Refactor pathfinding updates and add AccessReader support (#1183)

There was some extra bloat in the path graph updates.
Now the queue should also just run if it gets too big regardless.
Un-anchored physics objects are no longer a hard fail for pathfinding.
Add AccessReader support so open / close doors show up for pathfinding
AI also ensure they call the operator's shutdown when they're shutdown so that should cancel the pathfinding job.

I tried to split these into 2 commits but they were kinda coupled together

Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>

Content.Server/AI/Operators/Movement/BaseMover.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Threading;
+using Content.Server.GameObjects.Components.Access;
 using Content.Server.GameObjects.Components.Movement;
 using Content.Server.GameObjects.EntitySystems;
 using Content.Server.GameObjects.EntitySystems.AI.Pathfinding;
@@ -240,10 +241,11 @@ namespace Content.Server.AI.Operators.Movement
 
             var startGrid = _mapManager.GetGrid(Owner.Transform.GridID).GetTileRef(Owner.Transform.GridPosition);
             var endGrid = _mapManager.GetGrid(TargetGrid.GridID).GetTileRef(TargetGrid);;
-            // _routeCancelToken = new CancellationTokenSource();
+            var access = AccessReader.FindAccessTags(Owner);
 
             RouteJob = _pathfinder.RequestPath(new PathfindingArgs(
                 Owner.Uid,
+                access,
                 collisionMask,
                 startGrid,
                 endGrid,

Content.Server/AI/Utility/Actions/Combat/Melee/MeleeAttackEntity.cs

@@ -29,11 +29,17 @@ namespace Content.Server.AI.Utility.Actions.Combat.Melee
 
         public override void SetupOperators(Blackboard context)
         {
-            var moveOperator = new MoveToEntityOperator(Owner, _entity);
             var equipped = context.GetState<EquippedEntityState>().GetValue();
+            MoveToEntityOperator moveOperator;
             if (equipped != null && equipped.TryGetComponent(out MeleeWeaponComponent meleeWeaponComponent))
             {
-                moveOperator.DesiredRange = meleeWeaponComponent.Range - 0.01f;
+                moveOperator = new MoveToEntityOperator(Owner, _entity, meleeWeaponComponent.Range - 0.01f);
+            }
+            // I think it's possible for this to happen given planning is time-sliced?
+            // TODO: At this point we should abort
+            else
+            {
+                moveOperator = new MoveToEntityOperator(Owner, _entity);
             }
 
             ActionOperators = new Queue<AiOperator>(new AiOperator[]

Content.Server/AI/Utility/AiLogic/UtilityAI.cs

@@ -126,6 +126,9 @@ namespace Content.Server.AI.Utility.AiLogic
             {
                 damageableComponent.DamageThresholdPassed -= DeathHandle;
             }
+
+            var currentOp = CurrentAction?.ActionOperators.Peek();
+            currentOp?.Shutdown(Outcome.Failed);
         }
 
         private void DeathHandle(object sender, DamageThresholdPassedEventArgs eventArgs)