using Robust.Shared.Timing;
using Robust.Shared.Utility;
-namespace Content.Server.NPC.Systems
+namespace Content.Server.NPC.Systems;
+
+public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
{
- public sealed partial class NPCSteeringSystem : SharedNPCSteeringSystem
+ /*
+ * We use context steering to determine which way to move.
+ * This involves creating an array of possible directions and assigning a value for the desireability of each direction.
+ *
+ * There's multiple ways to implement this, e.g. you can average all directions, or you can choose the highest direction
+ * , or you can remove the danger map entirely and only having an interest map (AKA game endeavour).
+ * See http://www.gameaipro.com/GameAIPro2/GameAIPro2_Chapter18_Context_Steering_Behavior-Driven_Steering_at_the_Macro_Scale.pdf
+ * (though in their case it was for an F1 game so used context steering across the width of the road).
+ */
+
+ [Dependency] private readonly IAdminManager _admin = default!;
+ [Dependency] private readonly IConfigurationManager _configManager = default!;
+ [Dependency] private readonly IGameTiming _timing = default!;
+ [Dependency] private readonly IMapManager _mapManager = default!;
+ [Dependency] private readonly IParallelManager _parallel = default!;
+ [Dependency] private readonly IRobustRandom _random = default!;
+ [Dependency] private readonly DoAfterSystem _doAfter = default!;
+ [Dependency] private readonly DoorSystem _doors = default!;
+ [Dependency] private readonly EntityLookupSystem _lookup = default!;
+ [Dependency] private readonly FactionSystem _faction = default!;
+ [Dependency] private readonly PathfindingSystem _pathfindingSystem = default!;
+ [Dependency] private readonly SharedInteractionSystem _interaction = default!;
+ [Dependency] private readonly SharedMeleeWeaponSystem _melee = default!;
+ [Dependency] private readonly SharedMoverController _mover = default!;
+ [Dependency] private readonly SharedPhysicsSystem _physics = default!;
+ [Dependency] private readonly SharedTransformSystem _transform = default!;
+ [Dependency] private readonly SharedCombatModeSystem _combat = default!;
+
+ /// <summary>
+ /// Enabled antistuck detection so if an NPC is in the same spot for a while it will re-path.
+ /// </summary>
+ public bool AntiStuck = true;
+
+ private bool _enabled;
+
+ private bool _pathfinding = true;
+
+ public static readonly Vector2[] Directions = new Vector2[InterestDirections];
+
+ private readonly HashSet<ICommonSession> _subscribedSessions = new();
+
+ private object _obstacles = new();
+
+ private ISawmill _sawmill = default!;
+
+ public override void Initialize()
{
- /*
- * We use context steering to determine which way to move.
- * This involves creating an array of possible directions and assigning a value for the desireability of each direction.
- *
- * There's multiple ways to implement this, e.g. you can average all directions, or you can choose the highest direction
- * , or you can remove the danger map entirely and only having an interest map (AKA game endeavour).
- * See http://www.gameaipro.com/GameAIPro2/GameAIPro2_Chapter18_Context_Steering_Behavior-Driven_Steering_at_the_Macro_Scale.pdf
- * (though in their case it was for an F1 game so used context steering across the width of the road).
- */
-
- [Dependency] private readonly IAdminManager _admin = default!;
- [Dependency] private readonly IConfigurationManager _configManager = default!;
- [Dependency] private readonly IGameTiming _timing = default!;
- [Dependency] private readonly IMapManager _mapManager = default!;
- [Dependency] private readonly IParallelManager _parallel = default!;
- [Dependency] private readonly IRobustRandom _random = default!;
- [Dependency] private readonly DoAfterSystem _doAfter = default!;
- [Dependency] private readonly DoorSystem _doors = default!;
- [Dependency] private readonly EntityLookupSystem _lookup = default!;
- [Dependency] private readonly FactionSystem _faction = default!;
- [Dependency] private readonly PathfindingSystem _pathfindingSystem = default!;
- [Dependency] private readonly SharedInteractionSystem _interaction = default!;
- [Dependency] private readonly SharedMeleeWeaponSystem _melee = default!;
- [Dependency] private readonly SharedMoverController _mover = default!;
- [Dependency] private readonly SharedPhysicsSystem _physics = default!;
- [Dependency] private readonly SharedTransformSystem _transform = default!;
- [Dependency] private readonly SharedCombatModeSystem _combat = default!;
-
- /// <summary>
- /// Enabled antistuck detection so if an NPC is in the same spot for a while it will re-path.
