(61d00a474) v0.9.7.1
This commit is contained in:
Regalis
@@ -0,0 +1,617 @@
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using Barotrauma.Items.Components;
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using Microsoft.Xna.Framework;
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using System;
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using System.Linq;
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using Barotrauma.Extensions;
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using FarseerPhysics;
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namespace Barotrauma
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{
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class IndoorsSteeringManager : SteeringManager
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{
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private PathFinder pathFinder;
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private SteeringPath currentPath;
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private bool canOpenDoors, canBreakDoors;
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private Character character;
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private Vector2 currentTarget;
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private float findPathTimer;
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private float buttonPressCooldown;
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const float ButtonPressInterval = 0.5f;
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public SteeringPath CurrentPath
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{
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get { return currentPath; }
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}
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public PathFinder PathFinder
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{
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get { return pathFinder; }
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}
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public Vector2 CurrentTarget
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{
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get { return currentTarget; }
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}
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public bool IsPathDirty
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{
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get;
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private set;
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}
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/// <summary>
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/// Returns true if the current or the next node is in ladders.
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/// </summary>
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public bool InLadders =>
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currentPath != null &&
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currentPath.CurrentNode != null && (currentPath.CurrentNode.Ladders != null ||
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(currentPath.NextNode != null && currentPath.NextNode.Ladders != null));
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/// <summary>
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/// Returns true if any node in the path is in stairs
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/// </summary>
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public bool PathHasStairs => currentPath != null && currentPath.Nodes.Any(n => n.Stairs != null);
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public bool IsNextNodeLadder => GetNextLadder() != null;
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public bool IsNextLadderSameAsCurrent
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{
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get
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{
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if (currentPath == null) { return false; }
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if (currentPath.CurrentNode == null) { return false; }
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if (currentPath.NextNode == null) { return false; }
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var currentLadder = currentPath.CurrentNode.Ladders;
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if (currentLadder == null) { return false; }
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var nextLadder = GetNextLadder();
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return nextLadder != null && nextLadder == currentLadder;
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}
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}
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public IndoorsSteeringManager(ISteerable host, bool canOpenDoors, bool canBreakDoors) : base(host)
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{
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pathFinder = new PathFinder(WayPoint.WayPointList.FindAll(wp => wp.SpawnType == SpawnType.Path), indoorsSteering: true);
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pathFinder.GetNodePenalty = GetNodePenalty;
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this.canOpenDoors = canOpenDoors;
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this.canBreakDoors = canBreakDoors;
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character = (host as AIController).Character;
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findPathTimer = Rand.Range(0.0f, 1.0f);
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}
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public override void Update(float speed)
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{
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base.Update(speed);
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buttonPressCooldown -= 1.0f / 60.0f;
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findPathTimer -= 1.0f / 60.0f;
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}
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public void SetPath(SteeringPath path)
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{
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currentPath = path;
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if (path.Nodes.Any()) currentTarget = path.Nodes[path.Nodes.Count - 1].SimPosition;
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findPathTimer = 1.0f;
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IsPathDirty = false;
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}
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public void SteeringSeek(Vector2 target, float weight, Func<PathNode, bool> startNodeFilter = null, Func<PathNode, bool> endNodeFilter = null, Func<PathNode, bool> nodeFilter = null)
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{
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steering += CalculateSteeringSeek(target, weight, startNodeFilter, endNodeFilter, nodeFilter);
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}
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/// <summary>
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/// Seeks the ladder from the current and the next two nodes.
