Merge Stuff

Author: MissakGhostComodo

CHANGELOG.md

@@ -8,6 +8,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
 <details><summary><b>Added</b></summary>
 
+- Pathfinding and navigation overhaul, including jetpack/jump-aware pathfinding.  
+	Actors will now intelligently choose their path depending on how high they can jump, instead of always taking the shortest path. This will reduce instances of the AI getting stuck while trying to take impossible paths.  
+	In the `CalculatePath` and `CalculatePathAsync` functions, the parameter `movePathToGround` has been replaced with `jumpHeight`, which is the height in metres the pathfind can jump vertically.  
+	The new function `GetPathFindingFlyingJumpHeight()` can be used to get a jumpHeight that allows flying (i.e infinite jump height).  
+	New `Actor` Lua property `JumpHeight` (R) to estimate the jump height of the actor (in metres), based on the actor's jetpack and weight.
+
 - New music system, including a dynamic horizontal sequencing system, under the new music manager `MusicMan`.  
 	`PlayDynamicSong(string songName, string songSectionName, bool playImmediately, bool playTransition, bool smoothFade)` to play a new DynamicSong.
 	`SetNextDynamicSongSection(string songSectionName, bool playImmediately, bool playTransition, bool smoothFade)` to queue a new DynamicSongSection for the currently playing song.  
@@ -44,6 +50,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
 - The Signal Hunt activity no longer has a preview image, as it was not formatted correctly and spoiled the interior structure of the cave.
 
+- `MovableMan:OpenAllDoors()`, when passed `NOTEAM`, will now open/close doors specifically for `NOTEAM` (instead of all doors).
+
 </details>
 