- /// </summary>
- public bool AntiStuck = true;
-
- private bool _enabled;
-
- private bool _pathfinding = true;
-
- public static readonly Vector2[] Directions = new Vector2[InterestDirections];
-
- private readonly HashSet<ICommonSession> _subscribedSessions = new();
-
- private object _obstacles = new();
-
- private ISawmill _sawmill = default!;
-
- public override void Initialize()
- {
- base.Initialize();
- _sawmill = Logger.GetSawmill("npc.steering");
+ base.Initialize();
+ _sawmill = Logger.GetSawmill("npc.steering");
#if DEBUG
- _sawmill.Level = LogLevel.Warning;
+ _sawmill.Level = LogLevel.Warning;
#else
_sawmill.Level = LogLevel.Debug;
#endif
- for (var i = 0; i < InterestDirections; i++)
- {
- Directions[i] = new Angle(InterestRadians * i).ToVec();
- }
+ for (var i = 0; i < InterestDirections; i++)
+ {
+ Directions[i] = new Angle(InterestRadians * i).ToVec();
+ }
- UpdatesBefore.Add(typeof(SharedPhysicsSystem));
- _configManager.OnValueChanged(CCVars.NPCEnabled, SetNPCEnabled, true);
- _configManager.OnValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding, true);
+ UpdatesBefore.Add(typeof(SharedPhysicsSystem));
+ _configManager.OnValueChanged(CCVars.NPCEnabled, SetNPCEnabled, true);
+ _configManager.OnValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding, true);
- SubscribeLocalEvent<NPCSteeringComponent, ComponentShutdown>(OnSteeringShutdown);
- SubscribeLocalEvent<NPCSteeringComponent, EntityUnpausedEvent>(OnSteeringUnpaused);
- SubscribeNetworkEvent<RequestNPCSteeringDebugEvent>(OnDebugRequest);
- }
+ SubscribeLocalEvent<NPCSteeringComponent, ComponentShutdown>(OnSteeringShutdown);
+ SubscribeLocalEvent<NPCSteeringComponent, EntityUnpausedEvent>(OnSteeringUnpaused);
+ SubscribeNetworkEvent<RequestNPCSteeringDebugEvent>(OnDebugRequest);
+ }
- private void SetNPCEnabled(bool obj)
+ private void SetNPCEnabled(bool obj)
+ {
+ if (!obj)
{
- if (!obj)
+ foreach (var (comp, mover) in EntityQuery<NPCSteeringComponent, InputMoverComponent>())
{
- foreach (var (comp, mover) in EntityQuery<NPCSteeringComponent, InputMoverComponent>())
- {
- mover.CurTickSprintMovement = Vector2.Zero;
- comp.PathfindToken?.Cancel();
- comp.PathfindToken = null;
- }
+ mover.CurTickSprintMovement = Vector2.Zero;
+ comp.PathfindToken?.Cancel();
+ comp.PathfindToken = null;
}
-
- _enabled = obj;
}
- private void SetNPCPathfinding(bool value)
- {
- _pathfinding = value;
+ _enabled = obj;
+ }
- if (!_pathfinding)
+ private void SetNPCPathfinding(bool value)
+ {
+ _pathfinding = value;
+
+ if (!_pathfinding)
+ {
+ foreach (var comp in EntityQuery<NPCSteeringComponent>(true))
{
- foreach (var comp in EntityQuery<NPCSteeringComponent>(true))
- {
- comp.PathfindToken?.Cancel();
- comp.PathfindToken = null;
- }
+ comp.PathfindToken?.Cancel();
+ comp.PathfindToken = null;
}
}
+ }
- public override void Shutdown()
- {
- base.Shutdown();
- _configManager.UnsubValueChanged(CCVars.NPCEnabled, SetNPCEnabled);
