NPCs can open doors (#7909)

Content.Server/AI/Pathfinding/Accessible/AiReachableSystem.cs

@@ -172,11 +172,12 @@ namespace Content.Server.AI.Pathfinding.Accessible
         /// <returns></returns>
         public bool CanAccess(EntityUid entity, EntityUid target, float range = 0.0f)
         {
+            var xform = EntityManager.GetComponent<TransformComponent>(target);
             // TODO: Handle this gracefully instead of just failing.
-            if (!EntityManager.GetComponent<TransformComponent>(target).GridID.IsValid())
+            if (!xform.GridID.IsValid())
                 return false;
 
-            var targetTile = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(target).GridID).GetTileRef(EntityManager.GetComponent<TransformComponent>(target).Coordinates);
+            var targetTile = _mapManager.GetGrid(xform.GridID).GetTileRef(xform.Coordinates);
             var targetNode = _pathfindingSystem.GetNode(targetTile);
 
             var collisionMask = 0;
@@ -209,12 +210,12 @@ namespace Content.Server.AI.Pathfinding.Accessible
 
         public bool CanAccess(EntityUid entity, PathfindingNode targetNode)
         {
-            if (EntityManager.GetComponent<TransformComponent>(entity).GridID != targetNode.TileRef.GridIndex)
+            var xform = EntityManager.GetComponent<TransformComponent>(entity);
-            {
-                return false;
-            }
 
-            var entityTile = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(entity).GridID).GetTileRef(EntityManager.GetComponent<TransformComponent>(entity).Coordinates);
+            if (xform.GridID != targetNode.TileRef.GridIndex)
+                return false;
+
+            var entityTile = _mapManager.GetGrid(xform.GridID).GetTileRef(xform.Coordinates);
             var entityNode = _pathfindingSystem.GetNode(entityTile);
             var entityRegion = GetRegion(entityNode);
             var targetRegion = GetRegion(targetNode);
@@ -424,12 +425,14 @@ namespace Content.Server.AI.Pathfinding.Accessible
         /// <returns></returns>
         public PathfindingRegion? GetRegion(EntityUid entity)
         {
-            if (!EntityManager.GetComponent<TransformComponent>(entity).GridID.IsValid())
+            var xform = EntityManager.GetComponent<TransformComponent>(entity);
+
+            if (!xform.GridID.IsValid())
             {
                 return null;
             }
 
-            var entityTile = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(entity).GridID).GetTileRef(EntityManager.GetComponent<TransformComponent>(entity).Coordinates);
+            var entityTile = _mapManager.GetGrid(xform.GridID).GetTileRef(xform.Coordinates);
             var entityNode = _pathfindingSystem.GetNode(entityTile);
             return GetRegion(entityNode);
         }

Content.Server/AI/Pathfinding/PathfindingSystem.cs

@@ -30,7 +30,6 @@ namespace Content.Server.AI.Pathfinding
     public sealed class PathfindingSystem : EntitySystem
     {
         [Dependency] private readonly IMapManager _mapManager = default!;
-        [Dependency] private readonly IEntityManager _entityManager = default!;
         [Dependency] private readonly AccessReaderSystem _accessReader = default!;
 
         public IReadOnlyDictionary<GridId, Dictionary<Vector2i, PathfindingChunk>> Graph => _graph;
@@ -207,7 +206,6 @@ namespace Content.Server.AI.Pathfinding
             SubscribeLocalEvent<MoveEvent>(QueueMoveEvent);
             SubscribeLocalEvent<AccessReaderChangeMessage>(QueueAccessChangeMessage);
             SubscribeLocalEvent<GridRemovalEvent>(HandleGridRemoval);
-            SubscribeLocalEvent<GridModifiedEvent>(QueueGridChange);
             SubscribeLocalEvent<TileChangedEvent>(QueueTileChange);
 
             // Handle all the base grid changes
@@ -231,14 +229,6 @@ namespace Content.Server.AI.Pathfinding
             }
         }
 
-        private void QueueGridChange(GridModifiedEvent ev)
-        {
-            foreach (var (position, _) in ev.Modified)
-            {
-                _tileUpdateQueue.Enqueue(ev.Grid.GetTileRef(position));
-            }
-        }
-
         private void QueueTileChange(TileChangedEvent ev)
         {
             _tileUpdateQueue.Enqueue(ev.NewTile);
@@ -264,8 +254,9 @@ namespace Content.Server.AI.Pathfinding
                 return;
             }
 
