From 29f902f0bb68bf07c057c03516d25b3d46937143 Mon Sep 17 00:00:00 2001
From: Joonas Rikkonen <poe.regalis@gmail.com>
Date: Mon, 15 Apr 2019 12:01:48 +0300
Subject: [PATCH] (18bb55660) Add unreachable targets on the unreachables list.
 Reset the list when a new combat objective begins. Don't immediately find a
 new hull target if the current hull is unsafe. Instead wait a sec at max.
 Fixes #1417.

---
 .../AI/Objectives/AIObjectiveCombat.cs        |  8 +++++---
 .../AI/Objectives/AIObjectiveFindSafety.cs    | 20 +++++++++++--------
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs b/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs
index 128992a3e..9acf4bc99 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs
@@ -44,6 +44,7 @@ namespace Barotrauma
         private AIObjectiveContainItem reloadWeaponObjective;
         private Hull retreatTarget;
         private AIObjectiveGoTo retreatObjective;
+        private AIObjectiveFindSafety findSafety;
 
         private float coolDownTimer;
 
@@ -60,7 +61,9 @@ namespace Barotrauma
         {
             Enemy = enemy;
             coolDownTimer = CoolDown;
-            HumanAIController.ObjectiveManager.GetObjective<AIObjectiveFindSafety>().Priority = 0;
+            findSafety = HumanAIController.ObjectiveManager.GetObjective<AIObjectiveFindSafety>();
+            findSafety.Priority = 0;
+            findSafety.unreachable.Clear();
             Mode = mode;
             if (Enemy == null)
             {
@@ -175,7 +178,7 @@ namespace Barotrauma
         {
             if (retreatTarget == null || (retreatObjective != null && !retreatObjective.CanBeCompleted))
             {
-                retreatTarget = HumanAIController.ObjectiveManager.GetObjective<AIObjectiveFindSafety>().FindBestHull(new List<Hull>() { character.CurrentHull });
+                retreatTarget = findSafety.FindBestHull(new List<Hull>() { character.CurrentHull });
             }
             if (retreatTarget != null)
             {
@@ -277,7 +280,6 @@ namespace Barotrauma
         {
             abandon = true;
             SteeringManager.Reset();
-            //HumanAIController.ObjectiveManager.GetObjective<AIObjectiveFindSafety>().Priority = 100;
         }
 
         public override bool IsCompleted()
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveFindSafety.cs b/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveFindSafety.cs
index 5474ed813..ae793f08f 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveFindSafety.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveFindSafety.cs
@@ -2,6 +2,7 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using Barotrauma.Extensions;
 
 namespace Barotrauma
 {
@@ -17,10 +18,7 @@ namespace Barotrauma
         const float SearchHullInterval = 3.0f;
         const float clearUnreachableInterval = 30;
 
-        private readonly List<Hull> targetHulls = new List<Hull>(20);
-        private readonly List<float> hullWeights = new List<float>(20);
-
-        private List<Hull> unreachable = new List<Hull>();
+        public readonly List<Hull> unreachable = new List<Hull>();
 
         private float currenthullSafety;
         private float unreachableClearTimer;
@@ -67,6 +65,11 @@ namespace Barotrauma
                 }
             }
 
+            if (currenthullSafety < HumanAIController.HULL_SAFETY_THRESHOLD)
+            {
+                searchHullTimer = Math.Min(1, searchHullTimer);
+            }
+
             if (unreachableClearTimer > 0)
             {
                 unreachableClearTimer -= deltaTime;
@@ -190,15 +193,17 @@ namespace Barotrauma
                     float dist = Math.Abs(character.WorldPosition.X - hull.WorldPosition.X) + Math.Abs(character.WorldPosition.Y - hull.WorldPosition.Y) * 2.0f;
                     float distanceFactor = MathHelper.Lerp(1, 0.9f, MathUtils.InverseLerp(0, 10000, dist));
                     hullSafety *= distanceFactor;
-
                     //skip the hull if the safety is already less than the best hull
                     //(no need to do the expensive pathfinding if we already know we're not going to choose this hull)
                     if (hullSafety < bestValue) { continue; }
-
                     // Each unsafe node reduces the hull safety value.
                     // Ignore current hull, because otherwise the would block all paths from the current hull to the target hull.
                     var path = PathSteering.PathFinder.FindPath(character.SimPosition, hull.SimPosition);
-                    if (path.Unreachable) { continue; }
+                    if (path.Unreachable)
+                    {
+                        unreachable.Add(hull);
+                        continue;
+                    }
                     int unsafeNodes = path.Nodes.Count(n => n.CurrentHull != character.CurrentHull && HumanAIController.UnsafeHulls.Contains(n.CurrentHull));
                     hullSafety /= 1 + unsafeNodes;
                     // If the target is not inside a friendly submarine, considerably reduce the hull safety.
@@ -226,7 +231,6 @@ namespace Barotrauma
                             }
                         }
                     }
-
                     // Huge preference for closer targets
                     float distance = Vector2.DistanceSquared(character.WorldPosition, hull.WorldPosition);
                     float distanceFactor = MathHelper.Lerp(1, 0.2f, MathUtils.InverseLerp(0, MathUtils.Pow(100000, 2), distance));