- _configManager.UnsubValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding);
- }
+ public override void Shutdown()
+ {
+ base.Shutdown();
+ _configManager.UnsubValueChanged(CCVars.NPCEnabled, SetNPCEnabled);
+ _configManager.UnsubValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding);
+ }
- private void OnDebugRequest(RequestNPCSteeringDebugEvent msg, EntitySessionEventArgs args)
- {
- if (!_admin.IsAdmin((IPlayerSession) args.SenderSession))
- return;
+ private void OnDebugRequest(RequestNPCSteeringDebugEvent msg, EntitySessionEventArgs args)
+ {
+ if (!_admin.IsAdmin((IPlayerSession) args.SenderSession))
+ return;
- if (msg.Enabled)
- _subscribedSessions.Add(args.SenderSession);
- else
- _subscribedSessions.Remove(args.SenderSession);
- }
+ if (msg.Enabled)
+ _subscribedSessions.Add(args.SenderSession);
+ else
+ _subscribedSessions.Remove(args.SenderSession);
+ }
- private void OnSteeringShutdown(EntityUid uid, NPCSteeringComponent component, ComponentShutdown args)
+ private void OnSteeringShutdown(EntityUid uid, NPCSteeringComponent component, ComponentShutdown args)
+ {
+ // Cancel any active pathfinding jobs as they're irrelevant.
+ component.PathfindToken?.Cancel();
+ component.PathfindToken = null;
+ }
+
+ private void OnSteeringUnpaused(EntityUid uid, NPCSteeringComponent component, ref EntityUnpausedEvent args)
+ {
+ component.LastStuckTime += args.PausedTime;
+ component.NextSteer += args.PausedTime;
+ }
+
+ /// <summary>
+ /// Adds the AI to the steering system to move towards a specific target
+ /// </summary>
+ public NPCSteeringComponent Register(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
+ {
+ if (Resolve(uid, ref component, false))
{
- // Cancel any active pathfinding jobs as they're irrelevant.
component.PathfindToken?.Cancel();
component.PathfindToken = null;
+ component.CurrentPath.Clear();
}
-
- private void OnSteeringUnpaused(EntityUid uid, NPCSteeringComponent component, ref EntityUnpausedEvent args)
+ else
{
- component.LastStuckTime += args.PausedTime;
- component.NextSteer += args.PausedTime;
+ component = AddComp<NPCSteeringComponent>(uid);
+ component.Flags = _pathfindingSystem.GetFlags(uid);
}
- /// <summary>
- /// Adds the AI to the steering system to move towards a specific target
- /// </summary>
- public NPCSteeringComponent Register(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
- {
- if (Resolve(uid, ref component, false))
- {
- component.PathfindToken?.Cancel();
- component.PathfindToken = null;
- component.CurrentPath.Clear();
- }
- else
- {
- component = AddComp<NPCSteeringComponent>(uid);
- component.Flags = _pathfindingSystem.GetFlags(uid);
- }
-
- ResetStuck(component, Transform(uid).Coordinates);
- component.Coordinates = coordinates;
- return component;
- }
+ ResetStuck(component, Transform(uid).Coordinates);
+ component.Coordinates = coordinates;
+ return component;
+ }
- /// <summary>
- /// Attempts to register the entity. Does nothing if the coordinates already registered.
