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AI Reachable system (#1342)

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Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
This commit is contained in:
metalgearsloth
2020-07-11 23:09:37 +10:00
committed by GitHub
parent 347b4b2893
commit 51d08e8b05
22 changed files with 1337 additions and 80 deletions
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230
Content.Client/GameObjects/EntitySystems/AI/ClientPathfindingDebugSystem.cs
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@@ -7,9 +7,11 @@ using Robust.Client.Graphics.Overlays;
using Robust.Client.Graphics.Shaders;
using Robust.Client.Interfaces.Graphics.ClientEye;
using Robust.Client.Interfaces.Graphics.Overlays;
using Robust.Client.Player;
using Robust.Shared.GameObjects.Systems;
using Robust.Shared.Interfaces.Random;
using Robust.Shared.IoC;
using Robust.Shared.Map;
using Robust.Shared.Maths;
using Robust.Shared.Prototypes;
using Robust.Shared.Random;
@@ -30,6 +32,16 @@ namespace Content.Client.GameObjects.EntitySystems.AI
SubscribeNetworkEvent<SharedAiDebug.AStarRouteMessage>(HandleAStarRouteMessage);
SubscribeNetworkEvent<SharedAiDebug.JpsRouteMessage>(HandleJpsRouteMessage);
SubscribeNetworkEvent<SharedAiDebug.PathfindingGraphMessage>(HandleGraphMessage);
SubscribeNetworkEvent<SharedAiDebug.ReachableChunkRegionsDebugMessage>(HandleRegionsMessage);
SubscribeNetworkEvent<SharedAiDebug.ReachableCacheDebugMessage>(HandleCachedRegionsMessage);
// I'm lazy
EnableOverlay();
}
public override void Shutdown()
{
base.Shutdown();
DisableOverlay();
}
private void HandleAStarRouteMessage(SharedAiDebug.AStarRouteMessage message)
@@ -62,10 +74,20 @@ namespace Content.Client.GameObjects.EntitySystems.AI
private void HandleGraphMessage(SharedAiDebug.PathfindingGraphMessage message)
{
if ((_modes & PathfindingDebugMode.Graph) != 0)
{
_overlay.UpdateGraph(message.Graph);
}
EnableOverlay();
_overlay.UpdateGraph(message.Graph);
}
private void HandleRegionsMessage(SharedAiDebug.ReachableChunkRegionsDebugMessage message)
{
EnableOverlay();
_overlay.UpdateRegions(message.GridId, message.Regions);
}
private void HandleCachedRegionsMessage(SharedAiDebug.ReachableCacheDebugMessage message)
{
EnableOverlay();
_overlay.UpdateCachedRegions(message.GridId, message.Regions, message.Cached);
}
private void EnableOverlay()
@@ -114,6 +136,9 @@ namespace Content.Client.GameObjects.EntitySystems.AI
var systemMessage = new SharedAiDebug.RequestPathfindingGraphMessage();
EntityManager.EntityNetManager.SendSystemNetworkMessage(systemMessage);
}
// TODO: Request region graph, although the client system messages didn't seem to be going through anymore
// So need further investigation.
}
private void DisableMode(PathfindingDebugMode mode)
@@ -144,6 +169,9 @@ namespace Content.Client.GameObjects.EntitySystems.AI
internal sealed class DebugPathfindingOverlay : Overlay
{
private IEyeManager _eyeManager;
private IPlayerManager _playerManager;
// TODO: Add a box like the debug one and show the most recent path stuff
public override OverlaySpace Space => OverlaySpace.ScreenSpace;
@@ -152,7 +180,21 @@ namespace Content.Client.GameObjects.EntitySystems.AI
// Graph debugging
public readonly Dictionary<int, List<Vector2>> Graph = new Dictionary<int, List<Vector2>>();
private readonly Dictionary<int, Color> _graphColors = new Dictionary<int, Color>();
// Cached regions
public readonly Dictionary<GridId, Dictionary<int, List<Vector2>>> CachedRegions =
new Dictionary<GridId, Dictionary<int, List<Vector2>>>();
private readonly Dictionary<GridId, Dictionary<int, Color>> _cachedRegionColors =
new Dictionary<GridId, Dictionary<int, Color>>();
// Regions
public readonly Dictionary<GridId, Dictionary<int, Dictionary<int, List<Vector2>>>> Regions =
