public static bool GenerateSubWaypoints(Submarine submarine)
{
if (!Hull.hullList.Any())
{
DebugConsole.ThrowError("Couldn't generate waypoints: no hulls found.");
return(false);
}
List <WayPoint> existingWaypoints = WayPointList.FindAll(wp => wp.spawnType == SpawnType.Path);
foreach (WayPoint wayPoint in existingWaypoints)
{
wayPoint.Remove();
}
//find all open doors and temporarily activate their bodies to prevent visibility checks
//from ignoring the doors and generating waypoint connections that go straight through the door
List <Door> openDoors = new List <Door>();
foreach (Item item in Item.ItemList)
{
var door = item.GetComponent <Door>();
if (door != null && !door.Body.Enabled)
{
openDoors.Add(door);
door.Body.Enabled = true;
}
}
float diffFromHullEdge = 50;
float minDist = 100.0f;
float heightFromFloor = 110.0f;
float hullMinHeight = 100;
foreach (Hull hull in Hull.hullList)
{
// Ignore hulls that a human couldn't fit in.
// Doesn't take multi-hull rooms into account, but it's probably best to leave them to be setup manually.
if (hull.Rect.Height < hullMinHeight)
{
continue;
}
// Do five raycasts to check if there's a floor. Don't create waypoints unless we can find a floor.
Body floor = null;
for (int i = 0; i < 5; i++)
{
float horizontalOffset = 0;
switch (i)
{
case 1:
horizontalOffset = hull.RectWidth * 0.2f;
break;
case 2:
horizontalOffset = hull.RectWidth * 0.4f;
break;
case 3:
horizontalOffset = -hull.RectWidth * 0.2f;
break;
case 4:
horizontalOffset = -hull.RectWidth * 0.4f;
break;
}
horizontalOffset = ConvertUnits.ToSimUnits(horizontalOffset);
Vector2 floorPos = new Vector2(hull.SimPosition.X + horizontalOffset, ConvertUnits.ToSimUnits(hull.Rect.Y - hull.RectHeight - 50));
floor = Submarine.PickBody(new Vector2(hull.SimPosition.X + horizontalOffset, hull.SimPosition.Y), floorPos, collisionCategory: Physics.CollisionWall | Physics.CollisionPlatform, customPredicate: f => !(f.Body.UserData is Submarine));
if (floor != null)
{
break;
}
}
if (floor == null)
{
continue;
}
float waypointHeight = hull.Rect.Height > heightFromFloor * 2 ? heightFromFloor : hull.Rect.Height / 2;
if (hull.Rect.Width < diffFromHullEdge * 3.0f)
{
new WayPoint(new Vector2(hull.Rect.X + hull.Rect.Width / 2.0f, hull.Rect.Y - hull.Rect.Height + waypointHeight), SpawnType.Path, submarine);
}
else
{
WayPoint prevWaypoint = null;
for (float x = hull.Rect.X + diffFromHullEdge; x <= hull.Rect.Right - diffFromHullEdge; x += minDist)
{
var wayPoint = new WayPoint(new Vector2(x, hull.Rect.Y - hull.Rect.Height + waypointHeight), SpawnType.Path, submarine);
if (prevWaypoint != null)
{
wayPoint.ConnectTo(prevWaypoint);
}
prevWaypoint = wayPoint;
}
if (prevWaypoint == null)
{
// Ensure that we always create at least one waypoint per hull.
new WayPoint(new Vector2(hull.Rect.X + hull.Rect.Width / 2.0f, hull.Rect.Y - hull.Rect.Height + waypointHeight), SpawnType.Path, submarine);
}
}
}
// Platforms
foreach (Structure platform in Structure.WallList)
{
if (!platform.IsPlatform)
{
continue;
}
float waypointHeight = heightFromFloor;
WayPoint prevWaypoint = null;
for (float x = platform.Rect.X + diffFromHullEdge; x <= platform.Rect.Right - diffFromHullEdge; x += minDist)
{
WayPoint wayPoint = new WayPoint(new Vector2(x, platform.Rect.Y + waypointHeight), SpawnType.Path, submarine);
if (prevWaypoint != null)
{
wayPoint.ConnectTo(prevWaypoint);
}
// If the waypoint is close to hull waypoints, remove it.