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/// </summary>
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public Ladder GetNextLadder()
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{
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if (currentPath == null) { return null; }
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if (currentPath.NextNode == null) { return null; }
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if (currentPath.NextNode.Ladders != null)
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{
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return currentPath.NextNode.Ladders;
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}
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else
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{
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int index = currentPath.CurrentIndex + 2;
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if (currentPath.Nodes.Count > index)
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{
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var node = currentPath.Nodes[index];
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if (node == null) { return null; }
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return node.Ladders;
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}
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return null;
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}
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}
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private Vector2 CalculateSteeringSeek(Vector2 target, float weight, Func<PathNode, bool> startNodeFilter = null, Func<PathNode, bool> endNodeFilter = null, Func<PathNode, bool> nodeFilter = null)
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{
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bool needsNewPath = character.Params.PathFinderPriority > 0.5f && (currentPath == null || currentPath.Unreachable || currentPath.Finished || Vector2.DistanceSquared(target, currentTarget) > 1);
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//find a new path if one hasn't been found yet or the target is different from the current target
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if (needsNewPath || findPathTimer < -1.0f)
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{
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IsPathDirty = true;
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if (findPathTimer > 0.0f) { return Vector2.Zero; }
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currentTarget = target;
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Vector2 currentPos = host.SimPosition;
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if (character != null && character.Submarine == null)
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{
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var targetHull = Hull.FindHull(ConvertUnits.ToDisplayUnits(target), null, false);
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if (targetHull != null && targetHull.Submarine != null)
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{
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currentPos -= targetHull.Submarine.SimPosition;
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}
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}
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pathFinder.InsideSubmarine = character.Submarine != null;
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var newPath = pathFinder.FindPath(currentPos, target, character.Submarine, "(Character: " + character.Name + ")", startNodeFilter, endNodeFilter, nodeFilter);
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bool useNewPath = currentPath == null || needsNewPath || currentPath.Finished;
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if (!useNewPath && currentPath != null && currentPath.CurrentNode != null && newPath.Nodes.Any() && !newPath.Unreachable)
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{
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// It's possible that the current path was calculated from a start point that is no longer valid.
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// Therefore, let's accept also paths with a greater cost than the current, if the current node is much farther than the new start node.
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useNewPath = newPath.Cost < currentPath.Cost ||
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Vector2.DistanceSquared(character.WorldPosition, currentPath.CurrentNode.WorldPosition) > Math.Pow(Vector2.Distance(character.WorldPosition, newPath.Nodes.First().WorldPosition) * 3, 2);
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}
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if (useNewPath)
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{
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currentPath = newPath;
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}
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float priority = MathHelper.Lerp(3, 1, character.Params.PathFinderPriority);
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findPathTimer = priority * Rand.Range(1.0f, 1.2f);
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IsPathDirty = false;
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return DiffToCurrentNode();
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}
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Vector2 diff = DiffToCurrentNode();
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var collider = character.AnimController.Collider;
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//if not in water and the waypoint is between the top and bottom of the collider, no need to move vertically
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if (!character.AnimController.InWater && !character.IsClimbing && diff.Y < collider.height / 2 + collider.radius)
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{
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diff.Y = 0.0f;
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}
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//if (diff.LengthSquared() < 0.001f) { return -host.Steering; }
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if (diff == Vector2.Zero) { return Vector2.Zero; }
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return Vector2.Normalize(diff) * weight;
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}
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protected override Vector2 DoSteeringSeek(Vector2 target, float weight) => CalculateSteeringSeek(target, weight, null, null, null);
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private Vector2 DiffToCurrentNode()
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{
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if (currentPath == null || currentPath.Unreachable) return Vector2.Zero;
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if (currentPath.Finished)
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{
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Vector2 pos2 = host.SimPosition;
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if (character != null && character.Submarine == null &&
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CurrentPath.Nodes.Count > 0 && CurrentPath.Nodes.Last().Submarine != null)
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{
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pos2 -= CurrentPath.Nodes.Last().Submarine.SimPosition;
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}
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return currentTarget - pos2;
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}
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if (canOpenDoors && !character.LockHands && buttonPressCooldown <= 0.0f)
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{
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CheckDoorsInPath();
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}
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Vector2 pos = host.SimPosition;
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if (character != null && currentPath.CurrentNode != null)
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{
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if (CurrentPath.CurrentNode.Submarine != null)
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{
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if (character.Submarine == null)
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{
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pos -= CurrentPath.CurrentNode.Submarine.SimPosition;
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}
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else if (character.Submarine != currentPath.CurrentNode.Submarine)
