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(965c31410a) Unstable v0.10.4.0

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This commit is contained in:
Juan Pablo Arce
2020-07-21 08:57:50 -03:00
parent 4f8bd39789
commit 33d3a41104
546 changed files with 45952 additions and 25762 deletions
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Barotrauma/BarotraumaShared/SharedSource/Characters/AI/PathFinder.cs
+89 -81
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@@ -7,34 +7,37 @@ namespace Barotrauma
{
class PathNode
{
private WayPoint wayPoint;
private int wayPointID;
private readonly int wayPointID;
public int state;
public PathNode Parent;
private Vector2 position;
public float F,G,H;
public float F, G, H;
public List<PathNode> connections;
public List<float> distances;
public WayPoint Waypoint
{
get { return wayPoint; }
}
public Vector2 TempPosition;
public float TempDistance;
public WayPoint Waypoint { get; private set; }
public Vector2 Position
{
get { return position; }
}
public override string ToString()
{
return $"PathNode {wayPointID}";
}
public PathNode(WayPoint wayPoint)
{
this.wayPoint = wayPoint;
this.Waypoint = wayPoint;
this.position = wayPoint.SimPosition;
wayPointID = wayPoint.ID;
@@ -57,15 +60,14 @@ namespace Barotrauma
nodes.Add(wayPoint.ID, new PathNode(wayPoint));
}
foreach (KeyValuePair<int,PathNode> node in nodes)
foreach (KeyValuePair<int, PathNode> node in nodes)
{
foreach (MapEntity linked in node.Value.wayPoint.linkedTo)
foreach (MapEntity linked in node.Value.Waypoint.linkedTo)
{
PathNode connectedNode = null;
nodes.TryGetValue(linked.ID, out connectedNode);
nodes.TryGetValue(linked.ID, out PathNode connectedNode);
if (connectedNode == null) { continue; }
node.Value.connections.Add(connectedNode);
if (!node.Value.connections.Contains(connectedNode)) { node.Value.connections.Add(connectedNode); }
if (!connectedNode.connections.Contains(node.Value)) { connectedNode.connections.Add(node.Value); }
}
}
@@ -74,10 +76,10 @@ namespace Barotrauma
foreach (PathNode node in nodeList)
{
node.distances = new List<float>();
for (int i = 0; i< node.connections.Count; i++)
for (int i = 0; i < node.connections.Count; i++)
{
node.distances.Add(Vector2.Distance(node.position, node.connections[i].position));
}
}
}
return nodeList;
@@ -89,7 +91,7 @@ namespace Barotrauma
public delegate float? GetNodePenaltyHandler(PathNode node, PathNode prevNode);
public GetNodePenaltyHandler GetNodePenalty;
private List<PathNode> nodes;
private readonly List<PathNode> nodes;
public bool InsideSubmarine { get; set; }
@@ -135,8 +137,7 @@ namespace Barotrauma
{
for (int i = 0; i < wp.linkedTo.Count; i++)
{
WayPoint connected = wp.linkedTo[i] as WayPoint;
if (connected == null) { continue; }
if (!(wp.linkedTo[i] is WayPoint connected)) { continue; }
//already connected, continue
if (node.connections.Any(n => n.Waypoint == connected)) { continue; }
@@ -157,47 +158,53 @@ namespace Barotrauma
}
}
private static 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)
{
float closestDist = 0.0f;
PathNode startNode = null;
{
//sort nodes roughly according to distance
sortedNodes.Clear();
foreach (PathNode node in nodes)
{
if (nodeFilter != null && !nodeFilter(node)) { continue; }
if (startNodeFilter != null && !startNodeFilter(node)) { continue; }
Vector2 nodePos = node.Position;
node.TempPosition = node.Position;
if (hostSub != null)
{
Vector2 diff = hostSub.SimPosition - node.Waypoint.Submarine.SimPosition;
nodePos -= diff;
node.TempPosition -= diff;
}
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
float xDiff = Math.Abs(start.X - nodePos.X);
float yDiff = Math.Abs(start.Y - nodePos.Y);
if (yDiff > 1.0f && node.Waypoint.Ladders == null && node.Waypoint.Stairs == null)
{
yDiff += 10.0f;
}
float dist = xDiff + (InsideSubmarine ? yDiff * 10.0f : yDiff); //higher cost for vertical movement when inside the sub
//much higher cost to waypoints that are outside
if (node.Waypoint.CurrentHull == null && InsideSubmarine) { node.TempDistance *= 10.0f; }
//prefer nodes that are closer to the end position
dist += (Math.Abs(end.X - nodePos.X) + Math.Abs(end.Y - nodePos.Y)) / 2.0f;
//much higher cost to waypoints that are outside
if (node.Waypoint.CurrentHull == null && InsideSubmarine)
node.TempDistance += (Math.Abs(end.X - node.TempPosition.X) + Math.Abs(end.Y - node.TempPosition.Y)) / 100.0f;
int i = 0;
while (i < sortedNodes.Count && sortedNodes[i].TempDistance < node.TempDistance)
{
dist *= 10.0f;
i++;
}
if (dist < closestDist || startNode == null)