if (wayPoint != null)
{
for (int dir = -1; dir <= 1; dir += 2)
{
if (wayPoint.FindClosest(dir, horizontalSearch: true, tolerance: new Vector2(minDist, heightFromFloor), ignored: prevWaypoint.ToEnumerable()) != null)
{
wayPoint.Remove();
wayPoint = null;
break;
}
}
}
prevWaypoint = wayPoint;
}
}
float outSideWaypointInterval = 100.0f;
if (submarine.Info.Type != SubmarineType.OutpostModule)
{
List <(WayPoint, int)> outsideWaypoints = new List <(WayPoint, int)>();
Rectangle borders = Hull.GetBorders();
int originalWidth = borders.Width;
int originalHeight = borders.Height;
borders.X -= Math.Min(500, originalWidth / 4);
borders.Y += Math.Min(500, originalHeight / 4);
borders.Width += Math.Min(1500, originalWidth / 2);
borders.Height += Math.Min(1000, originalHeight / 2);
borders.Location -= MathUtils.ToPoint(submarine.HiddenSubPosition);
if (borders.Width <= outSideWaypointInterval * 2)
{
borders.Inflate(outSideWaypointInterval * 2 - borders.Width, 0);
}
if (borders.Height <= outSideWaypointInterval * 2)
{
int inflateAmount = (int)(outSideWaypointInterval * 2) - borders.Height;
borders.Y += inflateAmount / 2;
borders.Height += inflateAmount;
}
WayPoint[,] cornerWaypoint = new WayPoint[2, 2];
for (int i = 0; i < 2; i++)
{
for (float x = borders.X + outSideWaypointInterval; x < borders.Right - outSideWaypointInterval; x += outSideWaypointInterval)
{
var wayPoint = new WayPoint(
new Vector2(x, borders.Y - borders.Height * i) + submarine.HiddenSubPosition,
SpawnType.Path, submarine);
outsideWaypoints.Add((wayPoint, i));
if (x == borders.X + outSideWaypointInterval)
{
cornerWaypoint[i, 0] = wayPoint;
}
else
{
wayPoint.ConnectTo(WayPointList[WayPointList.Count - 2]);
}
}
cornerWaypoint[i, 1] = WayPointList[WayPointList.Count - 1];
}
for (int i = 0; i < 2; i++)
{
WayPoint wayPoint = null;
for (float y = borders.Y - borders.Height; y < borders.Y; y += outSideWaypointInterval)
{
wayPoint = new WayPoint(
new Vector2(borders.X + borders.Width * i, y) + submarine.HiddenSubPosition,
SpawnType.Path, submarine);
outsideWaypoints.Add((wayPoint, i));
if (y == borders.Y - borders.Height)
{
wayPoint.ConnectTo(cornerWaypoint[1, i]);
}
else
{
wayPoint.ConnectTo(WayPointList[WayPointList.Count - 2]);
}
}
wayPoint.ConnectTo(cornerWaypoint[0, i]);
}
Vector2 center = ConvertUnits.ToSimUnits(submarine.HiddenSubPosition);
float halfHeight = ConvertUnits.ToSimUnits(borders.Height / 2);
// Try to move the waypoints so that they are near the walls, roughly following the shape of the sub.
foreach (var wayPoint in outsideWaypoints)
{
WayPoint wp = wayPoint.Item1;
float xDiff = center.X - wp.SimPosition.X;
Vector2 targetPos = new Vector2(center.X - xDiff * 0.5f, center.Y);
Body wall = Submarine.PickBody(wp.SimPosition, targetPos, collisionCategory: Physics.CollisionWall, customPredicate: f => !(f.Body.UserData is Submarine));
if (wall == null)
{
// Try again, and shoot to the center now. It happens with some subs that the first, offset raycast don't hit the walls.
targetPos = new Vector2(center.X - xDiff, center.Y);
wall = Submarine.PickBody(wp.SimPosition, targetPos, collisionCategory: Physics.CollisionWall, customPredicate: f => !(f.Body.UserData is Submarine));
}
if (wall != null)
{
float distanceFromWall = 1;
if (xDiff > 0 && !submarine.Info.HasTag(SubmarineTag.Shuttle))
{
// We don't want to move the waypoints near the tail too close to the engine.
