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Physics (#3485)

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* Content side new physics structure

* BroadPhase outline done

* But we need to fix WorldAABB

* Fix static pvs AABB

* Fix import

* Rando fixes

* B is for balloon

* Change human mob hitbox to circle

* Decent movement

* Start adding friction to player controller

I think it's the best way to go about it to keep other objects somewhat consistent for physics.

* This baby can fit so many physics bugs in it.

* Slight mob mover optimisations.

* Player mover kinda works okay.

* Beginnings of testbed

* More testbed

* Circlestack bed

* Namespaces

* BB fixes

* Pull WorldAABB

* Joint pulling

* Semi-decent movement I guess.

* Pulling better

* Bullet controller + old movement

* im too dumb for this shit

* Use kinematic mob controller again

It's probably for the best TBH

* Stashed shitcode

* Remove SlipController

* In which movement code is entirely refactored

* Singularity fix

* Fix ApplyLinearImpulse

* MoveRelay fix

* Fix door collisions

* Disable subfloor collisions

Saves on broadphase a fair bit

* Re-implement ClimbController

* Zumzum's pressure

* Laggy item throwing

* Minor atmos change

* Some caching

* Optimise controllers

* Optimise CollideWith to hell and back

* Re-do throwing and tile friction

* Landing too

* Optimise controllers

* Move CCVars and other stuff swept is beautiful

* Cleanup a bunch of controllers

* Fix shooting and high pressure movement controller

* Flashing improvements

* Stuff and things

* Combat collisions

* Combat mode collisions

* Pulling distance joint again

* Cleanup physics interfaces

* More like scuffedularity

* Shit's fucked

* Haha tests go green

* Bigmoneycrab

* Fix dupe pulling

* Zumzum's based fix

* Don't run tile friction for non-predicted bodies

* Experimental pulling improvement

* Everything's a poly now

* Optimise AI region debugging a bit

Could still be better but should improve default performance a LOT

* Mover no updater

* Crazy kinematic body idea

* Good collisions

* KinematicController

* Fix aghost

* Throwing refactor

* Pushing cleanup

* Fix throwing and footstep sounds

* Frametime in ICollideBehavior

* Fix stuff

* Actually fix weightlessness

* Optimise collision behaviors a lot

* Make open lockers still collide with walls

* powwweeerrrrr

* Merge master proper

* AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

* AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

* AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

* Ch ch ch changesss

* SHIP IT

* Fix #if DEBUG

* Fix vaulting and item locker collision

* Fix throwing

* Editing yaml by hand what can go wrong

* on

* Last yaml fixes

* Okay now it's fixed

* Linter

Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
Co-authored-by: Vera Aguilera Puerto <zddm@outlook.es>
This commit is contained in:
metalgearsloth
2021-03-08 04:09:59 +11:00
committed by GitHub
parent 217e8c0ba2
commit 4d064abcd7
237 changed files with 3365 additions and 2880 deletions
Download Patch File Download Diff File Expand all files Collapse all files

55
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/Accessible/AiReachableSystem.cs
View File