 <details><summary><b>Fixed</b></summary>

Data/Base.rte/AI/HumanBehaviors.lua

@@ -1007,7 +1007,7 @@ function HumanBehaviors.WeaponSearch(AI, Owner, Abort)
 							end
 							searchesRemaining = searchesRemaining - 1;
 						end, 
-						Owner.Pos, device.Pos, false, Owner.DigStrength, Owner.Team
+						Owner.Pos, device.Pos, Owner.JumpHeight, Owner.DigStrength, Owner.Team
 					);
 				end
 			end
@@ -1123,7 +1123,7 @@ function HumanBehaviors.ToolSearch(AI, Owner, Abort)
 						end
 						searchesRemaining = searchesRemaining - 1;
 					end, 
-					Owner.Pos, device.Pos, false, Owner.DigStrength, Owner.Team
+					Owner.Pos, device.Pos, Owner.JumpHeight, Owner.DigStrength, Owner.Team
 				);
 			end
 		end
@@ -1353,142 +1353,78 @@ function HumanBehaviors.GoToWpt(AI, Owner, Abort)
 					if WptList then
 						local NextWptPos = WptList[1].Pos;
 						Dist = SceneMan:ShortestDistance(Owner.Pos, NextWptPos, false);
-						if Dist.Y < -25 and math.abs(Dist.X) < 30 then	-- avoid any corners if the next waypoint is above us
-							local cornerType;
-							local CornerPos = Vector(NextWptPos.X, NextWptPos.Y);
-							if Owner.Pos.X > CornerPos.X then
-								CornerPos = CornerPos + Vector(25, -40);
-								cornerType = "right";
-							else
-								CornerPos = CornerPos + Vector(-25, -40);
-								cornerType = "left";
-							end
-
+						Waypoint = table.remove(WptList, 1);
+						if Waypoint.Type ~= "air" then
 							local Free = Vector();
-							Dist = SceneMan:ShortestDistance(NextWptPos, CornerPos, false);
-							-- make sure the corner waypoint is not inside terrain
-							local pixels = SceneMan:CastObstacleRay(NextWptPos, Dist, Vector(), Free, Owner.ID, Owner.IgnoresWhichTeam, rte.grassID, 3);
-							if pixels == 0 then
-								break; -- the waypoint is inside terrain, plot a new path
-							elseif pixels > 0 then
-								CornerPos = (NextWptPos + Free) / 2; -- compensate for obstacles
-							end
-
-							-- check if we have LOS
-							Dist = SceneMan:ShortestDistance(Owner.Pos, CornerPos, false);
-							if 0 <= SceneMan:CastObstacleRay(Owner.Pos, Dist, Vector(), Vector(), Owner.ID, Owner.IgnoresWhichTeam, rte.grassID, 2) then
-								-- CornerPos is blocked
-								CornerPos.X = Owner.Pos.X; -- move CornerPos straight above us
-								cornerType = "air";
-							end
-
-							Waypoint = {Pos=CornerPos, Type=cornerType};
-							if WptList[2] and not WptList[1].Type then	-- remove the waypoint after the corner if possible
-								table.remove(WptList, 1);
-								Owner:RemoveMovePathBeginning(); -- clean up the graphical representation of the path
-							end
-
-							if not Owner.MOMoveTarget then
-								Owner:AddToMovePathBeginning(Waypoint.Pos);
-							end
-						else
-							Waypoint = table.remove(WptList, 1);
-							if Waypoint.Type ~= "air" then
-								local Free = Vector();
-
-								-- only if we have a digging tool
-								if Waypoint.Type ~= "drop" and Owner:HasObjectInGroup("Tools - Diggers") then
-									local PathSegRay = SceneMan:ShortestDistance(PrevWptPos, Waypoint.Pos, false); -- detect material blocking the path and start digging through it
-									if AI.teamBlockState ~= Actor.BLOCKED and SceneMan:CastStrengthRay(PrevWptPos, PathSegRay, 4, Free, 2, rte.doorID, true) then
-										if SceneMan:ShortestDistance(Owner.Pos, Free, false):MagnitudeIsLessThan(Owner.Height*0.4) then	-- check that we're close enough to start digging
-											digState = AHuman.STARTDIG;
-											AI.deviceState = AHuman.DIGGING;
-											obstacleState = Actor.DIGPAUSING;
-											nextLatMove = Actor.LAT_STILL;
-											sweepRange = math.min(math.pi*0.2, Owner.AimRange);
-											StuckTimer:SetSimTimeLimitMS(6000);
-											AI.Ctrl.AnalogAim = SceneMan:ShortestDistance(Owner.Pos, Waypoint.Pos, false).Normalized; -- aim in the direction of the next waypoint
-										else
-											digState = AHuman.NOTDIGGING;
-											obstacleState = Actor.PROCEEDING;
-										end
 
-										local _ai, _ownr, _abrt = coroutine.yield(); -- wait until next frame
-										if _abrt then return true end
+							-- only if we have a digging tool
+							if Waypoint.Type ~= "drop" and Owner:HasObjectInGroup("Tools - Diggers") then
+								local PathSegRay = SceneMan:ShortestDistance(PrevWptPos, Waypoint.Pos, false); -- detect material blocking the path and start digging through it
+								if AI.teamBlockState ~= Actor.BLOCKED and SceneMan:CastStrengthRay(PrevWptPos, PathSegRay, 4, Free, 2, rte.doorID, true) then
+									if SceneMan:ShortestDistance(Owner.Pos, Free, false):MagnitudeIsLessThan(Owner.Height*0.4) then	-- check that we're close enough to start digging
+										digState = AHuman.STARTDIG;
+										AI.deviceState = AHuman.DIGGING;
+										obstacleState = Actor.DIGPAUSING;
+										nextLatMove = Actor.LAT_STILL;
+										sweepRange = math.min(math.pi*0.2, Owner.AimRange);
+										StuckTimer:SetSimTimeLimitMS(6000);
+										AI.Ctrl.AnalogAim = SceneMan:ShortestDistance(Owner.Pos, Waypoint.Pos, false).Normalized; -- aim in the direction of the next waypoint
 									else
 										digState = AHuman.NOTDIGGING;
 										obstacleState = Actor.PROCEEDING;
-										StuckTimer:SetSimTimeLimitMS(1000);
 									end
-								end
 