float yDist = Math.Abs(center.Y - wp.SimPosition.Y);
distanceFromWall = MathHelper.Lerp(1, 3, MathUtils.InverseLerp(halfHeight, 0, yDist));
}
Vector2 newPos = Submarine.LastPickedPosition + Submarine.LastPickedNormal * distanceFromWall;
wp.rect = new Rectangle(ConvertUnits.ToDisplayUnits(newPos).ToPoint(), wp.rect.Size);
wp.FindHull();
}
}
// Remove unwanted points
var removals = new List <WayPoint>();
WayPoint previous = null;
float tooClose = outSideWaypointInterval / 2;
foreach (var wayPoint in outsideWaypoints)
{
WayPoint wp = wayPoint.Item1;
if (wp.CurrentHull != null ||
Submarine.PickBody(wp.SimPosition, wp.SimPosition + Vector2.Normalize(center - wp.SimPosition) * 0.1f, collisionCategory: Physics.CollisionWall | Physics.CollisionItem, customPredicate: f => !(f.Body.UserData is Submarine), allowInsideFixture: true) != null)
{
// Remove waypoints that got inside/too near the sub.
removals.Add(wp);
previous = wp;
continue;
}
foreach (var otherWayPoint in outsideWaypoints)
{
WayPoint otherWp = otherWayPoint.Item1;
if (otherWp == wp)
{
continue;
}
if (removals.Contains(otherWp))
{
continue;
}
float sqrDist = Vector2.DistanceSquared(wp.Position, otherWp.Position);
// Remove waypoints that are too close to each other.
if (!removals.Contains(previous) && sqrDist < tooClose * tooClose)
{
removals.Add(wp);
}
}
previous = wp;
}
foreach (WayPoint wp in removals)
{
outsideWaypoints.RemoveAll(w => w.Item1 == wp);
wp.Remove();
}
for (int i = 0; i < outsideWaypoints.Count; i++)
{
WayPoint current = outsideWaypoints[i].Item1;
if (current.linkedTo.Count > 1)
{
continue;
}
WayPoint next = null;
int maxConnections = 2;
float tooFar = outSideWaypointInterval * 5;
for (int j = 0; j < maxConnections; j++)
{
if (current.linkedTo.Count >= maxConnections)
{
break;
}
tooFar /= current.linkedTo.Count;
next = current.FindClosestOutside(outsideWaypoints, tolerance: tooFar, filter: wp => wp.Item1 != next && wp.Item1.linkedTo.None(e => current.linkedTo.Contains(e)) && wp.Item1.linkedTo.Count < 2 && wp.Item2 < i);
if (next != null)
{
current.ConnectTo(next);
}
}
}
}
List <Structure> stairList = new List <Structure>();
foreach (MapEntity me in mapEntityList)
{
if (!(me is Structure stairs))
{
continue;
}
if (stairs.StairDirection != Direction.None)
{
stairList.Add(stairs);
}
}
foreach (Structure stairs in stairList)
{
WayPoint[] stairPoints = new WayPoint[3];
stairPoints[0] = new WayPoint(
new Vector2(stairs.Rect.X - 32.0f,
stairs.Rect.Y - (stairs.StairDirection == Direction.Left ? 80 : stairs.Rect.Height) + heightFromFloor), SpawnType.Path, submarine);
stairPoints[1] = new WayPoint(
new Vector2(stairs.Rect.Right + 32.0f,
stairs.Rect.Y - (stairs.StairDirection == Direction.Left ? stairs.Rect.Height : 80) + heightFromFloor), SpawnType.Path, submarine);
for (int i = 0; i < 2; i++)
{
for (int dir = -1; dir <= 1; dir += 2)
{
WayPoint closest = stairPoints[i].FindClosest(dir, horizontalSearch: true, new Vector2(100, 70));
if (closest == null)
{
continue;
}
stairPoints[i].ConnectTo(closest);
}
}
stairPoints[2] = new WayPoint((stairPoints[0].Position + stairPoints[1].Position) / 2, SpawnType.Path, submarine);
stairPoints[0].ConnectTo(stairPoints[2]);
stairPoints[2].ConnectTo(stairPoints[1]);
}
foreach (Item item in Item.ItemList)
{
var ladders = item.GetComponent <Ladder>();
if (ladders == null)
{
continue;
}
Vector2 bottomPoint = new Vector2(item.Rect.Center.X, item.Rect.Top - item.Rect.Height + 10);
List <WayPoint> ladderPoints = new List <WayPoint>
{
new WayPoint(bottomPoint, SpawnType.Path, submarine),
};
List <Body> ignoredBodies = new List <Body>();
// Lowest point is only meaningful for hanging ladders inside the sub, but it shouldn't matter in other cases either.
