Fix NPC obstacle handling (#13007)

Content.Server/NPC/Components/NPCRVOComponent.cs

@@ -1,38 +0,0 @@
-using Content.Server.NPC.Systems;
-
-namespace Content.Server.NPC.Components;
-
-/// <summary>
-/// Stores data for RVO collision avoidance
-/// </summary>
-[RegisterComponent]
-public sealed class NPCRVOComponent : Component
-{
-    /// <summary>
-    /// Maximum number of dynamic neighbors to consider for collision avoidance.
-    /// </summary>
-    [ViewVariables(VVAccess.ReadWrite), DataField("maxNeighbors")]
-    public int MaxNeighbors = 5;
-
-    /// <summary>
-    /// Time horizon to consider for dynamic neighbor collision
-    /// </summary>
-    [ViewVariables(VVAccess.ReadWrite)] public float TimeHorizon = 3f;
-
-    /// <summary>
-    /// Time horizon to consider for static neighbor collision.
-    /// </summary>
-    [ViewVariables(VVAccess.ReadWrite)] public float ObstacleTimeHorizon = 3f;
-
-    /// <summary>
-    /// Range considered for neighbor agents
-    /// </summary>
-    [ViewVariables(VVAccess.ReadWrite), DataField("neighborRange")]
-    public float NeighborRange = 3f;
-
-    [ViewVariables]
-    public readonly HashSet<EntityUid> ObstacleNeighbors = new();
-
-    [ViewVariables]
-    public readonly HashSet<EntityUid> AgentNeighbors = new();
-}

Content.Server/NPC/NPCBlackboard.cs

@@ -42,6 +42,11 @@ public sealed class NPCBlackboard : IEnumerable<KeyValuePair<string, object>>
     /// </summary>
     public bool ReadOnly = false;
 
+    public void Clear()
+    {
+        _blackboard.Clear();
+    }
+
     public NPCBlackboard ShallowClone()
     {
         var dict = new NPCBlackboard();

Content.Server/NPC/NPCBlackboardSerializer.cs

@@ -8,7 +8,7 @@ using Robust.Shared.Utility;
 
 namespace Content.Server.NPC;
 
-public sealed class NPCBlackboardSerializer : ITypeReader<NPCBlackboard, MappingDataNode>
+public sealed class NPCBlackboardSerializer : ITypeReader<NPCBlackboard, MappingDataNode>, ITypeCopier<NPCBlackboard>
 {
     public ValidationNode Validate(ISerializationManager serializationManager, MappingDataNode node,
         IDependencyCollection dependencies, ISerializationContext? context = null)
@@ -79,4 +79,17 @@ public sealed class NPCBlackboardSerializer : ITypeReader<NPCBlackboard, Mapping
 
         return value;
     }
+
+    public void CopyTo(ISerializationManager serializationManager, NPCBlackboard source, ref NPCBlackboard target, bool skipHook,
+        ISerializationContext? context = null)
+    {
+        target.Clear();
+        using var enumerator = source.GetEnumerator();
+
+        while (enumerator.MoveNext())
+        {
+            var current = enumerator.Current;
+            target.SetValue(current.Key, current.Value);
+        }
+    }
 }

Content.Server/NPC/Systems/NPCSteeringSystem.Avoidance.cs

@@ -1,38 +0,0 @@
-using Content.Shared.CCVar;
-using Robust.Shared.Configuration;
-
-namespace Content.Server.NPC.Systems;
-
-public sealed partial class NPCSteeringSystem
-{
-    // TODO
-
-    // Derived from RVO2 library which uses ORCA (optimal reciprocal collision avoidance).
-    // Could also potentially use something force based or RVO or detour crowd.
-
-    public bool CollisionAvoidanceEnabled { get; set; } = true;
-
-    public bool ObstacleAvoidanceEnabled { get; set; } = true;
-
-    private const float Radius = 0.35f;
-    private const float RVO_EPSILON = 0.00001f;
-
-    private void InitializeAvoidance()
-    {
-        var configManager = IoCManager.Resolve<IConfigurationManager>();
-        configManager.OnValueChanged(CCVars.NPCCollisionAvoidance, SetCollisionAvoidance);
-    }
-
-    private void ShutdownAvoidance()
-    {
-        var configManager = IoCManager.Resolve<IConfigurationManager>();
-        configManager.UnsubValueChanged(CCVars.NPCCollisionAvoidance, SetCollisionAvoidance);
-    }
-
-    // I deleted all of my relevant code for now as I only had dynamic body avoidance working and not static
-    // but it will be added back real soon.
-    private void SetCollisionAvoidance(bool obj)
-    {
-        CollisionAvoidanceEnabled = obj;
-    }
-}

