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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
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@@ -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)
{