-								if digState == AHuman.NOTDIGGING and AI.deviceState ~= AHuman.DIGGING then
-									-- if our path isn't blocked enough to dig, but the headroom is too little, start crawling to get through
-									local heading = SceneMan:ShortestDistance(Owner.Pos, Waypoint.Pos, false):SetMagnitude(Owner.Height*0.5);
+									local _ai, _ownr, _abrt = coroutine.yield(); -- wait until next frame
+									if _abrt then return true end
+								else
+									digState = AHuman.NOTDIGGING;
+									obstacleState = Actor.PROCEEDING;
+									StuckTimer:SetSimTimeLimitMS(1000);
+								end
+							end
 
-									-- This gets the angle of the heading vector relative to flat (i.e, straight along the X axis)
-									-- This gives a range of [0, 90]
-									-- 0 is pointing straight left/right, and 90 is pointing straight up/down.
-									local angleRadians = math.abs(math.atan2(-(heading.X * heading.Y), heading.X * heading.X));
-									local angleDegrees = angleRadians * (180 / math.pi);
+							if digState == AHuman.NOTDIGGING and AI.deviceState ~= AHuman.DIGGING then
+								-- if our path isn't blocked enough to dig, but the headroom is too little, start crawling to get through
+								local heading = SceneMan:ShortestDistance(Owner.Pos, Waypoint.Pos, false):SetMagnitude(Owner.Height*0.5);
 
-									-- We only crawl it it's quite flat, otherwise climb
-									local crawlThresholdDegrees = 30;
-									if angleDegrees <= crawlThresholdDegrees and Owner.Head and Owner.Head:IsAttached() then
-										local topHeadPos = Owner.Head.Pos - Vector(0, Owner.Head.Radius*0.7);
+								-- This gets the angle of the heading vector relative to flat (i.e, straight along the X axis)
+								-- This gives a range of [0, 90]
+								-- 0 is pointing straight left/right, and 90 is pointing straight up/down.
+								local angleRadians = math.abs(math.atan2(-(heading.X * heading.Y), heading.X * heading.X));
+								local angleDegrees = angleRadians * (180 / math.pi);
 
-										-- first check up to the top of the head, and then from there forward
-										if SceneMan:CastStrengthRay(Owner.Pos, topHeadPos - Owner.Pos, 5, Free, 4, rte.doorID, true) or SceneMan:CastStrengthRay(topHeadPos, heading, 5, Free, 4, rte.doorID, true) then
-											AI.proneState = AHuman.PRONE;
-										else
-											AI.proneState = AHuman.NOTPRONE;
-										end
+								-- We only crawl it it's quite flat, otherwise climb
+								local crawlThresholdDegrees = 30;
+								if angleDegrees <= crawlThresholdDegrees and Owner.Head and Owner.Head:IsAttached() then
+									local topHeadPos = Owner.Head.Pos - Vector(0, Owner.Head.Radius*0.7);
 
-										local _ai, _ownr, _abrt = coroutine.yield(); -- wait until next frame
-										if _abrt then return true end
+									-- first check up to the top of the head, and then from there forward
+									if SceneMan:CastStrengthRay(Owner.Pos, topHeadPos - Owner.Pos, 5, Free, 4, rte.doorID, true) or SceneMan:CastStrengthRay(topHeadPos, heading, 5, Free, 4, rte.doorID, true) then
+										AI.proneState = AHuman.PRONE;
 									else
 										AI.proneState = AHuman.NOTPRONE;
 									end
+
+									local _ai, _ownr, _abrt = coroutine.yield(); -- wait until next frame
+									if _abrt then return true end
+								else
+									AI.proneState = AHuman.NOTPRONE;
 								end
 							end
+						end
 
