Salvage dungeons (#14520)

Content.Server/NPC/Pathfinding/PathfindingSystem.Common.cs

@@ -1,3 +1,4 @@
+using Content.Shared.Gravity;
 using Content.Shared.NPC;
 
 namespace Content.Server.NPC.Pathfinding;
@@ -45,7 +46,8 @@ public sealed partial class PathfindingSystem
         var modifier = 1f;
 
         // TODO
-        if ((end.Data.Flags & PathfindingBreadcrumbFlag.Space) != 0x0)
+        if ((end.Data.Flags & PathfindingBreadcrumbFlag.Space) != 0x0 &&
+            (!TryComp<GravityComponent>(end.GraphUid, out var gravity) || !gravity.Enabled))
         {
             return 0f;
         }

Content.Server/NPC/Pathfinding/PathfindingSystem.Distance.cs

@@ -16,12 +16,25 @@ public sealed partial class PathfindingSystem
         return dx + dy;
     }
 
+    public float ManhattanDistance(Vector2i start, Vector2i end)
+    {
+        var distance = end - start;
+        return Math.Abs(distance.X) + Math.Abs(distance.Y);
+    }
+
     public float OctileDistance(PathPoly start, PathPoly end)
     {
         var (dx, dy) = GetDiff(start, end);
         return dx + dy + (1.41f - 2) * Math.Min(dx, dy);
     }
 
+    public float OctileDistance(Vector2i start, Vector2i end)
+    {
+        var diff = start - end;
+        var ab = Vector2.Abs(diff);
+        return ab.X + ab.Y + (1.41f - 2) * Math.Min(ab.X, ab.Y);
+    }
+
     private Vector2 GetDiff(PathPoly start, PathPoly end)
     {
         var startPos = start.Box.Center;

Content.Server/NPC/Pathfinding/PathfindingSystem.Grid.cs

@@ -32,7 +32,7 @@ public sealed partial class PathfindingSystem
     ///     If true, UpdateGrid() will not process grids.
     /// </summary>
     /// <remarks>
-    ///     Useful if something like a large explosion is in the process of shredding the grid, as it avoids uneccesary
+    ///     Useful if something like a large explosion is in the process of shredding the grid, as it avoids unneccesary
     ///     updating.
     /// </remarks>
     public bool PauseUpdating = false;
@@ -232,11 +232,6 @@ public sealed partial class PathfindingSystem
 
             comp.DirtyChunks.Clear();
         }
-
-#if DEBUG
-        if (updateCount > 0)
-            _sawmill.Debug($"Updated {updateCount} nav chunks in {_stopwatch.Elapsed.TotalMilliseconds:0.000}ms");
-#endif
     }
 
     private bool IsBodyRelevant(PhysicsComponent body)

Content.Server/NPC/Pathfinding/PathfindingSystem.Helper.cs

@@ -0,0 +1,74 @@
+namespace Content.Server.NPC.Pathfinding;
+
+public sealed partial class PathfindingSystem
+{
+    /// <summary>
+    /// Finds a generic path from start to end.
+    /// </summary>
+    public List<Vector2i> GetPath(Vector2i start, Vector2i end, bool diagonal = false)
+    {
+        if (start == end)
+        {
+            return new List<Vector2i>();
+        }
+
+        var frontier = new PriorityQueue<Vector2i, float>();
+        frontier.Enqueue(start, 0f);
+        var cameFrom = new Dictionary<Vector2i, Vector2i>();
+        var node = start;
+
+        while (frontier.TryDequeue(out node, out _))
+        {
+            if (node == end)
+            {
+                break;
+            }
+
+            if (diagonal)
+            {
+                for (var i = 0; i < 8; i++)
+                {
+                    var direction = (DirectionFlag) i;
+                    var neighbor = node + direction.AsDir().ToIntVec();
+
+                    if (!cameFrom.TryAdd(neighbor, node))
+                        continue;
+
+                    var gScore = OctileDistance(neighbor, end);
+                    frontier.Enqueue(neighbor, gScore);
+                }
+            }
+            else
+            {
+                for (var i = 0; i < 4; i++)
+                {
+                    var direction = (DirectionFlag) Math.Pow(2, i);
+                    var neighbor = node + direction.AsDir().ToIntVec();
+
+                    if (!cameFrom.TryAdd(neighbor, node))
+                        continue;
+
+                    frontier.Enqueue(neighbor, ManhattanDistance(neighbor, end));
+                }
+            }
+        }
+
+        if (node != end)
+        {
+            return new List<Vector2i>();
+        }
+
+        var path = new List<Vector2i>();
+
+        do
+        {
+            path.Add(node);
+            var before = cameFrom[node];
+            node = before;
+        } while (node != start);
+
+        path.Add(start);
+        path.Reverse();
+        return path;
+    }
+}