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{
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pos -= ConvertUnits.ToSimUnits(currentPath.CurrentNode.Submarine.Position - character.Submarine.Position);
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}
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}
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}
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bool isDiving = character.AnimController.InWater && character.AnimController.HeadInWater;
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//only humanoids can climb ladders
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if (!isDiving && character.AnimController is HumanoidAnimController && IsNextLadderSameAsCurrent)
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{
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if (character.SelectedConstruction != currentPath.CurrentNode.Ladders.Item &&
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currentPath.CurrentNode.Ladders.Item.IsInsideTrigger(character.WorldPosition))
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{
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currentPath.CurrentNode.Ladders.Item.TryInteract(character, false, true);
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}
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}
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var collider = character.AnimController.Collider;
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if (character.IsClimbing && !isDiving)
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{
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Vector2 diff = currentPath.CurrentNode.SimPosition - pos;
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Ladder nextLadder = GetNextLadder();
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bool nextLadderSameAsCurrent = IsNextLadderSameAsCurrent;
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if (nextLadderSameAsCurrent)
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{
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//climbing ladders -> don't move horizontally
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diff.X = 0.0f;
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}
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//at the same height as the waypoint
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if (Math.Abs(collider.SimPosition.Y - currentPath.CurrentNode.SimPosition.Y) < (collider.height / 2 + collider.radius) * 1.25f)
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{
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float heightFromFloor = character.AnimController.GetColliderBottom().Y - character.AnimController.FloorY;
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if (heightFromFloor <= 0.0f)
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{
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diff.Y = Math.Max(diff.Y, 1.0f);
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}
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// If the next waypoint is horizontally far, we don't want to keep holding the ladders
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if (nextLadder == null || Math.Abs(currentPath.CurrentNode.WorldPosition.X - currentPath.NextNode.WorldPosition.X) > 50)
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{
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character.AnimController.Anim = AnimController.Animation.None;
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character.SelectedConstruction = null;
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}
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else if (!nextLadderSameAsCurrent)
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{
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// Try to change the ladder (hatches between two submarines)
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if (character.SelectedConstruction != nextLadder.Item && nextLadder.Item.IsInsideTrigger(character.WorldPosition))
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{
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nextLadder.Item.TryInteract(character, false, true);
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}
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}
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// We need some margin, because if a hatch has closed, it's possible that the height from floor is slightly negative.
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float margin = 0.1f;
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bool isAboveFloor = heightFromFloor > -margin && heightFromFloor < collider.height * 1.5f;
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if (nextLadder != null || isAboveFloor)
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{
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currentPath.SkipToNextNode();
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}
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}
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else if (nextLadder != null)
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{
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//if the current node is below the character and the next one is above (or vice versa)
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//and both are on ladders, we can skip directly to the next one
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//e.g. no point in going down to reach the starting point of a path when we could go directly to the one above
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if (Math.Sign(currentPath.CurrentNode.WorldPosition.Y - character.WorldPosition.Y) != Math.Sign(currentPath.NextNode.WorldPosition.Y - character.WorldPosition.Y))
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{
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currentPath.SkipToNextNode();
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}
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}
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return diff;
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}
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else if (character.AnimController.InWater)
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{
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// If the character is underwater, we don't need the ladders anymore
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if (character.IsClimbing && isDiving)
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{
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character.AnimController.Anim = AnimController.Animation.None;
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character.SelectedConstruction = null;
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}
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float multiplier = MathHelper.Lerp(1, 10, MathHelper.Clamp(collider.LinearVelocity.Length() / 10, 0, 1));
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float targetDistance = collider.GetSize().X * multiplier;
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float horizontalDistance = Math.Abs(character.WorldPosition.X - currentPath.CurrentNode.WorldPosition.X);
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float verticalDistance = Math.Abs(character.WorldPosition.Y - currentPath.CurrentNode.WorldPosition.Y);
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if (character.CurrentHull != currentPath.CurrentNode.CurrentHull)
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{
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verticalDistance *= 2;
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}
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float distance = horizontalDistance + verticalDistance;
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if (ConvertUnits.ToSimUnits(distance) < targetDistance)
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{
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currentPath.SkipToNextNode();
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}
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}
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else if (!IsNextLadderSameAsCurrent)
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{
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Vector2 colliderBottom = character.AnimController.GetColliderBottom();
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Vector2 colliderSize = collider.GetSize();
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Vector2 velocity = collider.LinearVelocity;
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// If the character is smaller than this, it fails to use the waypoint nodes, because they are always too high.