-							if not WptList[1] then
-								WptList = nil; -- update the path
-							end
+						if not WptList[1] then
+							WptList = nil; -- update the path
 						end
 
 						if not Waypoint.Type then
 							ArrivedTimer:SetSimTimeLimitMS(100);
 						elseif Waypoint.Type == "last" then
-							ArrivedTimer:SetSimTimeLimitMS(600);
+							ArrivedTimer:SetSimTimeLimitMS(300);
 						else	-- air or corner wpt
 							ArrivedTimer:SetSimTimeLimitMS(0);
 						end
 					end
-				elseif WptList[2] then	-- check if some other waypoint is closer
-					local test = math.random(1, math.min(10, #WptList));
-					local RandomWpt = WptList[test];
-					if RandomWpt then
-						Dist = SceneMan:ShortestDistance(Owner.Pos, RandomWpt.Pos, false);
-						if Dist:MagnitudeIsLessThan(50) and Dist:MagnitudeIsLessThan(SceneMan:ShortestDistance(Owner.Pos, Waypoint.Pos, false).Magnitude * 0.33) then
-							-- this waypoint is closer, check LOS
-							if -1 == SceneMan:CastObstacleRay(Owner.Pos, Dist, Vector(), Vector(), Owner.ID, Owner.IgnoresWhichTeam, rte.grassID, 4) then
-								Waypoint = RandomWpt; -- go here instead
-								if WptList[test-1] then
-									PrevWptPos = Vector(WptList[test-1].Pos.X, WptList[test-1].Pos.Y);
-								else
-									PrevWptPos = Vector(Owner.Pos.X, Owner.Pos.Y);
-								end
-
-								for _ = 1, test do	-- delete the earlier waypoints
-									table.remove(WptList, 1);
-									if WptList[1] then
-										Owner:RemoveMovePathBeginning();
-									end
-								end
-							end
-						end
-					end
 				end
 
 				if Waypoint then
@@ -1743,7 +1679,7 @@ function HumanBehaviors.GoToWpt(AI, Owner, Abort)
 								if Owner.Jetpack and Owner.Head and Owner.Head:IsAttached() then
 									if Owner.Jetpack.JetTimeLeft < AI.minBurstTime then
 										AI.jump = false; -- not enough fuel left, no point in jumping yet
-										if not AI.flying or Owner.Vel.Y > 1 then
+										if not AI.flying or Owner.Vel.Y > 4 then
 											AI.refuel = true;
 										end
 									else
@@ -1958,24 +1894,23 @@ function HumanBehaviors.GoToWpt(AI, Owner, Abort)
 				local TmpWpts = {};
 				table.insert(TmpWpts, {Pos=Owner.Pos});
 
-				local Origin;
 				local LastPos = PathDump[1];
 				local index = 1;
 				for _, WptPos in pairs(PathDump) do
-					Origin = TmpWpts[index].Pos;
-					local Dist = SceneMan:ShortestDistance(Origin, WptPos, false);
-					if math.abs(Dist.Y) > 30 or Dist:MagnitudeIsGreaterThan(80) or	-- skip any waypoint too close to the previous one
-						SceneMan:CastStrengthSumRay(Origin, WptPos, 3, rte.grassID) > 5
-					then
+					--Origin = TmpWpts[index].Pos;
+					--local Dist = SceneMan:ShortestDistance(Origin, WptPos, false);
+					--if math.abs(Dist.Y) > 30 or Dist:MagnitudeIsGreaterThan(80) or	-- skip any waypoint too close to the previous one
+					--	SceneMan:CastStrengthSumRay(Origin, WptPos, 3, rte.grassID) > 5
+					--then
 						table.insert(TmpWpts, {Pos=LastPos});
 						index = index + 1;
-					end
+					--end
 
 					LastPos = WptPos;
 				end
 
 				-- No path
-				if #PathDump == 0 then
+				if #TmpWpts == 0 then
 					break;
 				end
 
@@ -1986,50 +1921,6 @@ function HumanBehaviors.GoToWpt(AI, Owner, Abort)
 				while TmpWpts[1] do
 					local NextWpt = table.remove(TmpWpts, 1);
 