- /// </summary>
- public bool TryRegister(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
+ /// <summary>
+ /// Attempts to register the entity. Does nothing if the coordinates already registered.
+ /// </summary>
+ public bool TryRegister(EntityUid uid, EntityCoordinates coordinates, NPCSteeringComponent? component = null)
+ {
+ if (Resolve(uid, ref component, false) && component.Coordinates.Equals(coordinates))
{
- if (Resolve(uid, ref component, false) && component.Coordinates.Equals(coordinates))
- {
- return false;
- }
-
- Register(uid, coordinates, component);
- return true;
+ return false;
}
- /// <summary>
- /// Stops the steering behavior for the AI and cleans up.
- /// </summary>
- public void Unregister(EntityUid uid, NPCSteeringComponent? component = null)
- {
- if (!Resolve(uid, ref component, false))
- return;
+ Register(uid, coordinates, component);
+ return true;
+ }
- if (EntityManager.TryGetComponent(uid, out InputMoverComponent? controller))
- {
- controller.CurTickSprintMovement = Vector2.Zero;
- }
+ /// <summary>
+ /// Stops the steering behavior for the AI and cleans up.
+ /// </summary>
+ public void Unregister(EntityUid uid, NPCSteeringComponent? component = null)
+ {
+ if (!Resolve(uid, ref component, false))
+ return;
- component.PathfindToken?.Cancel();
- component.PathfindToken = null;
- RemComp<NPCSteeringComponent>(uid);
+ if (EntityManager.TryGetComponent(uid, out InputMoverComponent? controller))
+ {
+ controller.CurTickSprintMovement = Vector2.Zero;
}
- public override void Update(float frameTime)
- {
- base.Update(frameTime);
+ component.PathfindToken?.Cancel();
+ component.PathfindToken = null;
+ RemComp<NPCSteeringComponent>(uid);
+ }
- if (!_enabled)
- return;
+ public override void Update(float frameTime)
+ {
+ base.Update(frameTime);
- // Not every mob has the modifier component so do it as a separate query.
- var bodyQuery = GetEntityQuery<PhysicsComponent>();
- var modifierQuery = GetEntityQuery<MovementSpeedModifierComponent>();
- var xformQuery = GetEntityQuery<TransformComponent>();
+ if (!_enabled)
+ return;
- var npcs = EntityQuery<ActiveNPCComponent, NPCSteeringComponent, InputMoverComponent, TransformComponent>()
- .Select(o => (o.Item1.Owner, o.Item2, o.Item3, o.Item4)).ToArray();
+ // Not every mob has the modifier component so do it as a separate query.
+ var bodyQuery = GetEntityQuery<PhysicsComponent>();
+ var modifierQuery = GetEntityQuery<MovementSpeedModifierComponent>();
+ var xformQuery = GetEntityQuery<TransformComponent>();
- // Dependency issues across threads.
- var options = new ParallelOptions
- {
- MaxDegreeOfParallelism = 1,
- };
- var curTime = _timing.CurTime;
+ var npcs = EntityQuery<ActiveNPCComponent, NPCSteeringComponent, InputMoverComponent, TransformComponent>()
+ .Select(o => (o.Item1.Owner, o.Item2, o.Item3, o.Item4)).ToArray();
- Parallel.For(0, npcs.Length, options, i =>
- {
- var (uid, steering, mover, xform) = npcs[i];
- Steer(uid, steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
- });
+ // Dependency issues across threads.
