Joonas Rikkonen
609 lines
21 KiB
C#
609 lines
21 KiB
C#
using Barotrauma.Networking;
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using FarseerPhysics;
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using Microsoft.Xna.Framework;
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using System;
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using System.Collections.Generic;
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using System.Globalization;
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using System.Linq;
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using System.Xml.Linq;
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using Voronoi2;
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namespace Barotrauma.Items.Components
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{
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partial class Steering : Powered, IServerSerializable, IClientSerializable
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{
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private const float AutopilotRayCastInterval = 0.5f;
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private const float RecalculatePathInterval = 5.0f;
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private Vector2 currVelocity;
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private Vector2 targetVelocity;
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private Vector2 steeringInput;
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private bool autoPilot;
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private Vector2? posToMaintain;
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private SteeringPath steeringPath;
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private PathFinder pathFinder;
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private float networkUpdateTimer;
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private bool unsentChanges;
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private float autopilotRayCastTimer;
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private float autopilotRecalculatePathTimer;
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private Vector2 avoidStrength;
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private float neutralBallastLevel;
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private float steeringAdjustSpeed = 1.0f;
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private Character user;
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private Sonar sonar;
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private Submarine controlledSub;
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public bool AutoPilot
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{
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get { return autoPilot; }
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set
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{
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if (value == autoPilot) return;
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autoPilot = value;
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#if CLIENT
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autopilotTickBox.Selected = autoPilot;
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manualTickBox.Selected = !autoPilot;
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maintainPosTickBox.Enabled = autoPilot;
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levelEndTickBox.Enabled = autoPilot;
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levelStartTickBox.Enabled = autoPilot;
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#endif
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if (autoPilot)
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{
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if (pathFinder == null) pathFinder = new PathFinder(WayPoint.WayPointList, false);
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MaintainPos = true;
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}
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else
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{
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PosToMaintain = null;
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MaintainPos = false;
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LevelEndSelected = false;
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LevelStartSelected = false;
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}
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}
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}
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[Editable(0.0f, 1.0f, decimals: 3, ToolTip = "How full the ballast tanks should be when the submarine is not being steered upwards/downwards."
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+" Can be used to compensate if the ballast tanks are too large/small relative to the size of the submarine."), Serialize(0.5f, true)]
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public float NeutralBallastLevel
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{
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get { return neutralBallastLevel; }
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set
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{
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neutralBallastLevel = MathHelper.Clamp(value, 0.0f, 1.0f);
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}
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}
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[Serialize(1000.0f, true)]
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public float DockingAssistThreshold
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{
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get;
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set;
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}
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public Vector2 TargetVelocity
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{
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get { return targetVelocity;}
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set
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{
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if (!MathUtils.IsValid(value)) return;
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targetVelocity.X = MathHelper.Clamp(value.X, -100.0f, 100.0f);
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targetVelocity.Y = MathHelper.Clamp(value.Y, -100.0f, 100.0f);
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}
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}
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public Vector2 SteeringInput
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{
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get { return steeringInput; }
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set
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{
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if (!MathUtils.IsValid(value)) return;
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steeringInput.X = MathHelper.Clamp(value.X, -100.0f, 100.0f);
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steeringInput.Y = MathHelper.Clamp(value.Y, -100.0f, 100.0f);
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}
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}
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public SteeringPath SteeringPath
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{
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get { return steeringPath; }
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}
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public Vector2? PosToMaintain
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{
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get { return posToMaintain; }
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set { posToMaintain = value; }
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}
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struct ObstacleDebugInfo
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{
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public Vector2 Point1;
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public Vector2 Point2;
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public Vector2? Intersection;
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public float Dot;
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public Vector2 AvoidStrength;
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public ObstacleDebugInfo(GraphEdge edge, Vector2? intersection, float dot, Vector2 avoidStrength)
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{
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Point1 = edge.Point1;
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Point2 = edge.Point2;
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Intersection = intersection;
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Dot = dot;
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AvoidStrength = avoidStrength;
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}
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}
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//edge point 1, edge point 2, avoid strength
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private List<ObstacleDebugInfo> debugDrawObstacles = new List<ObstacleDebugInfo>();
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public Steering(Item item, XElement element)
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: base(item, element)
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{
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IsActive = true;
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InitProjSpecific(element);
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}
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partial void InitProjSpecific(XElement element);
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public override void OnItemLoaded()
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{
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sonar = item.GetComponent<Sonar>();
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}
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public override bool Select(Character character)
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{
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if (!CanBeSelected) return false;
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user = character;
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return true;
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}
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public override void Update(float deltaTime, Camera cam)
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{
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networkUpdateTimer -= deltaTime;
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if (unsentChanges)
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{
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if (networkUpdateTimer <= 0.0f)
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{
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#if CLIENT