-					if Lower(NextWpt, StartWpt, 30) then	-- scan for sharp drops
-						local Dist = SceneMan:ShortestDistance(StartWpt.Pos, NextWpt.Pos, false);
-						if math.abs(Dist.X) < Dist.Y then -- check the slope
-							if SceneMan:CastObstacleRay(StartWpt.Pos, Dist, Vector(), Vector(), Owner.ID, Owner.IgnoresWhichTeam, rte.grassID, 4) < 0 then
-								NextWpt.Type = "drop"; -- LOS from StartWpt to NextWpt
-							end
-
-							local GapList = {};
-							for j, JumpWpt in pairs(TmpWpts) do	-- look for the other side
-								local Gap = SceneMan:ShortestDistance(StartWpt.Pos, JumpWpt.Pos, false);
-								if Gap:MagnitudeIsGreaterThan(400 - Gap.Y) then	-- TODO: use actor properties here
-									break; -- too far
-								end
-
-								if Gap.Y > -40 then	-- no more than 2m above
-									table.insert(GapList, {Wpt=JumpWpt, score=math.abs(Gap.X/Gap.Y), index=j});
-								end
-							end
-
-							table.sort(GapList, function(A, B) return A.score > B.score end); -- sort largest first
-
-							for _, LZ in pairs(GapList) do
-								-- check if we can jump
-								local Trace = SceneMan:ShortestDistance(StartWpt.Pos, LZ.Wpt.Pos, false);
-								if SceneMan:CastObstacleRay(StartWpt.Pos, Trace, Vector(), Vector(), Owner.ID, Owner.IgnoresWhichTeam, rte.grassID, 4) < 0 then
-									-- find a point mid-air
-									local TestPos = StartWpt.Pos + Trace * 0.6;
-									local Free = Vector();
-									if 0 ~= SceneMan:CastObstacleRay(TestPos, Vector(0, -math.abs(Trace.X)/2), Vector(), Free, Owner.ID, Owner.IgnoresWhichTeam, rte.grassID, 2) then	-- TODO: check LOS? what if 0?
-										table.insert(WptList, {Pos=Free+Vector(0,Owner.Height/3), Type="air"}); -- guide point in the air
-										NextWpt = LZ.Wpt;
-
-										-- delete any waypoints between StartWpt and the LZ
-										for i = LZ.index, 1, -1 do
-											table.remove(TmpWpts, i);
-										end
-
-										break;
-									end
-								end
-							end
-						end
-					end
-
 					table.insert(WptList, NextWpt);
 					StartWpt = NextWpt;
 				end

Data/Base.rte/Activities/BunkerBreach.lua

@@ -504,7 +504,7 @@ function BunkerBreach:SendDefenderGuardsAtEnemiesInsideBunker()
 			local closestFriendlyUnitData = {};
 			for _, friendlyUnitInsideBunker in pairs(self.AI.friendlyUnitsInsideBunker) do
 				if not friendlyUnitInsideBunker:IsInGroup("Brains") then
-					local pathLengthFromFriendlyUnitToEnemy = SceneMan.Scene:CalculatePath(friendlyUnitInsideBunker.Pos, enemyUnitInsideBunker.Pos, false, GetPathFindingDefaultDigStrength(), self.CPUTeam);
+					local pathLengthFromFriendlyUnitToEnemy = SceneMan.Scene:CalculatePath(friendlyUnitInsideBunker.Pos, enemyUnitInsideBunker.Pos, GetPathFindingFlyingJumpHeight(), GetPathFindingDefaultDigStrength(), self.CPUTeam);
 					if closestFriendlyUnitData.pathLengthToEnemy == nil or pathLengthFromFriendlyUnitToEnemy < closestFriendlyUnitData.pathLengthToEnemy then
 						closestFriendlyUnitData.pathLengthToEnemy = pathLengthFromFriendlyUnitToEnemy;
 						closestFriendlyUnitData.actor = friendlyUnitInsideBunker;
@@ -632,7 +632,7 @@ function BunkerBreach:CalculateInternalReinforcementPositionsToEnemyTargets(numb
 		local internalReinforcementPositionForEnemy;
 		local pathLengthFromClosestInternalReinforcementPositionToEnemy = SceneMan.SceneWidth * SceneMan.SceneHeight;
 		for _, internalReinforcementPosition in pairs(self.AI.internalReinforcementPositions) do
-			local pathLengthFromInternalReinforcementPositionToEnemy = SceneMan.Scene:CalculatePath(internalReinforcementPosition, enemyToTarget.Pos, false, GetPathFindingDefaultDigStrength(), self.CPUTeam);
+			local pathLengthFromInternalReinforcementPositionToEnemy = SceneMan.Scene:CalculatePath(internalReinforcementPosition, enemyToTarget.Pos, GetPathFindingFlyingJumpHeight(), GetPathFindingDefaultDigStrength(), self.CPUTeam);
 			if pathLengthFromInternalReinforcementPositionToEnemy < pathLengthFromClosestInternalReinforcementPositionToEnemy then
 				internalReinforcementPositionForEnemy = internalReinforcementPosition;
 				pathLengthFromClosestInternalReinforcementPositionToEnemy = pathLengthFromInternalReinforcementPositionToEnemy;