+ var options = new ParallelOptions
+ {
+ MaxDegreeOfParallelism = 1,
+ };
+ var curTime = _timing.CurTime;
+ Parallel.For(0, npcs.Length, options, i =>
+ {
+ var (uid, steering, mover, xform) = npcs[i];
+ Steer(uid, steering, mover, xform, modifierQuery, bodyQuery, xformQuery, frameTime, curTime);
+ });
- if (_subscribedSessions.Count > 0)
- {
- var data = new List<NPCSteeringDebugData>(npcs.Length);
-
- foreach (var (uid, steering, mover, _) in npcs)
- {
- data.Add(new NPCSteeringDebugData(
- uid,
- mover.CurTickSprintMovement,
- steering.Interest,
- steering.Danger,
- steering.DangerPoints));
- }
-
- var filter = Filter.Empty();
- filter.AddPlayers(_subscribedSessions);
-
- RaiseNetworkEvent(new NPCSteeringDebugEvent(data), filter);
- }
- }
- private void SetDirection(InputMoverComponent component, NPCSteeringComponent steering, Vector2 value, bool clear = true)
+ if (_subscribedSessions.Count > 0)
{
- if (clear && value.Equals(Vector2.Zero))
+ var data = new List<NPCSteeringDebugData>(npcs.Length);
+
+ foreach (var (uid, steering, mover, _) in npcs)
{
- steering.CurrentPath.Clear();
+ data.Add(new NPCSteeringDebugData(
+ uid,
+ mover.CurTickSprintMovement,
+ steering.Interest,
+ steering.Danger,
+ steering.DangerPoints));
}
- component.CurTickSprintMovement = value;
- component.LastInputTick = _timing.CurTick;
- component.LastInputSubTick = ushort.MaxValue;
+ var filter = Filter.Empty();
+ filter.AddPlayers(_subscribedSessions);
+
+ RaiseNetworkEvent(new NPCSteeringDebugEvent(data), filter);
}
+ }
- /// <summary>
- /// Go through each steerer and combine their vectors
- /// </summary>
- private void Steer(
- EntityUid uid,
- NPCSteeringComponent steering,
- InputMoverComponent mover,
- TransformComponent xform,
- EntityQuery<MovementSpeedModifierComponent> modifierQuery,
- EntityQuery<PhysicsComponent> bodyQuery,
- EntityQuery<TransformComponent> xformQuery,
- float frameTime,
- TimeSpan curTime)
+ private void SetDirection(InputMoverComponent component, NPCSteeringComponent steering, Vector2 value, bool clear = true)
+ {
+ if (clear && value.Equals(Vector2.Zero))
{
- if (Deleted(steering.Coordinates.EntityId))
- {
- SetDirection(mover, steering, Vector2.Zero);
- steering.Status = SteeringStatus.NoPath;
- return;
- }
+ steering.CurrentPath.Clear();
+ }
- // No path set from pathfinding or the likes.
- if (steering.Status == SteeringStatus.NoPath)
- {
- SetDirection(mover, steering, Vector2.Zero);
- return;
- }
+ component.CurTickSprintMovement = value;
+ component.LastInputTick = _timing.CurTick;
+ component.LastInputSubTick = ushort.MaxValue;
+ }
- // Can't move at all, just noop input.
- if (!mover.CanMove)
- {
- SetDirection(mover, steering, Vector2.Zero);
- steering.Status = SteeringStatus.NoPath;
- return;
- }
+ /// <summary>
+ /// Go through each steerer and combine their vectors
+ /// </summary>
+ private void Steer(
+ EntityUid uid,
+ NPCSteeringComponent steering,
+ InputMoverComponent mover,
+ TransformComponent xform,
+ EntityQuery<MovementSpeedModifierComponent> modifierQuery,
+ EntityQuery<PhysicsComponent> bodyQuery,
+ EntityQuery<TransformComponent> xformQuery,
+ float frameTime,
+ TimeSpan curTime)
+ {
+ if (Deleted(steering.Coordinates.EntityId))
+ {
+ SetDirection(mover, steering, Vector2.Zero);
+ steering.Status = SteeringStatus.NoPath;
+ return;
+ }
- var interest = steering.Interest;
- var danger = steering.Danger;
- var agentRadius = steering.Radius;
- var worldPos = _transform.GetWorldPosition(xform, xformQuery);
- var (layer, mask) = _physics.GetHardCollision(uid);
-
- // Use rotation relative to parent to rotate our context vectors by.
