vlad.os/LuaCsForBarotraumaEP
0
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Release v0.15.12.0

Browse Source
This commit is contained in:
Joonas Rikkonen
2021-10-27 18:50:57 +03:00
parent bf95e82d80
commit 234fb6bc06
450 changed files with 26042 additions and 10457 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Barotrauma/BarotraumaShared/SharedSource/Characters/AI/PathFinder.cs
+146 -127
View File
@@ -1,4 +1,5 @@
using Microsoft.Xna.Framework;
using Barotrauma.Extensions;
using Microsoft.Xna.Framework;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -78,6 +79,31 @@ namespace Barotrauma
return nodeList;
}
private bool? blocked;
public bool IsBlocked()
{
if (blocked.HasValue) { return blocked.Value; }
blocked = false;
if (Waypoint.Submarine != null) { return blocked.Value; }
if (Waypoint.Tunnel?.Type != Level.TunnelType.Cave) { return blocked.Value; }
foreach (var w in Level.Loaded.ExtraWalls)
{
if (!(w is DestructibleLevelWall d)) { return blocked.Value; }
if (d.Destroyed) { return blocked.Value; }
if (!d.IsPointInside(Waypoint.Position)) { return blocked.Value; }
blocked = true;
break;
}
return blocked.Value;
}
public void ResetBlocked()
{
blocked = null;
}
}
class PathFinder
@@ -86,96 +112,116 @@ namespace Barotrauma
public GetNodePenaltyHandler GetNodePenalty;
private readonly List<PathNode> nodes;
public readonly bool IndoorsSteering;
private readonly bool isCharacter;
public bool InsideSubmarine { get; set; }
public bool ApplyPenaltyToOutsideNodes { get; set; }
public PathFinder(List<WayPoint> wayPoints, bool indoorsSteering = false)
public PathFinder(List<WayPoint> wayPoints, bool isCharacter)
{
nodes = PathNode.GenerateNodes(wayPoints.FindAll(w => w.Submarine != null == indoorsSteering), removeOrphans: true);
var filtered = isCharacter ? wayPoints : wayPoints.FindAll(w => w.Submarine == null);
nodes = PathNode.GenerateNodes(filtered, removeOrphans: true);
foreach (WayPoint wp in wayPoints)
{
wp.linkedTo.CollectionChanged += WaypointLinksChanged;
wp.OnLinksChanged += WaypointLinksChanged;
}
IndoorsSteering = indoorsSteering;
this.isCharacter = isCharacter;
}
void WaypointLinksChanged(object sender, System.Collections.Specialized.NotifyCollectionChangedEventArgs e)
void WaypointLinksChanged(WayPoint wp)
{
if (Submarine.Unloading) { return; }
var waypoints = sender as IEnumerable<MapEntity>;
var node = nodes.Find(n => n.Waypoint == wp);
if (node == null) { return; }
foreach (MapEntity me in waypoints)
for (int i = node.connections.Count - 1; i >= 0; i--)
{
WayPoint wp = me as WayPoint;
if (me == null) { continue; }
var node = nodes.Find(n => n.Waypoint == wp);
if (node == null) { return; }
if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Remove)
//remove connection if the waypoint isn't connected anymore
if (wp.linkedTo.FirstOrDefault(l => l == node.connections[i].Waypoint) == null)
{
for (int i = node.connections.Count - 1; i >= 0; i--)
{
//remove connection if the waypoint isn't connected anymore
if (wp.linkedTo.FirstOrDefault(l => l == node.connections[i].Waypoint) == null)
{
node.connections.RemoveAt(i);
node.distances.RemoveAt(i);
}
}
node.connections.RemoveAt(i);
node.distances.RemoveAt(i);
}
else if (e.Action == System.Collections.Specialized.NotifyCollectionChangedAction.Add)
}
for (int i = 0; i < wp.linkedTo.Count; i++)
{
if (!(wp.linkedTo[i] is WayPoint connected)) { continue; }
//already connected, continue
if (node.connections.Any(n => n.Waypoint == connected)) { continue; }
var matchingNode = nodes.Find(n => n.Waypoint == connected);
if (matchingNode == null)
{
for (int i = 0; i < wp.linkedTo.Count; i++)
{
if (!(wp.linkedTo[i] is WayPoint connected)) { continue; }
//already connected, continue
if (node.connections.Any(n => n.Waypoint == connected)) { continue; }
var matchingNode = nodes.Find(n => n.Waypoint == connected);
if (matchingNode == null)
{
#if DEBUG
DebugConsole.ThrowError("Waypoint connections were changed, no matching path node found in PathFinder");