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if (GameMain.Client != null)
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{
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item.CreateClientEvent(this);
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correctionTimer = CorrectionDelay;
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}
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else
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#endif
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#if SERVER
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if (GameMain.Server != null)
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{
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item.CreateServerEvent(this);
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}
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#endif
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networkUpdateTimer = 0.1f;
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unsentChanges = false;
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}
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}
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controlledSub = item.Submarine;
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var sonar = item.GetComponent<Sonar>();
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if (sonar != null && sonar.UseTransducers)
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{
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controlledSub = sonar.ConnectedTransducers.Any() ? sonar.ConnectedTransducers.First().Item.Submarine : null;
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}
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currPowerConsumption = powerConsumption;
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if (voltage < minVoltage && currPowerConsumption > 0.0f) { return; }
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ApplyStatusEffects(ActionType.OnActive, deltaTime, null);
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if (autoPilot)
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{
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UpdateAutoPilot(deltaTime);
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}
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else
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{
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if (user != null && user.Info != null && user.SelectedConstruction == item)
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{
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user.Info.IncreaseSkillLevel("helm", 0.005f * deltaTime, user.WorldPosition + Vector2.UnitY * 150.0f);
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}
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Vector2 velocityDiff = steeringInput - targetVelocity;
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if (velocityDiff != Vector2.Zero)
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{
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if (steeringAdjustSpeed >= 0.99f)
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{
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TargetVelocity = steeringInput;
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}
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else
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{
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float steeringChange = 1.0f / (1.0f - steeringAdjustSpeed);
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steeringChange *= steeringChange * 10.0f;
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TargetVelocity += Vector2.Normalize(velocityDiff) *
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Math.Min(steeringChange * deltaTime, velocityDiff.Length());
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}
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}
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}
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item.SendSignal(0, targetVelocity.X.ToString(CultureInfo.InvariantCulture), "velocity_x_out", null);
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float targetLevel = -targetVelocity.Y;
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targetLevel += (neutralBallastLevel - 0.5f) * 100.0f;
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item.SendSignal(0, targetLevel.ToString(CultureInfo.InvariantCulture), "velocity_y_out", null);
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voltage -= deltaTime;
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}
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private void UpdateAutoPilot(float deltaTime)
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{
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if (controlledSub == null) return;
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if (posToMaintain != null)
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{
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SteerTowardsPosition((Vector2)posToMaintain);
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return;
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}
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autopilotRayCastTimer -= deltaTime;
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autopilotRecalculatePathTimer -= deltaTime;
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if (autopilotRecalculatePathTimer <= 0.0f)
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{
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//periodically recalculate the path in case the sub ends up to a position
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//where it can't keep traversing the initially calculated path
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UpdatePath();
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autopilotRecalculatePathTimer = RecalculatePathInterval;
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}
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steeringPath.CheckProgress(ConvertUnits.ToSimUnits(controlledSub.WorldPosition), 10.0f);
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if (autopilotRayCastTimer <= 0.0f && steeringPath.NextNode != null)
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{
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Vector2 diff = ConvertUnits.ToSimUnits(steeringPath.NextNode.Position - controlledSub.WorldPosition);
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//if the node is close enough, check if it's visible
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float lengthSqr = diff.LengthSquared();
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if (lengthSqr > 0.001f && lengthSqr < 500.0f)
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{
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diff = Vector2.Normalize(diff);
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//check if the next waypoint is visible from all corners of the sub
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//(i.e. if we can navigate directly towards it or if there's obstacles in the way)
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bool nextVisible = true;
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for (int x = -1; x < 2; x += 2)
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{
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for (int y = -1; y < 2; y += 2)
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{
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Vector2 cornerPos =
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new Vector2(controlledSub.Borders.Width * x, controlledSub.Borders.Height * y) / 2.0f;
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cornerPos = ConvertUnits.ToSimUnits(cornerPos * 1.2f + controlledSub.WorldPosition);
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float dist = Vector2.Distance(cornerPos, steeringPath.NextNode.SimPosition);
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if (Submarine.PickBody(cornerPos, cornerPos + diff * dist, null, Physics.CollisionLevel) == null) continue;
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nextVisible = false;
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x = 2;
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y = 2;
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}
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}
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if (nextVisible) steeringPath.SkipToNextNode();
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}
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autopilotRayCastTimer = AutopilotRayCastInterval;
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}
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if (steeringPath.CurrentNode != null)
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{
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SteerTowardsPosition(steeringPath.CurrentNode.WorldPosition);
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}
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Vector2 avoidDist = new Vector2(
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Math.Max(1000.0f * Math.Abs(controlledSub.Velocity.X), controlledSub.Borders.Width * 1.5f),
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Math.Max(1000.0f * Math.Abs(controlledSub.Velocity.Y), controlledSub.Borders.Height * 1.5f));
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float avoidRadius = avoidDist.Length();
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Vector2 newAvoidStrength = Vector2.Zero;
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debugDrawObstacles.Clear();
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//steer away from nearby walls
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var closeCells = Level.Loaded.GetCells(controlledSub.WorldPosition, 4);
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foreach (VoronoiCell cell in closeCells)
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{
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foreach (GraphEdge edge in cell.Edges)
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{
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if (MathUtils.GetLineIntersection(edge.Point1, edge.Point2, controlledSub.WorldPosition, cell.Center, out Vector2 intersection))
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{
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Vector2 diff = controlledSub.WorldPosition - intersection;
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//far enough -> ignore
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if (Math.Abs(diff.X) > avoidDist.X && Math.Abs(diff.Y) > avoidDist.Y)
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{
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debugDrawObstacles.Add(new ObstacleDebugInfo(edge, intersection, 0.0f, Vector2.Zero));
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continue;
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}
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if (diff.LengthSquared() < 1.0f) diff = Vector2.UnitY;
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Vector2 normalizedDiff = Vector2.Normalize(diff);
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float dot = controlledSub.Velocity == Vector2.Zero ?