- var offsetRot = -_mover.GetParentGridAngle(mover);
- modifierQuery.TryGetComponent(uid, out var modifier);
- var moveSpeed = GetSprintSpeed(uid, modifier);
- var body = bodyQuery.GetComponent(uid);
- var dangerPoints = steering.DangerPoints;
- dangerPoints.Clear();
-
- for (var i = 0; i < InterestDirections; i++)
- {
- steering.Interest[i] = 0f;
- steering.Danger[i] = 0f;
- }
+ // No path set from pathfinding or the likes.
+ if (steering.Status == SteeringStatus.NoPath)
+ {
+ SetDirection(mover, steering, Vector2.Zero);
+ return;
+ }
- var ev = new NPCSteeringEvent(steering, interest, danger, agentRadius, offsetRot, worldPos);
- RaiseLocalEvent(uid, ref ev);
- // If seek has arrived at the target node for example then immediately re-steer.
- var forceSteer = true;
+ // Can't move at all, just noop input.
+ if (!mover.CanMove)
+ {
+ SetDirection(mover, steering, Vector2.Zero);
+ steering.Status = SteeringStatus.NoPath;
+ return;
+ }
- if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, bodyQuery, frameTime, ref forceSteer))
- {
- SetDirection(mover, steering, Vector2.Zero);
- return;
- }
- DebugTools.Assert(!float.IsNaN(interest[0]));
+ var interest = steering.Interest;
+ var danger = steering.Danger;
+ var agentRadius = steering.Radius;
+ var worldPos = _transform.GetWorldPosition(xform, xformQuery);
+ var (layer, mask) = _physics.GetHardCollision(uid);
+
+ // Use rotation relative to parent to rotate our context vectors by.
+ var offsetRot = -_mover.GetParentGridAngle(mover);
+ modifierQuery.TryGetComponent(uid, out var modifier);
+ var moveSpeed = GetSprintSpeed(uid, modifier);
+ var body = bodyQuery.GetComponent(uid);
+ var dangerPoints = steering.DangerPoints;
+ dangerPoints.Clear();
+
+ for (var i = 0; i < InterestDirections; i++)
+ {
+ steering.Interest[i] = 0f;
+ steering.Danger[i] = 0f;
+ }
- // Avoid static objects like walls
- CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
- DebugTools.Assert(!float.IsNaN(danger[0]));
+ var ev = new NPCSteeringEvent(steering, interest, danger, agentRadius, offsetRot, worldPos);
+ RaiseLocalEvent(uid, ref ev);
+ // If seek has arrived at the target node for example then immediately re-steer.
+ var forceSteer = true;
- Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger, bodyQuery, xformQuery);
+ if (steering.CanSeek && !TrySeek(uid, mover, steering, body, xform, offsetRot, moveSpeed, interest, bodyQuery, frameTime, ref forceSteer))
+ {
+ SetDirection(mover, steering, Vector2.Zero);
+ return;
+ }
+ DebugTools.Assert(!float.IsNaN(interest[0]));
- // Remove the danger map from the interest map.
- var desiredDirection = -1;
- var desiredValue = 0f;
+ // Avoid static objects like walls
+ CollisionAvoidance(uid, offsetRot, worldPos, agentRadius, layer, mask, xform, danger, dangerPoints, bodyQuery, xformQuery);
+ DebugTools.Assert(!float.IsNaN(danger[0]));
- for (var i = 0; i < InterestDirections; i++)
- {
- var adjustedValue = Math.Clamp(interest[i] - danger[i], 0f, 1f);
+ Separation(uid, offsetRot, worldPos, agentRadius, layer, mask, body, xform, danger, bodyQuery, xformQuery);
- if (adjustedValue > desiredValue)
- {
- desiredDirection = i;
- desiredValue = adjustedValue;
- }
- }
+ // Remove the danger map from the interest map.