// Start point is where the bots normally grasp the ladder when they stand on ground.
WayPoint lowestPoint = ladderPoints[0];
WayPoint prevPoint = lowestPoint;
Vector2 prevPos = prevPoint.SimPosition;
Body ground = Submarine.PickBody(lowestPoint.SimPosition, lowestPoint.SimPosition - Vector2.UnitY, ignoredBodies,
collisionCategory: Physics.CollisionWall | Physics.CollisionPlatform | Physics.CollisionStairs,
customPredicate: f => !(f.Body.UserData is Submarine));
float startHeight = ground != null?ConvertUnits.ToDisplayUnits(ground.Position.Y) : bottomPoint.Y;
startHeight += heightFromFloor;
WayPoint startPoint = lowestPoint;
Vector2 nextPos = new Vector2(item.Rect.Center.X, startHeight);
// Don't create the start point if it's too close to the lowest point or if it's outside of the sub.
// If we skip creating the start point, the lowest point is used instead.
if (lowestPoint == null || Math.Abs(startPoint.Position.Y - startHeight) > 40 && Hull.FindHull(nextPos) != null)
{
startPoint = new WayPoint(nextPos, SpawnType.Path, submarine);
ladderPoints.Add(startPoint);
if (lowestPoint != null)
{
startPoint.ConnectTo(lowestPoint);
}
prevPoint = startPoint;
prevPos = prevPoint.SimPosition;
}
for (float y = startPoint.Position.Y + LadderWaypointInterval; y < item.Rect.Y - 1.0f; y += LadderWaypointInterval)
{
//first check if there's a door in the way
//(we need to create a waypoint linked to the door for NPCs to open it)
Body pickedBody = Submarine.PickBody(
ConvertUnits.ToSimUnits(new Vector2(startPoint.Position.X, y)),
prevPos, ignoredBodies, Physics.CollisionWall, false,
(Fixture f) => f.Body.UserData is Item && ((Item)f.Body.UserData).GetComponent <Door>() != null);
Door pickedDoor = null;
if (pickedBody != null)
{
pickedDoor = (pickedBody?.UserData as Item).GetComponent <Door>();
}
else
{
//no door, check for walls
pickedBody = Submarine.PickBody(
ConvertUnits.ToSimUnits(new Vector2(startPoint.Position.X, y)), prevPos, ignoredBodies, null, false,
(Fixture f) => f.Body.UserData is Structure);
}
if (pickedBody == null)
{
prevPos = Submarine.LastPickedPosition;
continue;
}
else
{
ignoredBodies.Add(pickedBody);
}
if (pickedDoor != null)
{
WayPoint newPoint = new WayPoint(pickedDoor.Item.Position, SpawnType.Path, submarine);
ladderPoints.Add(newPoint);
newPoint.ConnectedGap = pickedDoor.LinkedGap;
newPoint.ConnectTo(prevPoint);
prevPoint = newPoint;
prevPos = new Vector2(prevPos.X, ConvertUnits.ToSimUnits(pickedDoor.Item.Position.Y - pickedDoor.Item.Rect.Height));
}
else
{
WayPoint newPoint = new WayPoint(ConvertUnits.ToDisplayUnits(Submarine.LastPickedPosition) + Vector2.UnitY * heightFromFloor, SpawnType.Path, submarine);
ladderPoints.Add(newPoint);
newPoint.ConnectTo(prevPoint);
prevPoint = newPoint;
prevPos = ConvertUnits.ToSimUnits(newPoint.Position);
}
}
// Cap
if (prevPoint.rect.Y < item.Rect.Y - 40)
{
WayPoint wayPoint = new WayPoint(new Vector2(item.Rect.Center.X, item.Rect.Y - 1.0f), SpawnType.Path, submarine);
ladderPoints.Add(wayPoint);
wayPoint.ConnectTo(prevPoint);
}
// Connect ladder waypoints to hull points at the right and left side
foreach (WayPoint ladderPoint in ladderPoints)
{
ladderPoint.Ladders = ladders;
bool isHatch = ladderPoint.ConnectedGap != null && !ladderPoint.ConnectedGap.IsRoomToRoom;
for (int dir = -1; dir <= 1; dir += 2)
{
WayPoint closest = null;
if (isHatch)
{
closest = ladderPoint.FindClosest(dir, horizontalSearch: true, new Vector2(500, 1000), ladderPoint.ConnectedGap?.ConnectedDoor?.Body.FarseerBody, filter: wp => wp.CurrentHull == null, ignored: ladderPoints);