Content.Server/NPC/Systems/NPCSteeringSystem.Context.cs

@@ -86,7 +86,7 @@ public sealed partial class NPCSteeringSystem
         }
         else
         {
-            arrivalDistance = SharedInteractionSystem.InteractionRange - 0.8f;
+            arrivalDistance = SharedInteractionSystem.InteractionRange - 0.65f;
         }
 
         // Check if mapids match.
@@ -105,9 +105,15 @@ public sealed partial class NPCSteeringSystem
         if (direction.Length <= arrivalDistance)
         {
             // Node needs some kind of special handling like access or smashing.
-            if (steering.CurrentPath.TryPeek(out var node))
+            if (steering.CurrentPath.TryPeek(out var node) && !node.Data.IsFreeSpace)
             {
-                var status = TryHandleFlags(steering, node, bodyQuery);
+                SteeringObstacleStatus status;
+
+                // Breaking behaviours and the likes.
+                lock (_obstacles)
+                {
+                    status = TryHandleFlags(steering, node, bodyQuery);
+                }
 
                 // TODO: Need to handle re-pathing in case the target moves around.
                 switch (status)

Content.Server/NPC/Systems/NPCSteeringSystem.Obstacles.cs

@@ -1,11 +1,12 @@
+using Content.Server.CombatMode;
 using Content.Server.Destructible;
 using Content.Server.NPC.Components;
 using Content.Server.NPC.Pathfinding;
 using Content.Shared.Doors.Components;
 using Content.Shared.NPC;
-using Content.Shared.Weapons.Melee;
 using Robust.Shared.Physics;
 using Robust.Shared.Physics.Components;
+using Robust.Shared.Utility;
 
 namespace Content.Server.NPC.Systems;
 
@@ -33,9 +34,7 @@ public sealed partial class NPCSteeringSystem
 
     private SteeringObstacleStatus TryHandleFlags(NPCSteeringComponent component, PathPoly poly, EntityQuery<PhysicsComponent> bodyQuery)
     {
-        if (poly.Data.IsFreeSpace)
+        DebugTools.Assert(!poly.Data.IsFreeSpace);
-            return SteeringObstacleStatus.Completed;
-
         // TODO: Store PathFlags on the steering comp
         // and be able to re-check it.
 
@@ -111,26 +110,35 @@ public sealed partial class NPCSteeringSystem
                     return SteeringObstacleStatus.Completed;
             }
             // Try smashing obstacles.
-            else if ((component.Flags & PathFlags.Smashing) != 0x0 && TryComp<NPCMeleeCombatComponent>(component.Owner, out var melee) &&
+            else if ((component.Flags & PathFlags.Smashing) != 0x0)
-                     TryComp<MeleeWeaponComponent>(melee.Weapon, out var meleeWeapon))
             {
-                var destructibleQuery = GetEntityQuery<DestructibleComponent>();
+                var meleeWeapon = _melee.GetWeapon(component.Owner);
 
-                // TODO: This is a hack around grilles and windows.
+                if (meleeWeapon != null && meleeWeapon.NextAttack <= _timing.CurTime && TryComp<CombatModeComponent>(component.Owner, out var combatMode))
-                _random.Shuffle(obstacleEnts);
-
-                foreach (var ent in obstacleEnts)
                 {
-                    // TODO: Validate we can damage it
+                    combatMode.IsInCombatMode = true;
-                    if (destructibleQuery.HasComponent(ent))
+                    var destructibleQuery = GetEntityQuery<DestructibleComponent>();
-                    {
-                        _melee.AttemptLightAttack(component.Owner, meleeWeapon, ent);
-                        return SteeringObstacleStatus.Continuing;
-                    }
-                }
 
