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Release 1.8.6.2 - Calm Before the Storm

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Markus Isberg
2025-04-10 11:29:43 +00:00
parent c2705bc701
commit 14f61af41c
32 changed files with 505 additions and 199 deletions
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Barotrauma/BarotraumaShared/SharedSource/Characters/AI/PathFinder.cs
+54 -34
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@@ -170,7 +170,7 @@ namespace Barotrauma
private readonly List<PathNode> sortedNodes;
public SteeringPath FindPath(Vector2 start, Vector2 end, Submarine hostSub = null, string errorMsgStr = null, float minGapSize = 0, Func<PathNode, bool> startNodeFilter = null, Func<PathNode, bool> endNodeFilter = null, Func<PathNode, bool> nodeFilter = null, bool checkVisibility = true)
public SteeringPath FindPath(Vector2 start, Vector2 end, Submarine hostSub = null, string errorMsgStr = null, float minGapSize = 0, Func<PathNode, bool> startNodeFilter = null, Func<PathNode, bool> endNodeFilter = null, Func<PathNode, bool> nodeFilter = null, bool checkVisibility = true, float outsideNodePenalty = 0)
{
foreach (PathNode node in nodes)
{
@@ -325,7 +325,12 @@ namespace Barotrauma
#endif
return new SteeringPath(true);
}
return FindPath(startNode, endNode, nodeFilter, errorMsgStr, minGapSize);
float outsideNodeCostPenalty = outsideNodePenalty;
if (ApplyPenaltyToOutsideNodes)
{
outsideNodeCostPenalty += 100;
}
return FindPath(startNode, endNode, nodeFilter, errorMsgStr, minGapSize, outsideNodeCostPenalty);
bool IsValidStartNode(PathNode node) => IsValidNode(node, (isCharacter, start), startNodeFilter);
@@ -356,7 +361,7 @@ namespace Barotrauma
}
}
private SteeringPath FindPath(PathNode start, PathNode end, Func<PathNode, bool> filter = null, string errorMsgStr = "", float minGapSize = 0)
private SteeringPath FindPath(PathNode start, PathNode end, Func<PathNode, bool> filter = null, string errorMsgStr = "", float minGapSize = 0f, float outsideNodePenalty = 0f)
{
if (start == end)
{
@@ -398,50 +403,65 @@ namespace Barotrauma
for (int i = 0; i < currNode.connections.Count; i++)
{
PathNode nextNode = currNode.connections[i];
//a node that hasn't been searched yet
if (nextNode.state == 0)
{
nextNode.H = Vector2.Distance(nextNode.Position, end.Position);
float penalty = 0.0f;
if (GetNodePenalty != null)
switch (nextNode.state)
{
//a node that hasn't been searched yet
case 0:
{
float? nodePenalty = GetNodePenalty(currNode, nextNode);
if (nodePenalty == null)
nextNode.H = Vector2.Distance(nextNode.Position, end.Position);
float cost = CalculateNodeCost();
if (cost < float.PositiveInfinity)
{
nextNode.state = -1;
continue;
nextNode.G = cost;
nextNode.F = nextNode.G + nextNode.H;
nextNode.Parent = currNode;
nextNode.state = 1;
}
penalty = nodePenalty.Value;
else
{
// Set searched and invalid.
nextNode.state = -1;
}
break;
}
//node that has been searched
case 1 or -1:
{
float tempG = CalculateNodeCost();
//only use if this new route is better than the
//route the node was a part of
if (tempG < nextNode.G)
{
nextNode.G = tempG;
nextNode.F = nextNode.G + nextNode.H;
nextNode.Parent = currNode;
nextNode.state = 1;
}
break;
}
nextNode.G = currNode.G + currNode.distances[i] + penalty;
nextNode.F = nextNode.G + nextNode.H;
nextNode.Parent = currNode;
nextNode.state = 1;
}
//node that has been searched
else if (nextNode.state == 1 || nextNode.state == -1)
float CalculateNodeCost()
{
float tempG = currNode.G + currNode.distances[i];
float penalty = 0f;
if (GetNodePenalty != null)
{
float? nodePenalty = GetNodePenalty(currNode, nextNode);
if (nodePenalty == null) { continue; }
tempG += nodePenalty.Value;
if (nodePenalty.HasValue)
{
penalty += nodePenalty.Value;
}
else
{
return float.PositiveInfinity;
}
}
//only use if this new route is better than the
//route the node was a part of
if (tempG < nextNode.G)
if (currNode.Waypoint.CurrentHull == null)
{
nextNode.G = tempG;
nextNode.F = nextNode.G + nextNode.H;
nextNode.Parent = currNode;
nextNode.state = 1;
penalty += outsideNodePenalty;
}
return currNode.G + currNode.distances[i] + penalty;
}
}
}