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0.0f : Vector2.Dot(controlledSub.Velocity, -normalizedDiff);
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//not heading towards the wall -> ignore
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if (dot < 0.5)
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{
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debugDrawObstacles.Add(new ObstacleDebugInfo(edge, intersection, dot, Vector2.Zero));
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continue;
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}
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Vector2 change = (normalizedDiff * Math.Max((avoidRadius - diff.Length()), 0.0f)) / avoidRadius;
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newAvoidStrength += change * dot;
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debugDrawObstacles.Add(new ObstacleDebugInfo(edge, intersection, dot, change * dot));
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}
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}
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}
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avoidStrength = Vector2.Lerp(avoidStrength, newAvoidStrength, deltaTime * 10.0f);
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targetVelocity += avoidStrength * 100.0f;
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//steer away from other subs
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foreach (Submarine sub in Submarine.Loaded)
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{
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if (sub == controlledSub) continue;
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if (controlledSub.DockedTo.Contains(sub)) continue;
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float thisSize = Math.Max(controlledSub.Borders.Width, controlledSub.Borders.Height);
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float otherSize = Math.Max(sub.Borders.Width, sub.Borders.Height);
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Vector2 diff = controlledSub.WorldPosition - sub.WorldPosition;
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float dist = diff == Vector2.Zero ? 0.0f : diff.Length();
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//far enough -> ignore
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if (dist > thisSize + otherSize) continue;
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Vector2 dir = dist <= 0.0001f ? Vector2.UnitY : diff / dist;
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float dot = controlledSub.Velocity == Vector2.Zero ?
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0.0f : Vector2.Dot(Vector2.Normalize(controlledSub.Velocity), -dir);
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//heading away -> ignore
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if (dot < 0.0f) continue;
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targetVelocity += diff * 200.0f;
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}
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//clamp velocity magnitude to 100.0f
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float velMagnitude = targetVelocity.Length();
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if (velMagnitude > 100.0f)
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{
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targetVelocity *= 100.0f / velMagnitude;
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}
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}
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private void UpdatePath()
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{
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if (pathFinder == null) pathFinder = new PathFinder(WayPoint.WayPointList, false);
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Vector2 target;
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if (LevelEndSelected)
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{
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target = ConvertUnits.ToSimUnits(Level.Loaded.EndPosition);
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}
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else
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{
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target = ConvertUnits.ToSimUnits(Level.Loaded.StartPosition);
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}
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steeringPath = pathFinder.FindPath(ConvertUnits.ToSimUnits(controlledSub == null ? item.WorldPosition : controlledSub.WorldPosition), target, "(Autopilot, target: " + target + ")");
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}
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public void SetDestinationLevelStart()
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{
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AutoPilot = true;
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MaintainPos = false;
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posToMaintain = null;
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LevelEndSelected = false;
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if (!LevelStartSelected)
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{
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LevelStartSelected = true;
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UpdatePath();
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}
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}
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public void SetDestinationLevelEnd()
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{
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AutoPilot = true;
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MaintainPos = false;
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posToMaintain = null;
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LevelStartSelected = false;
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if (!LevelEndSelected)
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{
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LevelEndSelected = true;
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UpdatePath();
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}
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}
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private void SteerTowardsPosition(Vector2 worldPosition)
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{
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float prediction = 10.0f;
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Vector2 futurePosition = ConvertUnits.ToDisplayUnits(controlledSub.Velocity) * prediction;
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Vector2 targetSpeed = ((worldPosition - controlledSub.WorldPosition) - futurePosition);
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if (targetSpeed.Length() > 500.0f)
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{
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targetSpeed = Vector2.Normalize(targetSpeed);
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TargetVelocity = targetSpeed * 100.0f;
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}
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else
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{
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TargetVelocity = targetSpeed / 5.0f;
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}
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}
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public override bool AIOperate(float deltaTime, Character character, AIObjectiveOperateItem objective)
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{
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if (user != character && user != null && user.SelectedConstruction == item)
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{
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character.Speak(TextManager.Get("DialogSteeringTaken"), null, 0.0f, "steeringtaken", 10.0f);
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}
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user = character;
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switch (objective.Option.ToLowerInvariant())
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{
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case "maintainposition":
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if (!posToMaintain.HasValue)
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{
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unsentChanges = true;
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posToMaintain = controlledSub != null ?