sortedNodes.Insert(i, node);
}
//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; }
//if searching for a path inside the sub, make sure the waypoint is visible
if (InsideSubmarine)
{
var body = Submarine.PickBody(
start, nodePos, null,
start, node.TempPosition, null,
Physics.CollisionWall | Physics.CollisionLevel | Physics.CollisionStairs);
if (body != null)
{
//if (body.UserData is Submarine) continue;
@@ -205,8 +212,6 @@ namespace Barotrauma
if (body.UserData is Item && body.FixtureList[0].CollisionCategories.HasFlag(Physics.CollisionWall)) { continue; }
}
}
closestDist = dist;
startNode = node;
}
}
@@ -216,36 +221,45 @@ namespace Barotrauma
#if DEBUG
DebugConsole.NewMessage("Pathfinding error, couldn't find a start node. "+ errorMsgStr, Color.DarkRed);
#endif
return new SteeringPath(true);
}
closestDist = 0.0f;
PathNode endNode = null;
//sort nodes again, now based on distance from the end position
sortedNodes.Clear();
foreach (PathNode node in nodes)
{
if (nodeFilter != null && !nodeFilter(node)) { continue; }
if (endNodeFilter != null && !endNodeFilter(node)) { continue; }
Vector2 nodePos = node.Position;
if (hostSub != null)
{
Vector2 diff = hostSub.SimPosition - node.Waypoint.Submarine.SimPosition;
nodePos -= diff;
}
float dist = Vector2.DistanceSquared(end, nodePos);
node.TempDistance = Vector2.DistanceSquared(end, node.TempPosition);
if (InsideSubmarine)
{
//much higher cost to waypoints that are outside
if (node.Waypoint.CurrentHull == null) { dist *= 10.0f; }
if (node.Waypoint.CurrentHull == null) { node.TempDistance *= 10.0f; }
//avoid stopping at a doorway
if (node.Waypoint.ConnectedDoor != null) { dist *= 10.0f; }
if (node.Waypoint.ConnectedDoor != null) { node.TempDistance *= 10.0f; }
//avoid stopping at a ladder
if (node.Waypoint.Ladders != null) { node.TempDistance *= 10.0f; }
}
if (dist < closestDist || endNode == null)
int i = 0;
while (i < sortedNodes.Count && sortedNodes[i].TempDistance < node.TempDistance)
{
i++;
}
sortedNodes.Insert(i, node);
}
//find the most suitable end node, starting from the ones closest to the end position
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; }
//if searching for a path inside the sub, make sure the waypoint is visible
if (InsideSubmarine)
{
var body = Submarine.PickBody(end, nodePos, null,
var body = Submarine.PickBody(end, node.TempPosition, null,
Physics.CollisionWall | Physics.CollisionLevel | Physics.CollisionStairs );
if (body != null)
@@ -255,8 +269,6 @@ namespace Barotrauma
if (body.UserData is Item && body.FixtureList[0].CollisionCategories.HasFlag(Physics.CollisionWall)) { continue; }
}
}
closestDist = dist;
endNode = node;
}
}
@@ -269,25 +281,25 @@ namespace Barotrauma
return new SteeringPath(true);
}
var path = FindPath(startNode, endNode, nodeFilter);
var path = FindPath(startNode, endNode, nodeFilter, errorMsgStr);
return path;
}
public SteeringPath FindPath(WayPoint start, WayPoint end)
{
PathNode startNode=null, endNode=null;
PathNode startNode = null, endNode = null;
foreach (PathNode node in nodes)
{
if (node.Waypoint == start)
{
startNode = node;
if (endNode != null) break;
if (endNode != null) { break; }
}
if (node.Waypoint == end)
{
endNode = node;
if (startNode != null) break;
if (startNode != null) { break; }
}
}
@@ -302,13 +314,12 @@ namespace Barotrauma
return FindPath(startNode, endNode);
}
private SteeringPath FindPath(PathNode start, PathNode end, Func<PathNode, bool> filter = null)
private SteeringPath FindPath(PathNode start, PathNode end, Func<PathNode, bool> filter = null, string errorMsgStr = "")
{
if (start == end)
{
var path1 = new SteeringPath();
path1.AddNode(start.Waypoint);
return path1;
}
@@ -328,8 +339,8 @@ namespace Barotrauma
float dist = float.MaxValue;
foreach (PathNode node in nodes)
{
if (filter != null && !filter(node)) { continue; }
if (node.state != 1) { continue; }
if (filter != null && !filter(node)) { continue; }
if (node.F < dist)
{
dist = node.F;
@@ -395,7 +406,7 @@ namespace Barotrauma
if (end.state == 0 || end.Parent == null)
{
#if DEBUG
DebugConsole.NewMessage("Path not found", Color.Yellow);
DebugConsole.NewMessage("Path not found. " + errorMsgStr, Color.Yellow);
#endif
return new SteeringPath(true);
}
@@ -425,15 +436,12 @@ namespace Barotrauma
}
finalPath.Add(start.Waypoint);
finalPath.Reverse();
foreach (WayPoint wayPoint in finalPath)
for (int i = finalPath.Count - 1; i >= 0; i--)
{
path.AddNode(wayPoint);
path.AddNode(finalPath[i]);
}
System.Diagnostics.Debug.Assert(finalPath.Count == path.Nodes.Count);
return path;
}
}