Data/Base.rte/Activities/Siege.lua

@@ -469,7 +469,7 @@ function Siege:PlayerBrainsReachable()
 
 	for actor in MovableMan.Actors do
 		if actor.Team == self.PlayerTeam and actor:IsInGroup("Brains") then
-			local pathCost = SceneMan.Scene:CalculatePath(actor.Pos, Vector(actor.Pos.X, 0), false, 0);
+			local pathCost = SceneMan.Scene:CalculatePath(actor.Pos, Vector(actor.Pos.X, 0), GetPathFindingFlyingJumpHeight(), GetPathFindingDefaultDigStrength());
 			if pathCost > 10000 then
 				reachable = false;
 				break;

Data/Base.rte/Activities/Test.lua

@@ -6,6 +6,12 @@ package.loaded.Constants = nil; require("Constants");
 
 function Test:StartActivity()
 	print("START! -- Test:StartActivity()!");
+	
+	for actor in MovableMan.AddedActors do
+		if IsADoor(actor) then
+			actor.Team = Activity.NOTEAM;
+		end
+	end
 
 	for player = Activity.PLAYER_1, Activity.MAXPLAYERCOUNT - 1 do
 		if self:PlayerActive(player) and self:PlayerHuman(player) then

Data/Base.rte/Activities/Utility/LandingZoneMap.lua

@@ -454,7 +454,7 @@ function LandingZoneMap:FindLZ(team, Destination, digStrenght)
 end
 
 -- A coroutine that search for a LZ. Input is team and destination. Output is LZ x-pos and obstacle height for two LZs, one close and one with an easy path
-function LandingZoneMap.SearchForLZ(self, team, Destination, digStrenght)
+function LandingZoneMap.SearchForLZ(self, team, Destination, digStrength)
 	-- estimate how visible our descent is to the enemy
 	local LOSgrid = self.EnemyTeamLOS[team];
 	local GoodLZs = {};
@@ -493,7 +493,7 @@ function LandingZoneMap.SearchForLZ(self, team, Destination, digStrenght)
 				pathRequestsCompleted = pathRequestsCompleted + 1;
 				completedPathRequests[k] = pathRequest;
 			end, 
-			Vector(LZ.X, LZ.Y), Destination, false, digStrenght, team);
+			Vector(LZ.X, LZ.Y), Destination, GetPathFindingFlyingJumpHeight(), digStrength, team);
 	end
 
 	while pathRequestsCompleted < #GoodLZs do
@@ -650,7 +650,7 @@ function LandingZoneMap:FindStartLZ(team, OccupiedLZs)
 		distance = nil;
 		local PosLZ = Vector(LZ.X, LZ.Y);
 		for _, PosEnemy in pairs(EnemyLocations) do
-			local wpts = SceneMan.Scene:CalculatePath(PosEnemy, PosLZ, false, 1, team);
+			local wpts = SceneMan.Scene:CalculatePath(PosEnemy, PosLZ, GetPathFindingFlyingJumpHeight(), GetPathFindingDefaultDigStrength(), team);
 			if wpts > -1 then
 				if distance then
 					distance = math.min(wpts, distance);