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float minHeight = 1;
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// Cannot use the head position, because not all characters have head or it can be below the total height of the character
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float characterHeight = Math.Max(colliderSize.Y + character.AnimController.ColliderHeightFromFloor, minHeight);
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float horizontalDistance = Math.Abs(collider.SimPosition.X - currentPath.CurrentNode.SimPosition.X);
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bool isAboveFeet = currentPath.CurrentNode.SimPosition.Y > colliderBottom.Y;
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bool isNotTooHigh = currentPath.CurrentNode.SimPosition.Y < colliderBottom.Y + characterHeight;
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float margin = MathHelper.Lerp(1, 10, MathHelper.Clamp(Math.Abs(velocity.X) / 10, 0, 1));
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float targetDistance = collider.radius * margin;
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if (horizontalDistance < targetDistance && isAboveFeet && isNotTooHigh)
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{
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currentPath.SkipToNextNode();
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}
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}
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if (currentPath.CurrentNode == null) return Vector2.Zero;
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return currentPath.CurrentNode.SimPosition - pos;
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}
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private bool CanAccessDoor(Door door, Func<Controller, bool> buttonFilter = null)
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{
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if (door.IsOpen) { return true; }
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if (canBreakDoors) { return true; }
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if (door.IsStuck) { return false; }
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if (!canOpenDoors || character.LockHands) { return false; }
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if (door.HasIntegratedButtons)
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{
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return door.CanBeOpenedWithoutTools(character);
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}
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else
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{
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return door.Item.GetConnectedComponents<Controller>(true).Any(b => b.HasAccess(character) && (buttonFilter == null || buttonFilter(b)));
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}
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}
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private void CheckDoorsInPath()
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{
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for (int i = 0; i < 2; i++)
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{
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WayPoint currentWaypoint = null;
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WayPoint nextWaypoint = null;
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Door door = null;
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bool shouldBeOpen = false;
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if (currentPath.Nodes.Count == 1)
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{
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door = currentPath.Nodes.First().ConnectedDoor;
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shouldBeOpen = door != null;
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}
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else
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{
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if (i == 0)
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{
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currentWaypoint = currentPath.CurrentNode;
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nextWaypoint = currentPath.NextNode;
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}
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else
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{
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currentWaypoint = currentPath.PrevNode;
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nextWaypoint = currentPath.CurrentNode;
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}
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if (currentWaypoint?.ConnectedDoor == null) { continue; }
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if (nextWaypoint == null)
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{
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//the node we're heading towards is the last one in the path, and at a door
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//the door needs to be open for the character to reach the node
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shouldBeOpen = true;
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}
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else
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{
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door = currentWaypoint.ConnectedGap.ConnectedDoor;
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if (door.LinkedGap.IsHorizontal)
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{
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int dir = Math.Sign(nextWaypoint.WorldPosition.X - door.Item.WorldPosition.X);
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shouldBeOpen = (door.Item.WorldPosition.X - character.WorldPosition.X) * dir > -50.0f;
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}
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else
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{
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int dir = Math.Sign(nextWaypoint.WorldPosition.Y - door.Item.WorldPosition.Y);
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shouldBeOpen = (door.Item.WorldPosition.Y - character.WorldPosition.Y) * dir > -80.0f;
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}
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}
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}
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if (door == null) { return; }
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//toggle the door if it's the previous node and open, or if it's current node and closed
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if (door.IsOpen != shouldBeOpen)
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{
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Controller closestButton = null;
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float closestDist = 0;
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bool canAccess = CanAccessDoor(door, button =>
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{
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if (currentWaypoint == null) { return true; }
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// Check that the button is on the right side of the door.