@@ -6,10 +6,13 @@ using Content.Shared.AI;
using Content.Shared.GameTicking;
using JetBrains.Annotations;
using Robust.Server.GameObjects;
using Robust.Server.Player;
using Robust.Shared.GameObjects;
using Robust.Shared.IoC;
using Robust.Shared.Map;
using Robust.Shared.Maths;
using Robust.Shared.Physics;
using Robust.Shared.Players;
using Robust.Shared.Timing;
using Robust.Shared.Utility;
@@ -73,6 +76,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
private readonly List<PathfindingRegion> _queuedCacheDeletions = new();
#if DEBUG
private HashSet<IPlayerSession> _subscribedSessions = new();
private int _runningCacheIdx = 0;
#endif
@@ -81,7 +85,8 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
_pathfindingSystem = Get<PathfindingSystem>();
SubscribeLocalEvent<PathfindingChunkUpdateMessage>(RecalculateNodeRegions);
#if DEBUG
SubscribeLocalEvent<PlayerAttachSystemMessage>(SendDebugMessage);
SubscribeNetworkEvent<SharedAiDebug.SubscribeReachableMessage>(HandleSubscription);
SubscribeNetworkEvent<SharedAiDebug.UnsubscribeReachableMessage>(HandleUnsubscription);
#endif
_mapManager.OnGridRemoved += GridRemoved;
}
@@ -99,8 +104,9 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
GenerateRegions(chunk);
}
// TODO: Only send diffs instead
#if DEBUG
if (_queuedUpdates.Count > 0)
if (_subscribedSessions.Count > 0 && _queuedUpdates.Count > 0)
{
foreach (var (gridId, regs) in _regions)
{
@@ -129,8 +135,28 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
_cachedAccessible.Clear();
_queuedCacheDeletions.Clear();
_mapManager.OnGridRemoved -= GridRemoved;
UnsubscribeLocalEvent<PathfindingChunkUpdateMessage>();
UnsubscribeLocalEvent<PlayerAttachSystemMessage>();
UnsubscribeNetworkEvent<SharedAiDebug.SubscribeReachableMessage>();
UnsubscribeNetworkEvent<SharedAiDebug.UnsubscribeReachableMessage>();
}
#if DEBUG
private void HandleSubscription(SharedAiDebug.SubscribeReachableMessage message, EntitySessionEventArgs eventArgs)
{
_subscribedSessions.Add((IPlayerSession) eventArgs.SenderSession);
foreach (var (gridId, _) in _regions)
{
SendRegionsDebugMessage(gridId);
}
}
private void HandleUnsubscription(SharedAiDebug.UnsubscribeReachableMessage message, EntitySessionEventArgs eventArgs)
{
_subscribedSessions.Remove((IPlayerSession) eventArgs.SenderSession);
}
#endif
private void RecalculateNodeRegions(PathfindingChunkUpdateMessage message)
{
// TODO: Only need to do changed nodes ideally
@@ -154,7 +180,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
var targetNode = _pathfindingSystem.GetNode(targetTile);
var collisionMask = 0;
if (entity.TryGetComponent(out IPhysicsComponent physics))
if (entity.TryGetComponent(out IPhysBody physics))
{
collisionMask = physics.CollisionMask;
}
@@ -681,15 +707,9 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
}
#if DEBUG
private void SendDebugMessage(PlayerAttachSystemMessage message)
{
var playerGrid = message.Entity.Transform.GridID;
if(playerGrid.IsValid())
SendRegionsDebugMessage(playerGrid);
}
private void SendRegionsDebugMessage(GridId gridId)
{
if (_subscribedSessions.Count == 0) return;
var grid = _mapManager.GetGrid(gridId);
// Chunk / Regions / Nodes
var debugResult = new Dictionary<int, Dictionary<int, List<Vector2>>>();
@@ -722,17 +742,23 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
chunkIdx++;
}
RaiseNetworkEvent(new SharedAiDebug.ReachableChunkRegionsDebugMessage(gridId, debugResult));
foreach (var session in _subscribedSessions)
{
RaiseNetworkEvent(new SharedAiDebug.ReachableChunkRegionsDebugMessage(gridId, debugResult), session.ConnectedClient);
}
}
/// <summary>
/// Sent whenever the reachable cache for a particular mob is built or retrieved
/// Sent whenever the reachable cache for a particular mob is built or retrieved
/// </summary>
/// <param name="gridId"></param>
/// <param name="regions"></param>
/// <param name="cached"></param>
private void SendRegionCacheMessage(GridId gridId, IEnumerable<PathfindingRegion> regions, bool cached)
{
if (_subscribedSessions.Count == 0) return;
var grid = _mapManager.GetGrid(gridId);
var debugResult = new Dictionary<int, List<Vector2>>();
@@ -750,7 +776,10 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
_runningCacheIdx++;
}
RaiseNetworkEvent(new SharedAiDebug.ReachableCacheDebugMessage(gridId, debugResult, cached));
foreach (var session in _subscribedSessions)
{
RaiseNetworkEvent(new SharedAiDebug.ReachableCacheDebugMessage(gridId, debugResult, cached), session.ConnectedClient);
}
}
#endif
}

3
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/Accessible/ReachableArgs.cs
View File

@@ -3,6 +3,7 @@ using System.Collections.Generic;
using Content.Server.GameObjects.Components.Access;
using Content.Server.GameObjects.Components.Movement;
using Robust.Shared.GameObjects;
using Robust.Shared.Physics;
namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
{
@@ -27,7 +28,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Accessible
public static ReachableArgs GetArgs(IEntity entity)
{
var collisionMask = 0;
if (entity.TryGetComponent(out IPhysicsComponent? physics))
if (entity.TryGetComponent(out IPhysBody? physics))
{
collisionMask = physics.CollisionMask;
}

7
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/PathfindingNode.cs
View File

@@ -6,6 +6,7 @@ using Content.Server.GameObjects.Components.Doors;
using Robust.Shared.GameObjects;
using Robust.Shared.Map;
using Robust.Shared.Maths;
using Robust.Shared.Physics;
using Robust.Shared.Utility;
namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
@@ -40,7 +41,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
GenerateMask();
}
public static bool IsRelevant(IEntity entity, IPhysicsComponent physicsComponent)
public static bool IsRelevant(IEntity entity, IPhysBody physicsComponent)
{
if (entity.Transform.GridID == GridId.Invalid ||
(PathfindingSystem.TrackedCollisionLayers & physicsComponent.CollisionLayer) == 0)
@@ -256,7 +257,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
/// <param name="entity"></param>
/// TODO: These 2 methods currently don't account for a bunch of changes (e.g. airlock unpowered, wrenching, etc.)
/// TODO: Could probably optimise this slightly more.
public void AddEntity(IEntity entity, IPhysicsComponent physicsComponent)
public void AddEntity(IEntity entity, IPhysBody physicsComponent)
{
// If we're a door
if (entity.HasComponent<AirlockComponent>() || entity.HasComponent<ServerDoorComponent>())
@@ -275,7 +276,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
DebugTools.Assert((PathfindingSystem.TrackedCollisionLayers & physicsComponent.CollisionLayer) != 0);
if (!physicsComponent.Anchored)
if (physicsComponent.BodyType == BodyType.Static)
{
_physicsLayers.Add(entity, physicsComponent.CollisionLayer);
}