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controlledSub.WorldPosition :
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item.Submarine == null ? item.WorldPosition : item.Submarine.WorldPosition;
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}
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if (!AutoPilot || !MaintainPos) unsentChanges = true;
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AutoPilot = true;
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MaintainPos = true;
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break;
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case "navigateback":
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if (!AutoPilot || MaintainPos || LevelEndSelected || !LevelStartSelected)
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{
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unsentChanges = true;
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}
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SetDestinationLevelStart();
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break;
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case "navigatetodestination":
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if (!AutoPilot || MaintainPos || !LevelEndSelected || LevelStartSelected)
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{
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unsentChanges = true;
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}
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SetDestinationLevelEnd();
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break;
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}
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sonar?.AIOperate(deltaTime, character, objective);
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return false;
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}
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public override void ReceiveSignal(int stepsTaken, string signal, Connection connection, Item source, Character sender, float power = 0.0f, float signalStrength = 1.0f)
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{
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if (connection.Name == "velocity_in")
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{
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currVelocity = XMLExtensions.ParseVector2(signal, false);
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}
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else
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{
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base.ReceiveSignal(stepsTaken, signal, connection, source, sender, power, signalStrength);
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}
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}
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public void ServerRead(ClientNetObject type, Lidgren.Network.NetBuffer msg, Barotrauma.Networking.Client c)
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{
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bool autoPilot = msg.ReadBoolean();
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Vector2 newSteeringInput = targetVelocity;
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bool maintainPos = false;
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Vector2? newPosToMaintain = null;
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bool headingToStart = false;
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if (autoPilot)
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{
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maintainPos = msg.ReadBoolean();
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if (maintainPos)
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{
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newPosToMaintain = new Vector2(
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msg.ReadFloat(),
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msg.ReadFloat());
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}
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else
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{
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headingToStart = msg.ReadBoolean();
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}
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}
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else
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{
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newSteeringInput = new Vector2(msg.ReadFloat(), msg.ReadFloat());
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}
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if (!item.CanClientAccess(c)) return;
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user = c.Character;
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AutoPilot = autoPilot;
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if (!AutoPilot)
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{
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steeringInput = newSteeringInput;
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steeringAdjustSpeed = MathHelper.Lerp(0.2f, 1.0f, c.Character.GetSkillLevel("helm") / 100.0f);
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}
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else
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{
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MaintainPos = newPosToMaintain != null;
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posToMaintain = newPosToMaintain;
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if (posToMaintain == null)
|
|
{
|
|
LevelStartSelected = headingToStart;
|
|
LevelEndSelected = !headingToStart;
|
|
UpdatePath();
|
|
}
|
|
else
|
|
{
|
|
LevelStartSelected = false;
|
|
LevelEndSelected = false;
|
|
}
|
|
}
|
|
|
|
//notify all clients of the changed state
|
|
unsentChanges = true;
|
|
}
|
|
|
|
public void ServerWrite(Lidgren.Network.NetBuffer msg, Barotrauma.Networking.Client c, object[] extraData = null)
|
|
{
|
|
msg.Write(autoPilot);
|
|
|
|
if (!autoPilot)
|
|
{
|
|
//no need to write steering info if autopilot is controlling
|
|
msg.Write(steeringInput.X);
|
|
msg.Write(steeringInput.Y);
|
|
msg.Write(targetVelocity.X);
|
|
msg.Write(targetVelocity.Y);
|
|
msg.Write(steeringAdjustSpeed);
|
|
}
|
|
else
|
|
{
|
|
msg.Write(posToMaintain != null);
|
|
if (posToMaintain != null)
|
|
{
|
|
msg.Write(((Vector2)posToMaintain).X);
|
|
msg.Write(((Vector2)posToMaintain).Y);
|
|
}
|
|
else
|
|
{
|
|
msg.Write(LevelStartSelected);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|