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if (door.LinkedGap.IsHorizontal)
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{
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int dir = Math.Sign(nextWaypoint.WorldPosition.X - door.Item.WorldPosition.X);
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if (button.Item.WorldPosition.X * dir > door.Item.WorldPosition.X * dir) { return false; }
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}
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else
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{
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int dir = Math.Sign(nextWaypoint.WorldPosition.Y - door.Item.WorldPosition.Y);
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if (button.Item.WorldPosition.Y * dir > door.Item.WorldPosition.Y * dir) { return false; }
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}
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float distance = Vector2.DistanceSquared(button.Item.WorldPosition, character.WorldPosition);
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if (closestButton == null || distance < closestDist)
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{
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closestButton = button;
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closestDist = distance;
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}
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return true;
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});
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if (canAccess)
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{
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if (door.HasIntegratedButtons)
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{
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door.Item.TryInteract(character, false, true);
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buttonPressCooldown = ButtonPressInterval;
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break;
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}
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else if (closestButton != null)
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{
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if (Vector2.DistanceSquared(closestButton.Item.WorldPosition, character.WorldPosition) < MathUtils.Pow(closestButton.Item.InteractDistance * 2, 2))
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{
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closestButton.Item.TryInteract(character, false, true);
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buttonPressCooldown = ButtonPressInterval;
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break;
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}
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else
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{
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// Can't reach the button closest to the character.
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// It's possible that we could reach another buttons.
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// If this becomes an issue, we could go through them here and check if any of them are reachable
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// (would have to cache a collection of buttons instead of a single reference in the CanAccess filter method above)
|
||||
var body = Submarine.PickBody(character.SimPosition, character.GetRelativeSimPosition(closestButton.Item), collisionCategory: Physics.CollisionWall | Physics.CollisionLevel);
|
||||
if (body != null)
|
||||
{
|
||||
if (body.UserData is Item item)
|
||||
{
|
||||
var d = item.GetComponent<Door>();
|
||||
if (d == null || d.IsOpen) { return; }
|
||||
}
|
||||
// The button is on the wrong side of the door or a wall
|
||||
currentPath.Unreachable = true;
|
||||
}
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (shouldBeOpen)
|
||||
{
|
||||
#if DEBUG
|
||||
DebugConsole.NewMessage($"{character.Name}: Pathfinding error: Cannot access the door", Color.Yellow);
|
||||
#endif
|
||||
currentPath.Unreachable = true;
