114 lines
2.8 KiB
C#
114 lines
2.8 KiB
C#
using System.Threading;
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using System.Threading.Tasks;
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using Content.Shared.NPC;
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using Robust.Shared.Map;
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using Robust.Shared.Timing;
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using Robust.Shared.Utility;
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namespace Content.Server.NPC.Pathfinding;
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/// <summary>
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/// Stores the in-progress data of a pathfinding request.
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/// </summary>
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public abstract class PathRequest
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{
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public EntityCoordinates Start;
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public Task<PathResult> Task => Tcs.Task;
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public readonly TaskCompletionSource<PathResult> Tcs;
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public Queue<PathPoly> Polys = new();
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public bool Started = false;
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#region Pathfinding state
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public readonly Stopwatch Stopwatch = new();
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public PriorityQueue<ValueTuple<float, PathPoly>> Frontier = default!;
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public readonly Dictionary<PathPoly, float> CostSoFar = new();
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public readonly Dictionary<PathPoly, PathPoly> CameFrom = new();
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#endregion
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#region Data
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public readonly PathFlags Flags;
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public readonly int CollisionLayer;
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public readonly int CollisionMask;
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#endregion
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public PathRequest(EntityCoordinates start, PathFlags flags, int layer, int mask, CancellationToken cancelToken)
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{
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Start = start;
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Flags = flags;
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CollisionLayer = layer;
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CollisionMask = mask;
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Tcs = new TaskCompletionSource<PathResult>(cancelToken);
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}
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}
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public sealed class AStarPathRequest : PathRequest
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{
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public EntityCoordinates End;
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/// <summary>
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/// How close we need to be to the end node to be considered as arrived.
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/// </summary>
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public float Distance;
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public AStarPathRequest(
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EntityCoordinates start,
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EntityCoordinates end,
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PathFlags flags,
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float distance,
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int layer,
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int mask,
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CancellationToken cancelToken) : base(start, flags, layer, mask, cancelToken)
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{
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Distance = distance;
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End = end;
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}
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}
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public sealed class BFSPathRequest : PathRequest
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{
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/// <summary>
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/// How far away we're allowed to expand in distance.
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/// </summary>
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public float ExpansionRange;
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/// <summary>
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/// How many nodes we're allowed to expand
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/// </summary>
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public int ExpansionLimit;
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public BFSPathRequest(
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float expansionRange,
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int expansionLimit,
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EntityCoordinates start,
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PathFlags flags,
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int layer,
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int mask,
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CancellationToken cancelToken) : base(start, flags, layer, mask, cancelToken)
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{
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ExpansionRange = expansionRange;
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ExpansionLimit = expansionLimit;
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}
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}
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/// <summary>
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/// Stores the final result of a pathfinding request
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/// </summary>
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public sealed class PathResultEvent
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{
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public PathResult Result;
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public readonly Queue<PathPoly> Path;
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public PathResultEvent(PathResult result, Queue<PathPoly> path)
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{
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Result = result;
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Path = path;
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}
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}
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