12
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/PathfindingSystem.cs
View File

@@ -11,6 +11,7 @@ using Robust.Shared.GameObjects;
using Robust.Shared.IoC;
using Robust.Shared.Map;
using Robust.Shared.Maths;
using Robust.Shared.Physics;
using Robust.Shared.Utility;
namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
@@ -29,7 +30,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
{
[Dependency] private readonly IMapManager _mapManager = default!;
[Dependency] private readonly IEntityManager _entityManager = default!;
public IReadOnlyDictionary<GridId, Dictionary<Vector2i, PathfindingChunk>> Graph => _graph;
private readonly Dictionary<GridId, Dictionary<Vector2i, PathfindingChunk>> _graph = new();
@@ -81,7 +82,8 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
foreach (var update in _collidableUpdateQueue)
{
var entity = EntityManager.GetEntity(update.Owner);
if (!EntityManager.TryGetEntity(update.Owner, out var entity)) continue;
if (update.CanCollide)
{
HandleEntityAdd(entity);
@@ -262,7 +264,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
{
if (entity.Deleted ||
_lastKnownPositions.ContainsKey(entity) ||
!entity.TryGetComponent(out IPhysicsComponent physics) ||
!entity.TryGetComponent(out IPhysBody physics) ||
!PathfindingNode.IsRelevant(entity, physics))
{
return;
@@ -301,7 +303,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
{
// If we've moved to space or the likes then remove us.
if (moveEvent.Sender.Deleted ||
!moveEvent.Sender.TryGetComponent(out IPhysicsComponent physics) ||
!moveEvent.Sender.TryGetComponent(out IPhysBody physics) ||
!PathfindingNode.IsRelevant(moveEvent.Sender, physics) ||
moveEvent.NewPosition.GetGridId(EntityManager) == GridId.Invalid)
{
@@ -366,7 +368,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding
public bool CanTraverse(IEntity entity, PathfindingNode node)
{
if (entity.TryGetComponent(out IPhysicsComponent physics) &&
if (entity.TryGetComponent(out IPhysBody physics) &&
(physics.CollisionMask & node.BlockedCollisionMask) != 0)
{
return false;

9
Content.Server/GameObjects/EntitySystems/AI/Steering/AiSteeringSystem.cs
View File

@@ -13,6 +13,7 @@ using Robust.Shared.GameObjects;
using Robust.Shared.IoC;
using Robust.Shared.Map;
using Robust.Shared.Maths;
using Robust.Shared.Physics;
using Robust.Shared.Timing;
using Robust.Shared.Utility;
using Robust.Shared.ViewVariables;
@@ -413,7 +414,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
var startTile = gridManager.GetTileRef(entity.Transform.Coordinates);
var endTile = gridManager.GetTileRef(steeringRequest.TargetGrid);
var collisionMask = 0;
if (entity.TryGetComponent(out IPhysicsComponent physics))
if (entity.TryGetComponent(out IPhysBody physics))
{
collisionMask = physics.CollisionMask;
}
@@ -599,7 +600,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
return Vector2.Zero;
}
if (target.TryGetComponent(out IPhysicsComponent physics))
if (target.TryGetComponent(out IPhysBody physics))
{
var targetDistance = (targetPos.Position - entityPos.Position);
targetPos = targetPos.Offset(physics.LinearVelocity * targetDistance);
@@ -617,7 +618,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
/// <returns></returns>
private Vector2 CollisionAvoidance(IEntity entity, Vector2 direction, ICollection<IEntity> ignoredTargets)
{
if (direction == Vector2.Zero || !entity.TryGetComponent(out IPhysicsComponent physics))
if (direction == Vector2.Zero || !entity.TryGetComponent(out IPhysBody physics))
{
return Vector2.Zero;
}
@@ -658,7 +659,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
// if we're moving in the same direction then ignore
// So if 2 entities are moving towards each other and both detect a collision they'll both move in the same direction
// i.e. towards the right
if (physicsEntity.TryGetComponent(out IPhysicsComponent otherPhysics) &&
if (physicsEntity.TryGetComponent(out IPhysBody otherPhysics) &&
Vector2.Dot(otherPhysics.LinearVelocity, direction) > 0)
{
continue;