new Dictionary<GridId, Dictionary<int, Dictionary<int, List<Vector2>>>>();
private readonly Dictionary<GridId, Dictionary<int, Dictionary<int, Color>>> _regionColors =
new Dictionary<GridId, Dictionary<int, Dictionary<int, Color>>>();
// Route debugging
// As each pathfinder is very different you'll likely want to draw them completely different
public readonly List<SharedAiDebug.AStarRouteMessage> AStarRoutes = new List<SharedAiDebug.AStarRouteMessage>();
@@ -161,8 +203,11 @@ namespace Content.Client.GameObjects.EntitySystems.AI
public DebugPathfindingOverlay() : base(nameof(DebugPathfindingOverlay))
{
Shader = IoCManager.Resolve<IPrototypeManager>().Index<ShaderPrototype>("unshaded").Instance();
_eyeManager = IoCManager.Resolve<IEyeManager>();
_playerManager = IoCManager.Resolve<IPlayerManager>();
}
#region Graph
public void UpdateGraph(Dictionary<int, List<Vector2>> graph)
{
Graph.Clear();
@@ -176,19 +221,15 @@ namespace Content.Client.GameObjects.EntitySystems.AI
}
}
private void DrawGraph(DrawingHandleScreen screenHandle)
private void DrawGraph(DrawingHandleScreen screenHandle, Box2 viewport)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = IoCManager.Resolve<IEyeManager>().GetWorldViewport();
foreach (var (chunk, nodes) in Graph)
{
foreach (var tile in nodes)
{
if (!viewport.Contains(tile)) continue;
var screenTile = eyeManager.WorldToScreen(tile);
var screenTile = _eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
@@ -199,21 +240,130 @@ namespace Content.Client.GameObjects.EntitySystems.AI
}
}
}
#endregion
#region pathfinder
private void DrawAStarRoutes(DrawingHandleScreen screenHandle)
#region Regions
//Server side debugger should increment every region
public void UpdateCachedRegions(GridId gridId, Dictionary<int, List<Vector2>> messageRegions, bool cached)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
if (!CachedRegions.ContainsKey(gridId))
{
CachedRegions.Add(gridId, new Dictionary<int, List<Vector2>>());
_cachedRegionColors.Add(gridId, new Dictionary<int, Color>());
}
foreach (var (region, nodes) in messageRegions)
{
CachedRegions[gridId][region] = nodes;
if (cached)
{
_cachedRegionColors[gridId][region] = Color.Blue.WithAlpha(0.3f);
}
else
{
_cachedRegionColors[gridId][region] = Color.Green.WithAlpha(0.3f);
}
Timer.Spawn(3000, () =>
{
if (CachedRegions[gridId].ContainsKey(region))
{
CachedRegions[gridId].Remove(region);
_cachedRegionColors[gridId].Remove(region);
}
});
}
}
private void DrawCachedRegions(DrawingHandleScreen screenHandle, Box2 viewport)
{
var attachedEntity = _playerManager.LocalPlayer?.ControlledEntity;
if (attachedEntity == null || !CachedRegions.TryGetValue(attachedEntity.Transform.GridID, out var entityRegions))
{
return;
}
foreach (var (region, nodes) in entityRegions)
{
foreach (var tile in nodes)
{
if (!viewport.Contains(tile)) continue;
var screenTile = _eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, _cachedRegionColors[attachedEntity.Transform.GridID][region]);
}
}
}
public void UpdateRegions(GridId gridId, Dictionary<int, Dictionary<int, List<Vector2>>> messageRegions)
{
if (!Regions.ContainsKey(gridId))
{
Regions.Add(gridId, new Dictionary<int, Dictionary<int, List<Vector2>>>());
_regionColors.Add(gridId, new Dictionary<int, Dictionary<int, Color>>());
}
var robustRandom = IoCManager.Resolve<IRobustRandom>();
foreach (var (chunk, regions) in messageRegions)
{
Regions[gridId][chunk] = new Dictionary<int, List<Vector2>>();
_regionColors[gridId][chunk] = new Dictionary<int, Color>();
foreach (var (region, nodes) in regions)
{
Regions[gridId][chunk].Add(region, nodes);
_regionColors[gridId][chunk][region] = new Color(robustRandom.NextFloat(), robustRandom.NextFloat(),
robustRandom.NextFloat(), 0.3f);
}
}
}
private void DrawRegions(DrawingHandleScreen screenHandle, Box2 viewport)
{
var attachedEntity = _playerManager.LocalPlayer?.ControlledEntity;