DebugConsole.ThrowError("Waypoint connections were changed, no matching path node found in PathFinder");
#endif
return;
}
node.connections.Add(matchingNode);
node.distances.Add(Vector2.Distance(node.Position, matchingNode.Position));
}
return;
}
node.connections.Add(matchingNode);
node.distances.Add(Vector2.Distance(node.Position, matchingNode.Position));
}
}
private static readonly List<PathNode> sortedNodes = new List<PathNode>();
private readonly List<PathNode> sortedNodes = new List<PathNode>();
public SteeringPath FindPath(Vector2 start, Vector2 end, Submarine hostSub = null, string errorMsgStr = null, 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)
{
foreach (PathNode node in nodes)
{
node.ResetBlocked();
}
//sort nodes roughly according to distance
sortedNodes.Clear();
foreach (PathNode node in nodes)
{
node.TempPosition = node.Position;
if (hostSub != null)
var wpSub = node.Waypoint.Submarine;
if (hostSub != null && wpSub == null)
{
Vector2 diff = hostSub.SimPosition - node.Waypoint.Submarine.SimPosition;
node.TempPosition -= diff;
// inside and targeting outside
node.TempPosition -= hostSub.SimPosition;
}
else if (wpSub != null && hostSub != null && wpSub != hostSub)
{
// different subs
node.TempPosition -= hostSub.SimPosition - wpSub.SimPosition;
}
else if (hostSub == null && wpSub != null)
{
// Outside and targeting inside
node.TempPosition += wpSub.SimPosition;
}
float xDiff = Math.Abs(start.X - node.TempPosition.X);
float yDiff = Math.Abs(start.Y - node.TempPosition.Y);
if (yDiff > 1.0f && node.Waypoint.Ladders == null && node.Waypoint.Stairs == null) { yDiff += 10.0f; }
node.TempDistance = xDiff + (InsideSubmarine ? yDiff * 10.0f : yDiff); //higher cost for vertical movement when inside the sub
if (InsideSubmarine && !(node.Waypoint.Submarine?.Info?.IsRuin ?? false))
{
//higher cost for vertical movement when inside the sub
if (yDiff > 1.0f && node.Waypoint.Ladders == null && node.Waypoint.Stairs == null)
{
yDiff += 10.0f;
}
node.TempDistance = xDiff + yDiff * 10.0f;
}
else
{
node.TempDistance = xDiff + yDiff;
}
//much higher cost to waypoints that are outside
if (node.Waypoint.CurrentHull == null && ApplyPenaltyToOutsideNodes) { node.TempDistance *= 10.0f; }
//optimization:
//node extremely far, don't try to use it as a start node
if (node.TempDistance > 800.0f)
{
continue;
}
//prefer nodes that are closer to the end position
node.TempDistance += (Math.Abs(end.X - node.TempPosition.X) + Math.Abs(end.Y - node.TempPosition.Y)) / 100.0f;
@@ -187,31 +233,39 @@ namespace Barotrauma
sortedNodes.Insert(i, node);
}
bool IsWaypointVisible(PathNode node, Vector2 rayStart, bool checkVisibility = true)
{
//if searching for a path inside the sub, make sure the waypoint is visible
if (checkVisibility && isCharacter)
{
if (node.Waypoint.isObstructed) { return false; }
var body = Submarine.PickBody(rayStart, node.TempPosition,
collisionCategory: Physics.CollisionWall | Physics.CollisionLevel | Physics.CollisionStairs);
if (body != null)
{
if (body.UserData is Submarine) { return false; }
if (body.UserData is Structure s && !s.IsPlatform) { return false; }
if (body.UserData is Item && body.FixtureList[0].CollisionCategories.HasFlag(Physics.CollisionWall)) { return false; }
}
}
return true;
}
//find the most suitable start node, starting from the ones that are the closest
PathNode startNode = null;
foreach (PathNode node in sortedNodes)
{
if (startNode == null || node.TempDistance < startNode.TempDistance)
if (nodeFilter != null && !nodeFilter(node)) { continue; }
if (startNodeFilter != null && !startNodeFilter(node)) { continue; }
// Always check the visibility for the start node
if (!IsWaypointVisible(node, start)) { continue; }
if (node.IsBlocked()) { continue; }
if (node.Waypoint.ConnectedGap != null)
{
if (nodeFilter != null && !nodeFilter(node)) { continue; }
if (startNodeFilter != null && !startNodeFilter(node)) { continue; }
//if searching for a path inside the sub, make sure the waypoint is visible
