Cinka/OldThink
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Remove CannyFastMath.

Browse Source
This commit is contained in:
Pieter-Jan Briers
2020-08-12 21:09:56 +02:00
parent 3ca3b5e684
commit f182ff5613
15 changed files with 64 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files

86
Content.Server/GameObjects/EntitySystems/AI/Steering/AiSteeringSystem.cs
View File

@@ -27,7 +27,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
public sealed class AiSteeringSystem : EntitySystem
{
// http://www.red3d.com/cwr/papers/1999/gdc99steer.html for a steering overview
#pragma warning disable 649
[Dependency] private IMapManager _mapManager;
[Dependency] private IEntityManager _entityManager;
@@ -45,9 +45,9 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
/// How close we need to get to the center of each tile
/// </summary>
private const float TileTolerance = 0.8f;
private Dictionary<IEntity, IAiSteeringRequest> RunningAgents => _agentLists[_listIndex];
// We'll cycle the running list every tick as all we're doing is getting a vector2 for the
// agent's steering. Should help a lot given this is the most expensive operator by far.
// The AI will keep moving, it's just it'll keep moving in its existing direction.
@@ -55,31 +55,31 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
private readonly List<Dictionary<IEntity, IAiSteeringRequest>> _agentLists = new List<Dictionary<IEntity, IAiSteeringRequest>>(AgentListCount);
private const int AgentListCount = 2;
private int _listIndex;
// Cache nextGrid
private readonly Dictionary<IEntity, GridCoordinates> _nextGrid = new Dictionary<IEntity, GridCoordinates>();
/// <summary>
/// Current live paths for AI
/// </summary>
private readonly Dictionary<IEntity, Queue<TileRef>> _paths = new Dictionary<IEntity, Queue<TileRef>>();
/// <summary>
/// Pathfinding request jobs we're waiting on
/// </summary>
private readonly Dictionary<IEntity, (CancellationTokenSource CancelToken, Job<Queue<TileRef>> Job)> _pathfindingRequests =
private readonly Dictionary<IEntity, (CancellationTokenSource CancelToken, Job<Queue<TileRef>> Job)> _pathfindingRequests =
new Dictionary<IEntity, (CancellationTokenSource, Job<Queue<TileRef>>)>();
/// <summary>
/// Keep track of how long we've been in 1 position and re-path if it's been too long
/// </summary>
private readonly Dictionary<IEntity, int> _stuckCounter = new Dictionary<IEntity, int>();
/// <summary>
/// Get a fixed position for the target entity; if they move then re-path
/// </summary>
private readonly Dictionary<IEntity, GridCoordinates> _entityTargetPosition = new Dictionary<IEntity, GridCoordinates>();
// Anti-Stuck
// Given the collision avoidance can lead to twitching need to store a reference position and check if we've been near this too long
private readonly Dictionary<IEntity, GridCoordinates> _stuckPositions = new Dictionary<IEntity, GridCoordinates>();
@@ -88,7 +88,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
base.Initialize();
_pathfindingSystem = Get<PathfindingSystem>();
for (var i = 0; i < AgentListCount; i++)
{
_agentLists.Add(new Dictionary<IEntity, IAiSteeringRequest>());
@@ -111,14 +111,14 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
var agentList = _agentLists[i];
// Register shouldn't be called twice; if it is then someone dun fucked up
DebugTools.Assert(!agentList.ContainsKey(entity));
if (agentList.Count < lowestListCount)
{
lowestListCount = agentList.Count;
lowestListIndex = i;
}
}
_agentLists[lowestListIndex].Add(entity, steeringRequest);
}
@@ -133,7 +133,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
controller.VelocityDir = Vector2.Zero;
}
if (_pathfindingRequests.TryGetValue(entity, out var request))
{
switch (request.Job.Status)
@@ -157,7 +157,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
}
_pathfindingRequests.Remove(entity);
}
if (_paths.ContainsKey(entity))
{
_paths.Remove(entity);
@@ -177,7 +177,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
_entityTargetPosition.Remove(entity);
}
foreach (var agentList in _agentLists)
{
if (agentList.ContainsKey(entity))
@@ -214,7 +214,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
var result = Steer(agent, steering);
steering.Status = result;
switch (result)
{
case SteeringStatus.Pending:
@@ -255,7 +255,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.Pending;
}
// Validation
// Check if we can even arrive -> Currently only samegrid movement supported
if (entity.Transform.GridID != steeringRequest.TargetGrid.GridID)
@@ -263,7 +263,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.NoPath;
}
// Check if we have arrived
var targetDistance = (entity.Transform.MapPosition.Position - steeringRequest.TargetMap.Position).Length;
if (targetDistance <= steeringRequest.ArrivalDistance)
@@ -274,7 +274,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.Arrived;
}
// Handle pathfinding job
// If we still have an existing path then keep following that until the new path arrives
if (_pathfindingRequests.TryGetValue(entity, out var pathRequest) && pathRequest.Job.Status == JobStatus.Finished)
@@ -297,7 +297,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.NoPath;
}