+ var desiredDirection = -1;
+ var desiredValue = 0f;
- var resultDirection = Vector2.Zero;
+ for (var i = 0; i < InterestDirections; i++)
+ {
+ var adjustedValue = Math.Clamp(interest[i] - danger[i], 0f, 1f);
- if (desiredDirection != -1)
+ if (adjustedValue > desiredValue)
{
- resultDirection = new Angle(desiredDirection * InterestRadians).ToVec();
+ desiredDirection = i;
+ desiredValue = adjustedValue;
}
+ }
- // Don't steer too frequently to avoid twitchiness.
- // This should also implicitly solve tie situations.
- // 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)
- {
- SetDirection(mover, steering, steering.LastSteerDirection, false);
- return;
- }
+ var resultDirection = Vector2.Zero;
- steering.NextSteer = curTime + TimeSpan.FromSeconds(1f / NPCSteeringComponent.SteeringFrequency);
- steering.LastSteerDirection = resultDirection;
- DebugTools.Assert(!float.IsNaN(resultDirection.X));
- SetDirection(mover, steering, resultDirection, false);
+ if (desiredDirection != -1)
+ {
+ resultDirection = new Angle(desiredDirection * InterestRadians).ToVec();
}
- private EntityCoordinates GetCoordinates(PathPoly poly)
- {
- if (!poly.IsValid())
- return EntityCoordinates.Invalid;
+ // Don't steer too frequently to avoid twitchiness.
+ // This should also implicitly solve tie situations.
+ // 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.
- return new EntityCoordinates(poly.GraphUid, poly.Box.Center);
+ if (!forceSteer && steering.NextSteer > curTime)
+ {
+ SetDirection(mover, steering, steering.LastSteerDirection, false);
+ return;
}
- /// <summary>
- /// Get a new job from the pathfindingsystem
- /// </summary>
- private async void RequestPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
- {
- // If we already have a pathfinding request then don't grab another.
- // If we're in range then just beeline them; this can avoid stutter stepping and is an easy way to look nicer.
- if (steering.Pathfind || targetDistance < steering.RepathRange)
- return;
-
- // Short-circuit with no path.
- var targetPoly = _pathfindingSystem.GetPoly(steering.Coordinates);
-
- // If this still causes issues future sloth adjust the collision mask.
- // Thanks past sloth I already realised.
- if (targetPoly != null &&
- steering.Coordinates.Position.Equals(Vector2.Zero) &&
- TryComp<PhysicsComponent>(uid, out var physics) &&
- _interaction.InRangeUnobstructed(uid, steering.Coordinates.EntityId, range: 30f, (CollisionGroup) physics.CollisionMask))
- {
- steering.CurrentPath.Clear();
- // Enqueue our poly as it will be pruned later.
- var ourPoly = _pathfindingSystem.GetPoly(xform.Coordinates);
+ steering.NextSteer = curTime + TimeSpan.FromSeconds(1f / NPCSteeringComponent.SteeringFrequency);
+ steering.LastSteerDirection = resultDirection;
+ DebugTools.Assert(!float.IsNaN(resultDirection.X));
+ SetDirection(mover, steering, resultDirection, false);
+ }
+
+ private EntityCoordinates GetCoordinates(PathPoly poly)
+ {
+ if (!poly.IsValid())
+ return EntityCoordinates.Invalid;
- if (ourPoly != null)
- {
- steering.CurrentPath.Enqueue(ourPoly);
- }
+ return new EntityCoordinates(poly.GraphUid, poly.Box.Center);
+ }
+
+ /// <summary>
+ /// Get a new job from the pathfindingsystem
+ /// </summary>
+ private async void RequestPath(EntityUid uid, NPCSteeringComponent steering, TransformComponent xform, float targetDistance)
+ {
+ // If we already have a pathfinding request then don't grab another.
