(551008fc1) Abandon FixLeakObjective when the goto subobjective cannot be completed. Reset AIObjectiveLoops when the objective is activated or added. Don't clear ignored targets periodically by default. Calculate AIObjectiveGoTo CloseEnough when the objective is created. Don't use arm length in CloseEnough, because it's not used in range checks. Partial fixes to #1343.

Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjective.cs

@@ -140,6 +140,7 @@ namespace Barotrauma
 
         protected virtual bool ShouldInterruptSubObjective(AIObjective subObjective) => false;
         public virtual void OnSelected() { }
+        public virtual void Reset() { }
 
         protected abstract void Act(float deltaTime);
         

Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveFixLeak.cs

@@ -101,7 +101,8 @@ namespace Barotrauma
                 HumanAIController.AnimController.Crouching = true;
             }
 
-            float reach = HumanAIController.AnimController.ArmLength + ConvertUnits.ToSimUnits(repairTool.Range);
+            //float reach = HumanAIController.AnimController.ArmLength + ConvertUnits.ToSimUnits(repairTool.Range);
+            float reach = ConvertUnits.ToSimUnits(repairTool.Range);
             bool cannotReach = ConvertUnits.ToSimUnits(gapDiff.Length()) > reach;
             if (cannotReach)
             {
@@ -110,14 +111,19 @@ namespace Barotrauma
                     // Check if the objective is already removed -> completed/impossible
                     if (!subObjectives.Contains(gotoObjective))
                     {
+                        if (!gotoObjective.CanBeCompleted)
+                        {
+                            abandon = true;
+                        }
                         gotoObjective = null;
+                        return;
                     }
                 }
                 else
                 {
                     gotoObjective = new AIObjectiveGoTo(ConvertUnits.ToSimUnits(GetStandPosition()), character)
                     {
-                        CloseEnough = reach * 0.75f
+                        CloseEnough = reach
                     };
                     if (!subObjectives.Contains(gotoObjective))
                     {

Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveGoTo.cs

@@ -66,9 +66,12 @@ namespace Barotrauma
                 if (!canComplete)
                 {
 #if DEBUG
-                    DebugConsole.NewMessage($"{character.Name}: Cannot reach the target.");
+                    DebugConsole.NewMessage($"{character.Name}: Cannot reach the target: {(Target != null ? Target.ToString() : TargetPos.ToString())}", Color.Yellow);
 #endif
-                    character.Speak(TextManager.Get("DialogCannotReach"), identifier: "cannotreach", minDurationBetweenSimilar: 10.0f);
+                    if (HumanAIController.ObjectiveManager.CurrentOrder != null)
+                    {
+                        character.Speak(TextManager.Get("DialogCannotReach"), identifier: "cannotreach", minDurationBetweenSimilar: 10.0f);
+                    }
                     character.AIController.SteeringManager.Reset();
                 }
                 return canComplete;
@@ -89,6 +92,7 @@ namespace Barotrauma
 
             waitUntilPathUnreachable = 1.0f;
             this.getDivingGearIfNeeded = getDivingGearIfNeeded;
+            CalculateCloseEnough();
         }
 
 
@@ -100,6 +104,7 @@ namespace Barotrauma
 
             waitUntilPathUnreachable = 5.0f;
             this.getDivingGearIfNeeded = getDivingGearIfNeeded;
+            CalculateCloseEnough();
         }
 
         protected override void Act(float deltaTime)
@@ -149,9 +154,10 @@ namespace Barotrauma
             }
             else
             {
-                bool targetIsOutside = (Target != null && Target.Submarine == null) || 
+                bool isInside = character.CurrentHull != null;
-                    (SteeringManager == PathSteering && PathSteering.CurrentPath != null && PathSteering.CurrentPath.HasOutdoorsNodes);
+                bool insideSteering = SteeringManager == PathSteering && PathSteering.CurrentPath != null;
-                if (targetIsOutside && character.CurrentHull != null && !AllowGoingOutside)
+                bool targetIsOutside = (Target != null && Target.Submarine == null) || (insideSteering && PathSteering.CurrentPath.HasOutdoorsNodes);
+                if (isInside && targetIsOutside && !AllowGoingOutside)
                 {
                     cannotReach = true;
                 }
@@ -186,11 +192,8 @@ namespace Barotrauma
 
             bool completed = false;
 
-            float allowedDistance = CloseEnough;
-
             if (Target is Item item)
             {
-                allowedDistance = Math.Max(ConvertUnits.ToSimUnits(item.InteractDistance), CloseEnough);
                 if (item.IsInsideTrigger(character.WorldPosition)) completed = true;
             }
             else if (Target is Character targetCharacter)
@@ -198,7 +201,7 @@ namespace Barotrauma
                 if (character.CanInteractWith(targetCharacter)) completed = true;
             }
 
