ComponentPathfinding.cs

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using Engine;
using GameEntitySystem;
using TemplatesDatabase;
 
namespace Game {
    public class ComponentPathfinding : Component, IUpdateable {
        public SubsystemTime m_subsystemTime;
 
        public SubsystemPathfinding m_subsystemPathfinding;
 
        public ComponentCreature m_componentCreature;
 
        public ComponentPilot m_componentPilot;
 
        public StateMachine m_stateMachine = new();
 
        public Random m_random = new();
 
        public Vector3? m_lastPathfindingDestination;
 
        public double? m_lastPathfindingTime;
 
        public float m_pathfindingCongestion;
 
        public PathfindingResult m_pathfindingResult = new();
 
        public double m_nextUpdateTime;
 
        public int m_randomMoveCount;
 
        public bool m_destinationChanged;
 
        public const float m_minPathfindingPeriod = 6f;
 
        public const float m_pathfindingCongestionCapacity = 500f;
 
        public const float m_pathfindingCongestionCapacityLimit = 1000f;
 
        public const float m_pathfindingCongestionDecayRate = 20f;
 
        public static bool DrawPathfinding;
 
        public Vector3? Destination { get; set; }
 
        public float Range { get; set; }
 
        public float Speed { get; set; }
 
        public int MaxPathfindingPositions { get; set; }
 
        public bool UseRandomMovements { get; set; }
 
        public bool IgnoreHeightDifference { get; set; }
 
        public bool RaycastDestination { get; set; }
 
        public ComponentBody DoNotAvoidBody { get; set; }
 
        public bool IsStuck { get; set; }
 
        public UpdateOrder UpdateOrder => UpdateOrder.Default;
 
        public virtual void SetDestination(Vector3? destination,
            float speed,
            float range,
            int maxPathfindingPositions,
            bool useRandomMovements,
            bool ignoreHeightDifference,
            bool raycastDestination,
            ComponentBody doNotAvoidBody) {
            Destination = destination;
            Speed = speed;
            Range = range;
            MaxPathfindingPositions = maxPathfindingPositions;
            UseRandomMovements = useRandomMovements;
            IgnoreHeightDifference = ignoreHeightDifference;
            RaycastDestination = raycastDestination;
            DoNotAvoidBody = doNotAvoidBody;
            m_destinationChanged = true;
            m_nextUpdateTime = 0.0;
        }
 
        public virtual void Stop() {
            SetDestination(
                null,
                0f,
                0f,
                0,
                false,
                false,
                false,
                null
            );
            m_componentPilot.Stop();
            IsStuck = false;
        }
 
        public virtual void Update(float dt) {
            if (m_subsystemTime.GameTime >= m_nextUpdateTime) {
                float num = m_random.Float(0.08f, 0.12f);
                m_nextUpdateTime = m_subsystemTime.GameTime + num;
                m_pathfindingCongestion = MathUtils.Max(m_pathfindingCongestion - 20f * num, 0f);
                m_stateMachine.Update();
            }
        }
 