// If we're closer to next tile then we don't want to walk backwards to our tile's center
UpdatePath(entity, path);
@@ -319,7 +319,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
RequestPath(entity, steeringRequest);
return SteeringStatus.Pending;
}
var ignoredCollision = new List<IEntity>();
// Check if the target entity has moved - If so then re-path
// TODO: Patch the path from the target's position back towards us, stopping if it ever intersects the current path
@@ -331,19 +331,19 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.NoPath;
}
// Check if target's moved too far
if (_entityTargetPosition.TryGetValue(entity, out var targetGrid) && (entitySteer.TargetGrid.Position - targetGrid.Position).Length >= entitySteer.TargetMaxMove)
{
// We'll just repath and keep following the existing one until we get a new one
RequestPath(entity, steeringRequest);
}
ignoredCollision.Add(entitySteer.Target);
}
HandleStuck(entity);
// TODO: Probably need a dedicated queuing solver (doorway congestion FML)
// Get the target grid (either next tile or target itself) and pass it in to the steering behaviors
// If there's nowhere to go then just stop and wait
@@ -353,14 +353,14 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.NoPath;
}
// Validate that we can even get to the next grid (could probably just check if we can use nextTile if we're not near the target grid)
if (!_pathfindingSystem.CanTraverse(entity, nextGrid.Value))
{
controller.VelocityDir = Vector2.Zero;
return SteeringStatus.NoPath;
}
// Now we can /finally/ move
var movementVector = Vector2.Zero;
@@ -370,10 +370,10 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
movementVector += Seek(entity, nextGrid.Value);
if (CollisionAvoidanceEnabled)
{
movementVector += CollisionAvoidance(entity, movementVector, ignoredCollision);
movementVector += CollisionAvoidance(entity, movementVector, ignoredCollision);
}
// Group behaviors would also go here e.g. separation, cohesion, alignment
// Move towards it
DebugTools.Assert(movementVector != new Vector2(float.NaN, float.NaN));
controller.VelocityDir = movementVector.Normalized;
@@ -391,7 +391,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
return;
}
var cancelToken = new CancellationTokenSource();
var gridManager = _mapManager.GetGrid(entity.Transform.GridID);
var startTile = gridManager.GetTileRef(entity.Transform.GridPosition);
@@ -403,7 +403,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
}
var access = AccessReader.FindAccessTags(entity);
var job = _pathfindingSystem.RequestPath(new PathfindingArgs(
entity.Uid,
access,
@@ -423,11 +423,11 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
private void UpdatePath(IEntity entity, Queue<TileRef> path)
{
_pathfindingRequests.Remove(entity);
var entityTile = _mapManager.GetGrid(entity.Transform.GridID).GetTileRef(entity.Transform.GridPosition);
var tile = path.Dequeue();
var closestDistance = PathfindingHelpers.OctileDistance(entityTile, tile);
for (var i = 0; i < path.Count; i++)
{
tile = path.Peek();
@@ -441,7 +441,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
break;
}
}
_paths[entity] = path;
}
@@ -458,20 +458,20 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
_nextGrid.Remove(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 - entity.Transform.GridPosition.Position).Length <= 2.0f)
{
return steeringRequest.TargetGrid;
return steeringRequest.TargetGrid;
}
// Too far so we need a re-path
return null;
}
if (!_nextGrid.TryGetValue(entity, out var nextGrid) ||
if (!_nextGrid.TryGetValue(entity, out var nextGrid) ||
(nextGrid.Position - entity.Transform.GridPosition.Position).Length <= TileTolerance)
{
UpdateGridCache(entity);
@@ -526,7 +526,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
return;
}
// Okay now we're stuck
_paths.Remove(entity);
_stuckCounter[entity] = 0;
@@ -580,7 +580,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
return Vector2.Zero;
}
if (target.TryGetComponent(out IPhysicsComponent physicsComponent))
{
var targetDistance = (targetPos.Position - entityPos.Position);
@@ -603,7 +603,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
{
return Vector2.Zero;
}
// We'll check tile-by-tile
// Rewriting this frequently so not many comments as they'll go stale
// I realise this is bad so please rewrite it ;-;
@@ -636,7 +636,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
//Pathfinding updates are deferred so this may not be done yet.
if (physicsEntity.Deleted) continue;
// if we're moving in the same direction then ignore
// So if 2 entities are moving towards each other and both detect a collision they'll both move in the same direction
// i.e. towards the right
@@ -650,7 +650,7 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Steering
var additionalVector = (centerGrid.Position - entityGridCoords.Position);
var distance = additionalVector.Length;
// If we're too far no point, if we're close then cap it at the normalized vector
distance = Math.Clamp(2.5f - distance, 0.0f, 1.0f);
distance = FloatMath.Clamp(2.5f - distance, 0.0f, 1.0f);
additionalVector = new Angle(90 * distance).RotateVec(additionalVector);
avoidanceVector += additionalVector;
// if we do need to avoid that means we'll have to lookahead for the next tile