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Refactor pathfinding updates and add AccessReader support (#1183)

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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>
This commit is contained in:
metalgearsloth
2020-06-23 02:55:50 +10:00
committed by GitHub
parent ff0f082138
commit 805a5f1689
17 changed files with 362 additions and 221 deletions
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10
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/Pathfinders/AStarPathfindingJob.cs
View File

@@ -41,7 +41,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
}
// If we couldn't get a nearby node that's good enough
if (!Utils.TryEndNode(ref _endNode, _pathfindingArgs))
if (!PathfindingHelpers.TryEndNode(ref _endNode, _pathfindingArgs))
{
return null;
}
@@ -88,9 +88,9 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
}
// If tile is untraversable it'll be null
var tileCost = Utils.GetTileCost(_pathfindingArgs, currentNode, nextNode);
var tileCost = PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, nextNode);
if (tileCost == null || !Utils.DirectionTraversable(_pathfindingArgs.CollisionMask, currentNode, direction))
if (tileCost == null || !PathfindingHelpers.DirectionTraversable(_pathfindingArgs.CollisionMask, _pathfindingArgs.Access, currentNode, direction))
{
continue;
}
@@ -107,7 +107,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
// pFactor is tie-breaker where the fscore is otherwise equal.
// See http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html#breaking-ties
// There's other ways to do it but future consideration
var fScore = gScores[nextNode] + Utils.OctileDistance(_endNode, nextNode) * (1.0f + 1.0f / 1000.0f);
var fScore = gScores[nextNode] + PathfindingHelpers.OctileDistance(_endNode, nextNode) * (1.0f + 1.0f / 1000.0f);
openTiles.Add((fScore, nextNode));
}
}
@@ -117,7 +117,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
return null;
}
var route = Utils.ReconstructPath(cameFrom, currentNode);
var route = PathfindingHelpers.ReconstructPath(cameFrom, currentNode);
if (route.Count == 1)
{

26
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/Pathfinders/JpsPathfindingJob.cs
View File

@@ -41,7 +41,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
}
// If we couldn't get a nearby node that's good enough
if (!Utils.TryEndNode(ref _endNode, _pathfindingArgs))
if (!PathfindingHelpers.TryEndNode(ref _endNode, _pathfindingArgs))
{
return null;
}
@@ -89,7 +89,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
jumpNodes.Add(jumpNode);
#endif
// GetJumpPoint should already check if we can traverse to the node
var tileCost = Utils.GetTileCost(_pathfindingArgs, currentNode, jumpNode);
var tileCost = PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, jumpNode);
if (tileCost == null)
{
@@ -108,7 +108,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
// pFactor is tie-breaker where the fscore is otherwise equal.
// See http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html#breaking-ties
// There's other ways to do it but future consideration
var fScore = gScores[jumpNode] + Utils.OctileDistance(_endNode, jumpNode) * (1.0f + 1.0f / 1000.0f);
var fScore = gScores[jumpNode] + PathfindingHelpers.OctileDistance(_endNode, jumpNode) * (1.0f + 1.0f / 1000.0f);
openTiles.Add((fScore, jumpNode));
}
}
@@ -119,7 +119,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
return null;
}
var route = Utils.ReconstructJumpPath(cameFrom, currentNode);
var route = PathfindingHelpers.ReconstructJumpPath(cameFrom, currentNode);
if (route.Count == 1)
{
return null;
@@ -161,7 +161,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
// We'll do opposite DirectionTraversable just because of how the method's setup
// Nodes should be 2-way anyway.
if (nextNode == null ||
Utils.GetTileCost(_pathfindingArgs, currentNode, nextNode) == null)
PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, nextNode) == null)
{
return null;
}
@@ -312,14 +312,14 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
throw new ArgumentOutOfRangeException();
}
if ((closedNeighborOne == null || Utils.GetTileCost(_pathfindingArgs, currentNode, closedNeighborOne) == null)
&& openNeighborOne != null && Utils.GetTileCost(_pathfindingArgs, currentNode, openNeighborOne) != null)
if ((closedNeighborOne == null || PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, closedNeighborOne) == null)
&& openNeighborOne != null && PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, openNeighborOne) != null)
{
return true;
}
if ((closedNeighborTwo == null || Utils.GetTileCost(_pathfindingArgs, currentNode, closedNeighborTwo) == null)
&& openNeighborTwo != null && Utils.GetTileCost(_pathfindingArgs, currentNode, openNeighborTwo) != null)
if ((closedNeighborTwo == null || PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, closedNeighborTwo) == null)
&& openNeighborTwo != null && PathfindingHelpers.GetTileCost(_pathfindingArgs, currentNode, openNeighborTwo) != null)
{
return true;
}
@@ -371,14 +371,14 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
throw new ArgumentOutOfRangeException();
}
if ((closedNeighborOne == null || !Utils.Traversable(_pathfindingArgs.CollisionMask, closedNeighborOne.CollisionMask)) &&
(openNeighborOne != null && Utils.Traversable(_pathfindingArgs.CollisionMask, openNeighborOne.CollisionMask)))
if ((closedNeighborOne == null || !PathfindingHelpers.Traversable(_pathfindingArgs.CollisionMask, _pathfindingArgs.Access, closedNeighborOne)) &&
(openNeighborOne != null && PathfindingHelpers.Traversable(_pathfindingArgs.CollisionMask, _pathfindingArgs.Access, openNeighborOne)))
{
return true;
}
if ((closedNeighborTwo == null || !Utils.Traversable(_pathfindingArgs.CollisionMask, closedNeighborTwo.CollisionMask)) &&
(openNeighborTwo != null && Utils.Traversable(_pathfindingArgs.CollisionMask, openNeighborTwo.CollisionMask)))
if ((closedNeighborTwo == null || !PathfindingHelpers.Traversable(_pathfindingArgs.CollisionMask, _pathfindingArgs.Access, closedNeighborTwo)) &&
(openNeighborTwo != null && PathfindingHelpers.Traversable(_pathfindingArgs.CollisionMask, _pathfindingArgs.Access, openNeighborTwo)))
{
return true;
}

4
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/Pathfinders/PathfindingArgs.cs
View File

@@ -1,3 +1,4 @@
using System.Collections.Generic;
using Robust.Shared.GameObjects;
using Robust.Shared.Map;
@@ -6,6 +7,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
public struct PathfindingArgs
{
public EntityUid Uid { get; }
public ICollection<string> Access { get; }
public int CollisionMask { get; }
public TileRef Start { get; }
public TileRef End { get; }
@@ -20,6 +22,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
public PathfindingArgs(
EntityUid entityUid,
ICollection<string> access,
int collisionMask,
TileRef start,
TileRef end,
@@ -29,6 +32,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
bool allowSpace = false)
{
Uid = entityUid;
Access = access;
CollisionMask = collisionMask;
Start = start;
End = end;