}
else
{
closest = ladderPoint.FindClosest(dir, horizontalSearch: true, new Vector2(150, 100), ladderPoint.ConnectedGap?.ConnectedDoor?.Body.FarseerBody, ignored: ladderPoints);
}
if (closest == null)
{
continue;
}
ladderPoint.ConnectTo(closest);
}
}
}
// Another pass: connect cap and bottom points with other ladders when they are vertically adjacent to another (double ladders)
foreach (Item item in Item.ItemList)
{
var ladders = item.GetComponent <Ladder>();
if (ladders == null)
{
continue;
}
var wps = WayPointList.Where(wp => wp.Ladders == ladders).OrderByDescending(wp => wp.Rect.Y);
WayPoint cap = wps.First();
WayPoint above = cap.FindClosest(1, horizontalSearch: false, tolerance: new Vector2(25, 50), filter: wp => wp.Ladders != null && wp.Ladders != ladders);
above?.ConnectTo(cap);
WayPoint bottom = wps.Last();
WayPoint below = bottom.FindClosest(-1, horizontalSearch: false, tolerance: new Vector2(25, 50), filter: wp => wp.Ladders != null && wp.Ladders != ladders);
below?.ConnectTo(bottom);
}
foreach (Gap gap in Gap.GapList)
{
if (gap.IsHorizontal)
{
// Too small to walk through
if (gap.Rect.Height < hullMinHeight)
{
continue;
}
Vector2 pos = new Vector2(gap.Rect.Center.X, gap.Rect.Y - gap.Rect.Height + heightFromFloor);
var wayPoint = new WayPoint(pos, SpawnType.Path, submarine, gap);
// The closest waypoint can be quite far if the gap is at an exterior door.
Vector2 tolerance = gap.IsRoomToRoom ? new Vector2(150, 70) : new Vector2(1000, 1000);
for (int dir = -1; dir <= 1; dir += 2)
{
WayPoint closest = wayPoint.FindClosest(dir, horizontalSearch: true, tolerance, gap.ConnectedDoor?.Body.FarseerBody);
if (closest != null)
{
wayPoint.ConnectTo(closest);
}
}
}
else
{
// Create waypoints on vertical gaps on the outer walls, also hatches.
if (gap.IsRoomToRoom || gap.linkedTo.None(l => l is Hull))
{
continue;
}
// Too small to swim through
if (gap.Rect.Width < 50.0f)
{
continue;
}
Vector2 pos = new Vector2(gap.Rect.Center.X, gap.Rect.Y - gap.Rect.Height / 2);
// Some hatches are created in the block above where we handle the ladder waypoints. So we need to check for duplicates.
if (WayPointList.Any(wp => wp.ConnectedGap == gap))
{
continue;
}
var wayPoint = new WayPoint(pos, SpawnType.Path, submarine, gap);
Hull connectedHull = (Hull)gap.linkedTo.First(l => l is Hull);
int dir = Math.Sign(connectedHull.Position.Y - gap.Position.Y);
WayPoint closest = wayPoint.FindClosest(dir, horizontalSearch: false, new Vector2(50, 100));
if (closest != null)
{
wayPoint.ConnectTo(closest);
}
for (dir = -1; dir <= 1; dir += 2)
{
closest = wayPoint.FindClosest(dir, horizontalSearch: true, new Vector2(500, 1000), gap.ConnectedDoor?.Body.FarseerBody, filter: wp => wp.CurrentHull == null);
if (closest != null)
{
wayPoint.ConnectTo(closest);
}
}
}
}
var orphans = WayPointList.FindAll(w => w.spawnType == SpawnType.Path && w.linkedTo.None());
foreach (WayPoint wp in orphans)
{
wp.Remove();
}
foreach (WayPoint wp in WayPointList)
{
if (wp.CurrentHull == null && wp.Ladders == null && wp.linkedTo.Count < 2)
{
DebugConsole.ThrowError($"Couldn't automatically link the waypoint {wp.ID} outside of the submarine. You should do it manually. The waypoint ID is shown in red color.");
}
}
//re-disable the bodies of the doors that are supposed to be open
foreach (Door door in openDoors)
{
door.Body.Enabled = false;
}
return(true);
}