-            completed = completed || Vector2.DistanceSquared(Target != null ? Target.SimPosition : targetPos, character.SimPosition) < allowedDistance * allowedDistance;
+            completed = completed || Vector2.DistanceSquared(Target != null ? Target.SimPosition : targetPos, character.SimPosition) < CloseEnough * CloseEnough;
 
             if (completed) character.AIController.SteeringManager.Reset();
 
@@ -214,5 +217,11 @@ namespace Barotrauma
 
             return (objective.targetPos == targetPos);
         }
+
+        private void CalculateCloseEnough()
+        {
+            float interactionDistance = Target is Item i ? ConvertUnits.ToSimUnits(i.InteractDistance) : 0;
+            CloseEnough = Math.Max(interactionDistance, CloseEnough);
+        }
     }
 }

Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveLoop.cs

@@ -10,15 +10,16 @@ namespace Barotrauma
         protected List<T> targets = new List<T>();
         protected Dictionary<T, AIObjective> objectives = new Dictionary<T, AIObjective>();
         protected HashSet<T> ignoreList = new HashSet<T>();
-        protected readonly float ignoreListClearInterval = 30;
         private float ignoreListTimer;
-        protected readonly float targetUpdateInterval = 2;
         private float targetUpdateTimer;
 
+        // By default, doesn't clear the list automatically
+        protected virtual float IgnoreListClearInterval => 0;
+        protected virtual float TargetUpdateInterval => 2;
+
         public AIObjectiveLoop(Character character, string option) : base(character, option)
         {
-            FindTargets();
+            Reset();
-            CreateObjectives();
         }
 
         protected override void Act(float deltaTime) { }
@@ -28,15 +29,18 @@ namespace Barotrauma
         public override void Update(AIObjectiveManager objectiveManager, float deltaTime)
         {
             base.Update(objectiveManager, deltaTime);
-            if (ignoreListTimer > ignoreListClearInterval)
+            if (IgnoreListClearInterval > 0)
             {
-                Reset();
+                if (ignoreListTimer > IgnoreListClearInterval)
+                {
+                    Reset();
+                }
+                else
+                {
+                    ignoreListTimer += deltaTime;
+                }
             }
-            else
+            if (targetUpdateTimer >= TargetUpdateInterval)
-            {
-                ignoreListTimer += deltaTime;
-            }
-            if (targetUpdateTimer > targetUpdateInterval)
             {
                 targetUpdateTimer = 0;
                 UpdateTargets();
@@ -52,6 +56,7 @@ namespace Barotrauma
                 if (!objective.Value.CanBeCompleted)
                 {
                     ignoreList.Add(target);
+                    targetUpdateTimer = TargetUpdateInterval;
                 }
                 if (!targets.Contains(target))
                 {
@@ -59,13 +64,13 @@ namespace Barotrauma
                 }
             }
             SyncRemovedObjectives(objectives, GetList());
-            if (objectives.None())
+            if (objectives.None() && targets.Any())
             {
                 CreateObjectives();
             }
         }
 
-        private void Reset()
+        public override void Reset()
         {
             ignoreList.Clear();
             ignoreListTimer = 0;

Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveManager.cs

@@ -34,9 +34,15 @@ namespace Barotrauma
 
         public void AddObjective(AIObjective objective)
         {
-            if (Objectives.Find(o => o.IsDuplicate(objective)) != null) return;
+            var duplicate = Objectives.Find(o => o.IsDuplicate(objective));
-
+            if (duplicate != null)
-            Objectives.Add(objective);
+            {
+                duplicate.Reset();
+            }
+            else
+            {
+                Objectives.Add(objective);
+            }
         }
 
         public Dictionary<AIObjective, CoroutineHandle> DelayedObjectives { get; private set; } = new Dictionary<AIObjective, CoroutineHandle>();

Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveRepairItem.cs

@@ -131,7 +131,8 @@ namespace Barotrauma
                 goToObjective = new AIObjectiveGoTo(Item, character);
                 if (repairTool != null)
                 {
-                    goToObjective.CloseEnough = (HumanAIController.AnimController.ArmLength + ConvertUnits.ToSimUnits(repairTool.Range)) * 0.75f;
+                    //goToObjective.CloseEnough = (HumanAIController.AnimController.ArmLength + ConvertUnits.ToSimUnits(repairTool.Range)) * 0.75f;
+                    goToObjective.CloseEnough = ConvertUnits.ToSimUnits(repairTool.Range);
                 }
                 AddSubObjective(goToObjective);
             }