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private float? GetNodePenalty(PathNode node, PathNode nextNode)
|
||||
{
|
||||
if (character == null) { return 0.0f; }
|
||||
if (nextNode.Waypoint.isObstructed) { return null; }
|
||||
float penalty = 0.0f;
|
||||
if (nextNode.Waypoint.ConnectedGap != null && nextNode.Waypoint.ConnectedGap.Open < 0.9f)
|
||||
{
|
||||
var door = nextNode.Waypoint.ConnectedDoor;
|
||||
if (door == null)
|
||||
{
|
||||
penalty = 100.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!CanAccessDoor(door, button =>
|
||||
{
|
||||
// Ignore buttons that are on the wrong side of the door
|
||||
if (door.IsHorizontal)
|
||||
{
|
||||
if (Math.Sign(button.Item.WorldPosition.Y - door.Item.WorldPosition.Y) != Math.Sign(character.WorldPosition.Y - door.Item.WorldPosition.Y))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (Math.Sign(button.Item.WorldPosition.X - door.Item.WorldPosition.X) != Math.Sign(character.WorldPosition.X - door.Item.WorldPosition.X))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}))
|
||||
{
|
||||
return null;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//non-humanoids can't climb up ladders
|
||||
if (!(character.AnimController is HumanoidAnimController))
|
||||
{
|
||||
if (node.Waypoint.Ladders != null && nextNode.Waypoint.Ladders != null &&
|
||||
nextNode.Position.Y - node.Position.Y > 1.0f && //more than one sim unit to climb up
|
||||
nextNode.Waypoint.CurrentHull != null && nextNode.Waypoint.CurrentHull.Surface < nextNode.Waypoint.Position.Y) //upper node not underwater
|
||||
{
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
if (node.Waypoint != null && node.Waypoint.CurrentHull != null)
|
||||
{
|
||||
var hull = node.Waypoint.CurrentHull;
|
||||
if (hull.FireSources.Count > 0)
|
||||
{
|
||||
foreach (FireSource fs in hull.FireSources)
|
||||
{
|
||||
penalty += fs.Size.X * 10.0f;
|
||||
}
|
||||
}
|
||||
if (character.NeedsAir && hull.WaterVolume / hull.Rect.Width > 100.0f)
|
||||
{
|
||||
penalty += 500.0f;
|
||||
}
|
||||
if (character.PressureProtection < 10.0f && hull.WaterVolume > hull.Volume)
|
||||
{
|
||||
penalty += 1000.0f;
|
||||
}
|
||||
}
|
||||
|
||||
return penalty;
|
||||
}
|
||||
|
||||
public void Wander(float deltaTime, float wallAvoidDistance = 150, bool stayStillInTightSpace = true)
|
||||
{
|
||||
//steer away from edges of the hull
|
||||
bool wander = false;
|
||||
bool inWater = character.AnimController.InWater;
|
||||
var currentHull = character.CurrentHull;
|
||||
if (currentHull != null && !inWater)
|
||||
{
|
||||
float roomWidth = currentHull.Rect.Width;
|
||||
if (stayStillInTightSpace && roomWidth < wallAvoidDistance * 4)
|
||||
{
|
||||
Reset();
|
||||
}
|
||||
else
|
||||
{
|
||||
float leftDist = character.Position.X - currentHull.Rect.X;
|
||||
float rightDist = currentHull.Rect.Right - character.Position.X;
|
||||
if (leftDist < wallAvoidDistance && rightDist < wallAvoidDistance)
|
||||
{
|
||||
if (Math.Abs(rightDist - leftDist) > wallAvoidDistance / 2)
|
||||
{
|
||||
SteeringManual(deltaTime, Vector2.UnitX * Math.Sign(rightDist - leftDist));
|
||||
return;
|
||||
}
|
||||
else if (stayStillInTightSpace)
|
||||
{
|
||||
Reset();
|
||||
return;
|
||||
}
|
||||
}
|
||||
if (leftDist < wallAvoidDistance)
|
||||
{
|
||||
float speed = (wallAvoidDistance - leftDist) / wallAvoidDistance;
|
||||
SteeringManual(deltaTime, Vector2.UnitX * MathHelper.Clamp(speed, 0.25f, 1));
|
||||
WanderAngle = 0.0f;
|
||||
}
|
||||
else if (rightDist < wallAvoidDistance)
|
||||
{
|
||||
float speed = (wallAvoidDistance - rightDist) / wallAvoidDistance;
|
||||
SteeringManual(deltaTime, -Vector2.UnitX * MathHelper.Clamp(speed, 0.25f, 1));
|
||||
WanderAngle = MathHelper.Pi;
|
||||
}
|
||||
else
|
||||
{
|
||||
wander = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
wander = true;
|
||||
}
|
||||
if (wander)
|
||||
{
|
||||
SteeringWander();
|
||||
SteeringAvoid(deltaTime, lookAheadDistance: ConvertUnits.ToSimUnits(wallAvoidDistance), 5);
|
||||
}
|
||||
if (!inWater)
|
||||
{
|
||||
//reset vertical steering to prevent dropping down from platforms etc
|
||||
ResetY();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user