+ // If we're in range then just beeline them; this can avoid stutter stepping and is an easy way to look nicer.
+ if (steering.Pathfind || targetDistance < steering.RepathRange)
+ return;
+
+ // Short-circuit with no path.
+ var targetPoly = _pathfindingSystem.GetPoly(steering.Coordinates);
+
+ // If this still causes issues future sloth adjust the collision mask.
+ // Thanks past sloth I already realised.
+ if (targetPoly != null &&
+ steering.Coordinates.Position.Equals(Vector2.Zero) &&
+ TryComp<PhysicsComponent>(uid, out var physics) &&
+ _interaction.InRangeUnobstructed(uid, steering.Coordinates.EntityId, range: 30f, (CollisionGroup) physics.CollisionMask))
+ {
+ steering.CurrentPath.Clear();
+ // Enqueue our poly as it will be pruned later.
+ var ourPoly = _pathfindingSystem.GetPoly(xform.Coordinates);
- steering.CurrentPath.Enqueue(targetPoly);
- return;
+ if (ourPoly != null)
+ {
+ steering.CurrentPath.Enqueue(ourPoly);
}
- steering.PathfindToken = new CancellationTokenSource();
+ steering.CurrentPath.Enqueue(targetPoly);
+ return;
+ }
- var flags = _pathfindingSystem.GetFlags(uid);
+ steering.PathfindToken = new CancellationTokenSource();
- var result = await _pathfindingSystem.GetPathSafe(
- uid,
- xform.Coordinates,
- steering.Coordinates,
- steering.Range,
- steering.PathfindToken.Token,
- flags);
+ var flags = _pathfindingSystem.GetFlags(uid);
- steering.PathfindToken = null;
+ var result = await _pathfindingSystem.GetPathSafe(
+ uid,
+ xform.Coordinates,
+ steering.Coordinates,
+ steering.Range,
+ steering.PathfindToken.Token,
+ flags);
- if (result.Result == PathResult.NoPath)
- {
- steering.CurrentPath.Clear();
- steering.FailedPathCount++;
+ steering.PathfindToken = null;
- if (steering.FailedPathCount >= NPCSteeringComponent.FailedPathLimit)
- {
- steering.Status = SteeringStatus.NoPath;
- }
+ if (result.Result == PathResult.NoPath)
+ {
+ steering.CurrentPath.Clear();
+ steering.FailedPathCount++;
- return;
+ if (steering.FailedPathCount >= NPCSteeringComponent.FailedPathLimit)
+ {
+ steering.Status = SteeringStatus.NoPath;
}
- var targetPos = steering.Coordinates.ToMap(EntityManager, _transform);
- var ourPos = xform.MapPosition;
-
- PrunePath(uid, ourPos, targetPos.Position - ourPos.Position, result.Path);
- steering.CurrentPath = result.Path;
+ return;
}
- // TODO: Move these to movercontroller
+ var targetPos = steering.Coordinates.ToMap(EntityManager, _transform);
+ var ourPos = xform.MapPosition;
- private float GetSprintSpeed(EntityUid uid, MovementSpeedModifierComponent? modifier = null)
- {
- if (!Resolve(uid, ref modifier, false))
- {
- return MovementSpeedModifierComponent.DefaultBaseSprintSpeed;
- }
+ PrunePath(uid, ourPos, targetPos.Position - ourPos.Position, result.Path);
+ steering.CurrentPath = result.Path;
+ }
+
+ // TODO: Move these to movercontroller
- return modifier.CurrentSprintSpeed;
+ private float GetSprintSpeed(EntityUid uid, MovementSpeedModifierComponent? modifier = null)
+ {
+ if (!Resolve(uid, ref modifier, false))
+ {
+ return MovementSpeedModifierComponent.DefaultBaseSprintSpeed;
}
+
+ return modifier.CurrentSprintSpeed;
}
}
projects / space-station-14.git / commitdiff