if (attachedEntity == null || !Regions.TryGetValue(attachedEntity.Transform.GridID, out var entityRegions))
{
return;
}
foreach (var (chunk, regions) in entityRegions)
{
foreach (var (region, nodes) in regions)
{
foreach (var tile in nodes)
{
if (!viewport.Contains(tile)) continue;
var screenTile = _eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
screenTile.X + 15.0f,
screenTile.Y + 15.0f);
screenHandle.DrawRect(box, _regionColors[attachedEntity.Transform.GridID][chunk][region]);
}
}
}
}
#endregion
#region Pathfinder
private void DrawAStarRoutes(DrawingHandleScreen screenHandle, Box2 viewport)
{
foreach (var route in AStarRoutes)
{
// Draw box on each tile of route
foreach (var position in route.Route)
{
if (!viewport.Contains(position)) continue;
var screenTile = eyeManager.WorldToScreen(position);
var screenTile = _eyeManager.WorldToScreen(position);
// worldHandle.DrawLine(position, nextWorld.Value, Color.Blue);
var box = new UIBox2(
screenTile.X - 15.0f,
@@ -225,11 +375,8 @@ namespace Content.Client.GameObjects.EntitySystems.AI
}
}
private void DrawAStarNodes(DrawingHandleScreen screenHandle)
private void DrawAStarNodes(DrawingHandleScreen screenHandle, Box2 viewport)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in AStarRoutes)
{
var highestgScore = route.GScores.Values.Max();
@@ -242,8 +389,7 @@ namespace Content.Client.GameObjects.EntitySystems.AI
continue;
}
var screenTile = eyeManager.WorldToScreen(tile);
var screenTile = _eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
@@ -259,18 +405,15 @@ namespace Content.Client.GameObjects.EntitySystems.AI
}
}
private void DrawJpsRoutes(DrawingHandleScreen screenHandle)
private void DrawJpsRoutes(DrawingHandleScreen screenHandle, Box2 viewport)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in JpsRoutes)
{
// Draw box on each tile of route
foreach (var position in route.Route)
{
if (!viewport.Contains(position)) continue;
var screenTile = eyeManager.WorldToScreen(position);
var screenTile = _eyeManager.WorldToScreen(position);
// worldHandle.DrawLine(position, nextWorld.Value, Color.Blue);
var box = new UIBox2(
screenTile.X - 15.0f,
@@ -282,11 +425,8 @@ namespace Content.Client.GameObjects.EntitySystems.AI
}
}
private void DrawJpsNodes(DrawingHandleScreen screenHandle)
private void DrawJpsNodes(DrawingHandleScreen screenHandle, Box2 viewport)
{
var eyeManager = IoCManager.Resolve<IEyeManager>();
var viewport = eyeManager.GetWorldViewport();
foreach (var route in JpsRoutes)
{
foreach (var tile in route.JumpNodes)
@@ -297,8 +437,7 @@ namespace Content.Client.GameObjects.EntitySystems.AI
continue;
}
var screenTile = eyeManager.WorldToScreen(tile);
var screenTile = _eyeManager.WorldToScreen(tile);
var box = new UIBox2(
screenTile.X - 15.0f,
screenTile.Y - 15.0f,
@@ -324,22 +463,33 @@ namespace Content.Client.GameObjects.EntitySystems.AI
}
var screenHandle = (DrawingHandleScreen) handle;
var viewport = _eyeManager.GetWorldViewport();
if ((Modes & PathfindingDebugMode.Route) != 0)
{
DrawAStarRoutes(screenHandle);
DrawJpsRoutes(screenHandle);
DrawAStarRoutes(screenHandle, viewport);
DrawJpsRoutes(screenHandle, viewport);
}
if ((Modes & PathfindingDebugMode.Nodes) != 0)
{
DrawAStarNodes(screenHandle);
DrawJpsNodes(screenHandle);
DrawAStarNodes(screenHandle, viewport);
DrawJpsNodes(screenHandle, viewport);
}
if ((Modes & PathfindingDebugMode.Graph) != 0)
{
DrawGraph(screenHandle);
DrawGraph(screenHandle, viewport);
}
if ((Modes & PathfindingDebugMode.CachedRegions) != 0)
{
DrawCachedRegions(screenHandle, viewport);
}
if ((Modes & PathfindingDebugMode.Regions) != 0)
{
DrawRegions(screenHandle, viewport);
}
}
}
@@ -350,6 +500,8 @@ namespace Content.Client.GameObjects.EntitySystems.AI
Route = 1 << 0,
Graph = 1 << 1,
Nodes = 1 << 2,
CachedRegions = 1 << 3,
Regions = 1 << 4,
}
#endif
}