f819404f6d
* 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
141 lines
4.0 KiB
C#
141 lines
4.0 KiB
C#
using System.Numerics;
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using System.Threading;
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using Content.Server.NPC.Pathfinding;
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using Content.Shared.DoAfter;
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using Content.Shared.NPC;
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using Robust.Shared.Map;
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using Robust.Shared.Serialization.TypeSerializers.Implementations.Custom;
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namespace Content.Server.NPC.Components;
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/// <summary>
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/// Added to NPCs that are moving.
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/// </summary>
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[RegisterComponent, AutoGenerateComponentPause]
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public sealed partial class NPCSteeringComponent : Component
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{
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#region Context Steering
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/// <summary>
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/// Used to override seeking behavior for context steering.
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/// </summary>
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[ViewVariables]
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public bool CanSeek = true;
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/// <summary>
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/// Radius for collision avoidance.
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/// </summary>
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[ViewVariables(VVAccess.ReadWrite)]
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public float Radius = 0.35f;
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[ViewVariables, DataField]
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public float[] Interest = new float[SharedNPCSteeringSystem.InterestDirections];
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[ViewVariables, DataField]
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public float[] Danger = new float[SharedNPCSteeringSystem.InterestDirections];
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// TODO: Update radius, also danger points debug only
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public readonly List<Vector2> DangerPoints = new();
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#endregion
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/// <summary>
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/// Set to true from other systems if you wish to force the NPC to move closer.
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/// </summary>
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[DataField("forceMove")]
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public bool ForceMove = false;
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[DataField("lastSteerDirection")]
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public Vector2 LastSteerDirection = Vector2.Zero;
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/// <summary>
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/// Last position we considered for being stuck.
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/// </summary>
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[DataField("lastStuckCoordinates")]
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public EntityCoordinates LastStuckCoordinates;
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[DataField("lastStuckTime", customTypeSerializer:typeof(TimeOffsetSerializer))]
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[AutoPausedField]
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public TimeSpan LastStuckTime;
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public const float StuckDistance = 1f;
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/// <summary>
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/// Have we currently requested a path.
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/// </summary>
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[ViewVariables]
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public bool Pathfind => PathfindToken != null;
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/// <summary>
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/// Are we considered arrived if we have line of sight of the target.
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/// </summary>
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[DataField("arriveOnLineOfSight")]
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public bool ArriveOnLineOfSight = false;
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/// <summary>
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/// How long the target has been in line of sight if applicable.
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/// </summary>
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[DataField("lineOfSightTimer")]
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public float LineOfSightTimer = 0f;
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[DataField("lineOfSightTimeRequired")]
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public float LineOfSightTimeRequired = 0.5f;
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[ViewVariables] public CancellationTokenSource? PathfindToken = null;
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/// <summary>
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/// Current path we're following to our coordinates.
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/// </summary>
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[ViewVariables] public Queue<PathPoly> CurrentPath = new();
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/// <summary>
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/// End target that we're trying to move to.
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/// </summary>
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[ViewVariables(VVAccess.ReadWrite)] public EntityCoordinates Coordinates;
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/// <summary>
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/// How close are we trying to get to the coordinates before being considered in range.
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/// </summary>
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[ViewVariables(VVAccess.ReadWrite)] public float Range = 0.2f;
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/// <summary>
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/// How far does the last node in the path need to be before considering re-pathfinding.
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/// </summary>
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[ViewVariables(VVAccess.ReadWrite)] public float RepathRange = 1.5f;
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public const int FailedPathLimit = 3;
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/// <summary>
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/// How many times we've failed to pathfind. Once this hits the limit we'll stop steering.
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/// </summary>
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[ViewVariables] public int FailedPathCount;
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[ViewVariables] public SteeringStatus Status = SteeringStatus.Moving;
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[ViewVariables(VVAccess.ReadWrite)] public PathFlags Flags = PathFlags.None;
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/// <summary>
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/// If the NPC is using a do_after to clear an obstacle.
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/// </summary>
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[DataField("doAfterId")]
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public DoAfterId? DoAfterId = null;
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}
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public enum SteeringStatus : byte
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{
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/// <summary>
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/// If we can't reach the target (e.g. different map).
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/// </summary>
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NoPath,
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/// <summary>
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/// Are we moving towards our target
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/// </summary>
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Moving,
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/// <summary>
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/// Are we currently in range of our target.
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/// </summary>
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InRange,
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}
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