if (IndoorsSteering)
{
if (node.Waypoint.isObstructed) { continue; }
// Always check the visibility for the start node
var body = Submarine.PickBody(
start, node.TempPosition, null,
Physics.CollisionWall | Physics.CollisionLevel | Physics.CollisionStairs);
if (body != null)
{
if (body.UserData is Structure && !((Structure)body.UserData).IsPlatform) { continue; }
if (body.UserData is Item && body.FixtureList[0].CollisionCategories.HasFlag(Physics.CollisionWall)) { continue; }
}
}
startNode = node;
if (!CanFitThroughGap(node.Waypoint.ConnectedGap, minGapSize)) { continue; }
}
startNode = node;
break;
}
if (startNode == null)
@@ -252,28 +306,17 @@ namespace Barotrauma
PathNode endNode = null;
foreach (PathNode node in sortedNodes)
{
if (endNode == null || node.TempDistance < endNode.TempDistance)
if (nodeFilter != null && !nodeFilter(node)) { continue; }
if (endNodeFilter != null && !endNodeFilter(node)) { continue; }
// Only check the visibility for the end node when allowed (fix leaks)
if (!IsWaypointVisible(node, end, checkVisibility: checkVisibility)) { continue; }
if (node.IsBlocked()) { continue; }
if (node.Waypoint.ConnectedGap != null)
{
if (nodeFilter != null && !nodeFilter(node)) { continue; }
if (endNodeFilter != null && !endNodeFilter(node)) { continue; }
if (IndoorsSteering)
{
if (node.Waypoint.isObstructed) { continue; }
//if searching for a path inside the sub, make sure the waypoint is visible
if (checkVisibility)
{
// Only check the visibility for the end node when allowed (fix leaks)
var body = Submarine.PickBody(end, node.TempPosition, null,
Physics.CollisionWall | Physics.CollisionLevel | Physics.CollisionStairs);
if (body != null)
{
if (body.UserData is Structure && !((Structure)body.UserData).IsPlatform) { continue; }
if (body.UserData is Item && body.FixtureList[0].CollisionCategories.HasFlag(Physics.CollisionWall)) { continue; }
}
}
}
endNode = node;
if (!CanFitThroughGap(node.Waypoint.ConnectedGap, minGapSize)) { continue; }
}
endNode = node;
break;
}
if (endNode == null)
@@ -284,40 +327,12 @@ namespace Barotrauma
return new SteeringPath(true);
}
var path = FindPath(startNode, endNode, nodeFilter, errorMsgStr);
var path = FindPath(startNode, endNode, nodeFilter, errorMsgStr, minGapSize);
return path;
}
public SteeringPath FindPath(WayPoint start, WayPoint end)
{
PathNode startNode = null, endNode = null;
foreach (PathNode node in nodes)
{
if (node.Waypoint == start)
{
startNode = node;
if (endNode != null) { break; }
}
if (node.Waypoint == end)
{
endNode = node;
if (startNode != null) { break; }
}
}
if (startNode == null || endNode == null)
{
#if DEBUG
DebugConsole.NewMessage("Pathfinding error, couldn't find matching pathnodes to waypoints.", Color.DarkRed);
#endif
return new SteeringPath(true);
}
return FindPath(startNode, endNode);
}
private SteeringPath FindPath(PathNode start, PathNode end, Func<PathNode, bool> filter = null, string errorMsgStr = "")
private SteeringPath FindPath(PathNode start, PathNode end, Func<PathNode, bool> filter = null, string errorMsgStr = "", float minGapSize = 0)
{
if (start == end)
{
@@ -342,14 +357,16 @@ namespace Barotrauma
float dist = float.MaxValue;
foreach (PathNode node in nodes)
{
if (node.state != 1) { continue; }
if (IndoorsSteering && node.Waypoint.isObstructed) { continue; }
if (node.state != 1 || node.F > dist) { continue; }
if (isCharacter && node.Waypoint.isObstructed) { continue; }
if (filter != null && !filter(node)) { continue; }
if (node.F < dist)
if (node.IsBlocked()) { continue; }
if (node.Waypoint.ConnectedGap != null)
{
dist = node.F;
currNode = node;
}
if (!CanFitThroughGap(node.Waypoint.ConnectedGap, minGapSize)) { continue; }
}
dist = node.F;
currNode = node;
}
if (currNode == null || currNode == end) { break; }
@@ -451,6 +468,8 @@ namespace Barotrauma
return path;
}
private bool CanFitThroughGap(Gap gap, float minWidth) => gap.IsHorizontal ? gap.RectHeight > minWidth : gap.RectWidth > minWidth;
}
}