        public override void Load(ValuesDictionary valuesDictionary, IdToEntityMap idToEntityMap) {
            m_subsystemTime = Project.FindSubsystem<SubsystemTime>(true);
            m_subsystemPathfinding = Project.FindSubsystem<SubsystemPathfinding>(true);
            m_componentCreature = Entity.FindComponent<ComponentCreature>(true);
            m_componentPilot = Entity.FindComponent<ComponentPilot>(true);
            m_stateMachine.AddState(
                "Stopped",
                delegate {
                    Stop();
                    m_randomMoveCount = 0;
                },
                delegate {
                    if (Destination.HasValue) {
                        m_stateMachine.TransitionTo("MovingDirect");
                    }
                },
                null
            );
            m_stateMachine.AddState(
                "MovingDirect",
                delegate {
                    IsStuck = false;
                    m_destinationChanged = true;
                },
                delegate {
                    if (!Destination.HasValue) {
                        m_stateMachine.TransitionTo("Stopped");
                    }
                    else if (m_destinationChanged) {
                        m_componentPilot.SetDestination(
                            Destination,
                            Speed,
                            Range,
                            IgnoreHeightDifference,
                            RaycastDestination,
                            Speed >= 1f,
                            DoNotAvoidBody
                        );
                        m_destinationChanged = false;
                    }
                    else if (!m_componentPilot.Destination.HasValue) {
                        m_stateMachine.TransitionTo("Stopped");
                    }
                    else if (m_componentPilot.IsStuck) {
                        if (MaxPathfindingPositions > 0
                            && m_componentCreature.ComponentLocomotion.WalkSpeed > 0f) {
                            m_stateMachine.TransitionTo("SearchingForPath");
                        }
                        else if (UseRandomMovements) {
                            m_stateMachine.TransitionTo("MovingRandomly");
                        }
                        else {
                            m_stateMachine.TransitionTo("Stuck");
                        }
                    }
                },
                null
            );
            m_stateMachine.AddState(
                "SearchingForPath",
                delegate {
                    m_pathfindingResult.IsCompleted = false;
                    m_pathfindingResult.IsInProgress = false;
                },
                delegate {
                    if (!Destination.HasValue) {
                        m_stateMachine.TransitionTo("Stopped");
                    }
                    else if (!m_pathfindingResult.IsInProgress
                        && (!m_lastPathfindingTime.HasValue || m_subsystemTime.GameTime - m_lastPathfindingTime > 8.0)
                        && m_pathfindingCongestion < 500f) {
                        m_lastPathfindingDestination = Destination.Value;
                        m_lastPathfindingTime = m_subsystemTime.GameTime;
                        Vector3 start = m_componentCreature.ComponentBody.Position + new Vector3(0f, 0.01f, 0f);
                        Vector3 end = Destination.Value + new Vector3(0f, 0.01f, 0f);
                        ComponentMiner componentMiner = Entity.FindComponent<ComponentMiner>();
                        bool ignoreDoors = componentMiner != null && componentMiner.AutoInteractRate > 0f && m_random.Bool(0.5f);
                        m_subsystemPathfinding.QueuePathSearch(
                            start,
                            end,
                            1f,
                            m_componentCreature.ComponentBody.BoxSize,
                            ignoreDoors,
                            MaxPathfindingPositions,
                            m_pathfindingResult
                        );
                    }
                    else if (UseRandomMovements) {
                        m_stateMachine.TransitionTo("MovingRandomly");
                    }
                    if (m_pathfindingResult.IsCompleted) {
                        m_pathfindingCongestion = MathUtils.Min(m_pathfindingCongestion + m_pathfindingResult.PositionsChecked, 1000f);
                        if (m_pathfindingResult.Path.Count > 0) {
                            m_stateMachine.TransitionTo("MovingWithPath");
                        }
                        else if (UseRandomMovements) {
                            m_stateMachine.TransitionTo("MovingRandomly");
                        }
                        else {
                            m_stateMachine.TransitionTo("Stuck");
                        }
                    }
                },
                null
            );
            m_stateMachine.AddState(
                "MovingWithPath",
                delegate {
                    m_componentPilot.Stop();
                    m_randomMoveCount = 0;
                },
                delegate {
                    if (!Destination.HasValue) {
                        m_stateMachine.TransitionTo("Stopped");
                    }
                    else if (!m_componentPilot.Destination.HasValue) {
                        if (m_pathfindingResult.Path.Count > 0) {
                            Vector3 value = m_pathfindingResult.Path.Array[m_pathfindingResult.Path.Count - 1];
                            m_componentPilot.SetDestination(
                                value,
                                MathUtils.Min(Speed, 0.75f),
                                0.75f,
                                false,
                                false,
                                Speed >= 1f,
                                DoNotAvoidBody
                            );
                            m_pathfindingResult.Path.RemoveAt(m_pathfindingResult.Path.Count - 1);
                        }
                        else {
                            m_stateMachine.TransitionTo("MovingDirect");
                        }
                    }
                    else if (m_componentPilot.IsStuck) {
                        if (UseRandomMovements) {
                            m_stateMachine.TransitionTo("MovingRandomly");
                        }
                        else {
                            m_stateMachine.TransitionTo("Stuck");
                        }
                    }
                    else {
                        float num = Vector3.DistanceSquared(m_componentCreature.ComponentBody.Position, Destination.Value);
                        if (Vector3.DistanceSquared(m_lastPathfindingDestination.Value, Destination.Value) > num) {
                            m_stateMachine.TransitionTo("MovingDirect");
                        }
                    }
                },
                null
            );
            m_stateMachine.AddState(
                "MovingRandomly",
                delegate {
                    m_componentPilot.SetDestination(
                        m_componentCreature.ComponentBody.Position + new Vector3(5f * m_random.Float(-1f, 1f), 0f, 5f * m_random.Float(-1f, 1f)),
                        1f,
                        1f,
                        true,
                        false,
                        false,
                        DoNotAvoidBody
                    );
                    m_randomMoveCount++;
                },
                delegate {
                    if (!Destination.HasValue) {
                        m_stateMachine.TransitionTo("Stopped");
                    }
                    else if (m_randomMoveCount > 3) {
                        m_stateMachine.TransitionTo("Stuck");
                    }
                    else if (m_componentPilot.IsStuck
                        || !m_componentPilot.Destination.HasValue) {
                        m_stateMachine.TransitionTo("MovingDirect");
                    }
                },
                null
            );
            m_stateMachine.AddState(
                "Stuck",
                delegate { IsStuck = true; },
                delegate {
                    if (!Destination.HasValue) {
                        m_stateMachine.TransitionTo("Stopped");
                    }
                    else if (m_destinationChanged) {
                        m_destinationChanged = false;
                        m_stateMachine.TransitionTo("MovingDirect");
                    }
                },
                null
            );
            m_stateMachine.TransitionTo("Stopped");
        }
    }
}