-                if (obstacleEnts.Count == 0)
+                    // TODO: This is a hack around grilles and windows.
-                    return SteeringObstacleStatus.Completed;
+                    _random.Shuffle(obstacleEnts);
+
+                    foreach (var ent in obstacleEnts)
+                    {
+                        // TODO: Validate we can damage it
+                        if (destructibleQuery.HasComponent(ent))
+                        {
+                            _melee.AttemptLightAttack(component.Owner, meleeWeapon, ent);
+                            break;
+                        }
+                    }
+
+                    combatMode.IsInCombatMode = false;
+
+                    if (obstacleEnts.Count == 0)
+                        return SteeringObstacleStatus.Completed;
+
+                    return SteeringObstacleStatus.Continuing;
+                }
             }
 
             return SteeringObstacleStatus.Failed;

Content.Server/NPC/Systems/NPCSteeringSystem.cs

@@ -41,6 +41,7 @@ namespace Content.Server.NPC.Systems
 
         [Dependency] private readonly IAdminManager _admin = default!;
         [Dependency] private readonly IConfigurationManager _configManager = default!;
+        [Dependency] private readonly IDependencyCollection _dependencies = default!;
         [Dependency] private readonly IGameTiming _timing = default!;
         [Dependency] private readonly IMapManager _mapManager = default!;
         [Dependency] private readonly IParallelManager _parallel = default!;
@@ -66,6 +67,8 @@ namespace Content.Server.NPC.Systems
 
         private readonly HashSet<ICommonSession> _subscribedSessions = new();
 
+        private object _obstacles = new();
+
         public override void Initialize()
         {
             base.Initialize();
@@ -76,7 +79,6 @@ namespace Content.Server.NPC.Systems
             }
 
             UpdatesBefore.Add(typeof(SharedPhysicsSystem));
-            InitializeAvoidance();
             _configManager.OnValueChanged(CCVars.NPCEnabled, SetNPCEnabled);
             _configManager.OnValueChanged(CCVars.NPCPathfinding, SetNPCPathfinding);
 
@@ -114,7 +116,6 @@ namespace Content.Server.NPC.Systems
         public override void Shutdown()
         {
             base.Shutdown();
-            ShutdownAvoidance();
             _configManager.UnsubValueChanged(CCVars.NPCEnabled, SetNPCEnabled);
         }
 
@@ -131,6 +132,7 @@ namespace Content.Server.NPC.Systems
 
         private void OnSteeringShutdown(EntityUid uid, NPCSteeringComponent component, ComponentShutdown args)
         {
+            // Cancel any active pathfinding jobs as they're irrelevant.
             component.PathfindToken?.Cancel();
         }
 
@@ -151,7 +153,6 @@ namespace Content.Server.NPC.Systems
                 component.Flags = _pathfindingSystem.GetFlags(uid);
             }
 
-            EnsureComp<NPCRVOComponent>(uid);
             component.Coordinates = coordinates;
             return component;
         }
@@ -185,7 +186,6 @@ namespace Content.Server.NPC.Systems
 
             component.PathfindToken?.Cancel();
             component.PathfindToken = null;
-            RemComp<NPCRVOComponent>(uid);
             RemComp<NPCSteeringComponent>(uid);
         }
 
@@ -203,7 +203,7 @@ namespace Content.Server.NPC.Systems
 
             var npcs = EntityQuery<NPCSteeringComponent, ActiveNPCComponent, InputMoverComponent, TransformComponent>()
                 .ToArray();
-            var options = new ParallelOptions()
+            var options = new ParallelOptions
             {
                 MaxDegreeOfParallelism = _parallel.ParallelProcessCount,
             };
@@ -261,6 +261,8 @@ namespace Content.Server.NPC.Systems
             EntityQuery<TransformComponent> xformQuery,
             float frameTime)
         {
+            IoCManager.InitThread(_dependencies, replaceExisting: true);
+
             if (Deleted(steering.Coordinates.EntityId))
             {
                 SetDirection(mover, steering, Vector2.Zero);

Content.Shared/CCVar/CCVars.cs

@@ -542,8 +542,6 @@ namespace Content.Shared.CCVar
         /// </summary>
         public static readonly CVarDef<bool> NPCPathfinding = CVarDef.Create("npc.pathfinding", true);
 
-        public static readonly CVarDef<bool> NPCCollisionAvoidance = CVarDef.Create("npc.collision_avoidance", true);
-
         /*
          * Net
          */