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DebugTools.Assert(!float.IsNaN(interest[0]));
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// Don't steer too frequently to avoid twitchiness.
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// This should also implicitly solve tie situations.
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// I think doing this after all the ops above is best?
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// Originally I had it way above but sometimes mobs would overshoot their tile targets.
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if (!forceSteer)
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{
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SetDirection(mover, steering, steering.LastSteerDirection, false);
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return;
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}
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// Avoid static objects like walls
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CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger);
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DebugTools.Assert(!float.IsNaN(danger[0]));
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Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger);
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// Blend last and current tick
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Blend(steering, frameTime, interest, danger);
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// Remove the danger map from the interest map.
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var desiredDirection = -1;
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var desiredValue = 0f;
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for (var i = 0; i < InterestDirections; i++)
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{
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var adjustedValue = Math.Clamp(steering.Interest[i] - steering.Danger[i], 0f, 1f);
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if (adjustedValue > desiredValue)
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{
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desiredDirection = i;
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desiredValue = adjustedValue;
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}
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}
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var resultDirection = Vector2.Zero;
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if (desiredDirection != -1)
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{
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resultDirection = new Angle(desiredDirection * InterestRadians).ToVec();
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}
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steering.LastSteerDirection = resultDirection;
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DebugTools.Assert(!float.IsNaN(resultDirection.X));
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SetDirection(mover, steering, resultDirection, false);
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}
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private EntityCoordinates GetCoordinates(PathPoly poly)
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{
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if (!poly.IsValid())
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return EntityCoordinates.Invalid;
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return new EntityCoordinates(poly.GraphUid, poly.Box.Center);
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}
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/// <summary>
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/// Get a new job from the pathfindingsystem
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/// </summary>
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private async void RequestPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
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{
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// If we already have a pathfinding request then don't grab another.
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// If we're in range then just beeline them; this can avoid stutter stepping and is an easy way to look nicer.
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if (steering.Pathfind || targetDistance < steering.RepathRange)
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return;
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// Short-circuit with no path.
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var targetPoly = _pathfindingSystem.GetPoly(steering.Coordinates);
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// If this still causes issues future sloth adjust the collision mask.
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// Thanks past sloth I already realised.
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if (targetPoly != null &&
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steering.Coordinates.Position.Equals(Vector2.Zero) &&
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TryComp<PhysicsComponent>(uid, out var physics) &&
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_interaction.InRangeUnobstructed(uid, steering.Coordinates.EntityId, range: 30f, (CollisionGroup)physics.CollisionMask))
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{
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steering.CurrentPath.Clear();
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steering.CurrentPath.Enqueue(targetPoly);
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return;
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}
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steering.PathfindToken = new CancellationTokenSource();
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var flags = _pathfindingSystem.GetFlags(uid);
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var result = await _pathfindingSystem.GetPathSafe(
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uid,
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xform.Coordinates,
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steering.Coordinates,
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steering.Range,
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steering.PathfindToken.Token,
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flags);
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steering.PathfindToken = null;
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if (result.Result == PathResult.NoPath)
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{
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steering.CurrentPath.Clear();
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steering.FailedPathCount++;
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if (steering.FailedPathCount >= NPCSteeringComponent.FailedPathLimit)
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{
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steering.Status = SteeringStatus.NoPath;
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}
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return;
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}
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var targetPos = steering.Coordinates.ToMap(EntityManager, _transform);
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var ourPos = xform.MapPosition;
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PrunePath(uid, ourPos, targetPos.Position - ourPos.Position, result.Path);
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steering.CurrentPath = new Queue<PathPoly>(result.Path);
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}
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// TODO: Move these to movercontroller
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private float GetSprintSpeed(EntityUid uid, MovementSpeedModifierComponent? modifier = null)
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{
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if (!Resolve(uid, ref modifier, false))
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{
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return MovementSpeedModifierComponent.DefaultBaseSprintSpeed;
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}
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return modifier.CurrentSprintSpeed;
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}
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}
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