-            var grid = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(entity).GridID);
+            var xform = EntityManager.GetComponent<TransformComponent>(entity);
-            var tileRef = grid.GetTileRef(EntityManager.GetComponent<TransformComponent>(entity).Coordinates);
+            var grid = _mapManager.GetGrid(xform.GridID);
+            var tileRef = grid.GetTileRef(xform.Coordinates);
 
             var chunk = GetChunk(tileRef);
             var node = chunk.GetNode(tileRef);
@@ -306,9 +297,10 @@ namespace Content.Server.AI.Pathfinding
             }
 
             // Memory leak protection until grid parenting confirmed fix / you REALLY need the performance
-            var gridBounds = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(moveEvent.Sender).GridID).WorldBounds;
+            var xform = EntityManager.GetComponent<TransformComponent>(moveEvent.Sender);
+            var gridBounds = _mapManager.GetGrid(xform.GridID).WorldBounds;
 
-            if (!gridBounds.Contains(EntityManager.GetComponent<TransformComponent>(moveEvent.Sender).WorldPosition))
+            if (!gridBounds.Contains(xform.WorldPosition))
             {
                 HandleEntityRemove(moveEvent.Sender);
                 return;
@@ -321,7 +313,7 @@ namespace Content.Server.AI.Pathfinding
                 return;
             }
 
-            var newGridId = moveEvent.NewPosition.GetGridId(_entityManager);
+            var newGridId = moveEvent.NewPosition.GetGridId(EntityManager);
             if (newGridId == GridId.Invalid)
             {
                 HandleEntityRemove(moveEvent.Sender);

Content.Server/AI/Steering/AiSteeringSystem.cs

@@ -5,7 +5,9 @@ using Content.Server.AI.Components;
 using Content.Server.AI.Pathfinding;
 using Content.Server.AI.Pathfinding.Pathfinders;
 using Content.Server.CPUJob.JobQueues;
+using Content.Server.Doors.Components;
 using Content.Shared.Access.Systems;
+using Content.Shared.Doors.Components;
 using Content.Shared.Interaction;
 using Robust.Shared.Map;
 using Robust.Shared.Physics;
@@ -385,6 +387,20 @@ namespace Content.Server.AI.Steering
             {
                 movementVector += CollisionAvoidance(entity, movementVector, ignoredCollision);
             }
+
+            // TODO: Jesus this code is shit, slork is a cute dork, but the pathfinder should annotate this.
+            if (_mapManager.TryGetGrid(nextGrid.Value.EntityId, out var grid))
+            {
+                foreach (var ent in grid.GetAnchoredEntities(nextGrid.Value))
+                {
+                    if (HasComp<DoorComponent>(ent))
+                    {
+                        _interactionSystem.InteractHand(entity, ent);
+                        break;
+                    }
+                }
+            }
+
             // Group behaviors would also go here e.g. separation, cohesion, alignment
 
             // Move towards it
@@ -472,10 +488,12 @@ namespace Content.Server.AI.Steering
                 _nextGrid.Remove(entity);
             }
 
+            var xform = EntityManager.GetComponent<TransformComponent>(entity);
+
             // If no tiles left just move towards the target (if we're close)
             if (!_paths.ContainsKey(entity) || _paths[entity].Count == 0)
             {
-                if ((steeringRequest.TargetGrid.Position - EntityManager.GetComponent<TransformComponent>(entity).Coordinates.Position).Length <= 2.0f)
+                if ((steeringRequest.TargetGrid.Position - xform.Coordinates.Position).Length <= 2.0f)
                 {
                     return steeringRequest.TargetGrid;
                 }
@@ -485,7 +503,7 @@ namespace Content.Server.AI.Steering
             }
 
             if (!_nextGrid.TryGetValue(entity, out var nextGrid) ||
-                (nextGrid.Position - EntityManager.GetComponent<TransformComponent>(entity).Coordinates.Position).Length <= TileTolerance)
+                (nextGrid.Position - xform.Coordinates.Position).Length <= TileTolerance)
             {
                 UpdateGridCache(entity);
                 nextGrid = _nextGrid[entity];