// Duplication of HBS code, avoiding prefix=true for now.
public static void Postfix(ref BehaviorTreeResults __result, string ___name, BehaviorTree ___tree, AbstractActor ___unit)
{
Mod.Log.Info?.Write("CJMCN:T - entered");
Mech mech = ___unit as Mech;
if (mech != null && mech.WorkingJumpjets > 0)
{
string stayInsideRegionGUID = RegionUtil.GetStayInsideRegionGUID(___unit);
float acceptableHeat = AIUtil.GetAcceptableHeatLevelForMech(mech);
float currentHeat = (float)mech.CurrentHeat;
Mod.Log.Info?.Write($"CJMCN:T - === actor:{CombatantUtils.Label(mech)} has currentHeat:{currentHeat} and acceptableHeat:{acceptableHeat}");
List <PathNode> sampledPathNodes = ___unit.JumpPathing.GetSampledPathNodes();
Mod.Log.Info?.Write($"CJMCN:T - calculating {sampledPathNodes.Count} nodes");
for (int i = 0; i < sampledPathNodes.Count; i++)
{
Vector3 candidatePos = sampledPathNodes[i].Position;
float distanceBetween2D = AIUtil.Get2DDistanceBetweenVector3s(candidatePos, ___unit.CurrentPosition);
float distanceBetween3D = Vector3.Distance(candidatePos, ___unit.CurrentPosition);
Mod.Log.Info?.Write($"CJMCN:T - calculated distances 2D:'{distanceBetween2D}' 3D:'{distanceBetween3D} ");
if (distanceBetween2D >= 1f)
{
float magnitude = (candidatePos - ___unit.CurrentPosition).magnitude;
float jumpHeat = (float)mech.CalcJumpHeat(magnitude);
Mod.Log.Info?.Write($"CJMCN:T - calculated jumpHeat:'{jumpHeat}' from magnitude:'{magnitude}. ");
Mod.Log.Info?.Write($"CJMCN:T - comparing heat: [jumpHeat:'{jumpHeat}' + currentHeat:'{currentHeat}'] <= acceptableHeat:'{acceptableHeat}. ");
if (jumpHeat + (float)mech.CurrentHeat <= acceptableHeat)
{
if (stayInsideRegionGUID != null)
{
MapTerrainDataCell cellAt = ___unit.Combat.MapMetaData.GetCellAt(candidatePos);
if (cellAt != null)
{
MapEncounterLayerDataCell mapEncounterLayerDataCell = cellAt.MapEncounterLayerDataCell;
if (mapEncounterLayerDataCell != null &&
mapEncounterLayerDataCell.regionGuidList != null &&
!mapEncounterLayerDataCell.regionGuidList.Contains(stayInsideRegionGUID))
{
// Skip this loop iteration if
Mod.Log.Info?.Write($"CJMCN:T - candidate outside of constraint region, ignoring.");
goto CANDIDATE_OUTSIDE_REGION;
}
}
}
Mod.Log.Info?.Write($"CJMCN:T - adding candidate position:{candidatePos}");
___tree.movementCandidateLocations.Add(new MoveDestination(sampledPathNodes[i], MoveType.Jumping));
}
}
CANDIDATE_OUTSIDE_REGION :;
}
}
// Should already be set by prefix method
//__result = BehaviorTreeResults(BehaviorNodeState.Success);
}
bool findClosestWalkablePointToDestination(HexGrid grid, Vector3 destination, Vector3 startLoc, List <PathNode> pathNodes, float destinationRadius, out Vector3 foundPoint, out PathNode foundPathNode)
{
bool foundAny = false;
foundPoint = Vector3.zero;
foundPathNode = null;
float closestDistanceToDestination = float.MaxValue;
float closestDistanceToStart = float.MaxValue; // used for tie-breaking between nodes of equal distance to destination
for (int nodeIndex = 0; nodeIndex < pathNodes.Count; ++nodeIndex)
{
PathNode node = pathNodes[nodeIndex];
float distToDest = AIUtil.Get2DDistanceBetweenVector3s(node.Position, destination);
if (distToDest <= destinationRadius)
{
float distToStart = AIUtil.Get2DDistanceBetweenVector3s(node.Position, startLoc);
if ((distToDest < closestDistanceToDestination) ||
((distToDest == closestDistanceToDestination) &&
(distToStart < closestDistanceToStart)))
{
foundAny = true;
foundPathNode = node;
foundPoint = node.Position;
closestDistanceToDestination = distToDest;
closestDistanceToStart = distToStart;
}
}
}
return(foundAny);
}
float findDistanceFromGuardLance(Vector3 position, Lance guardLance)
{
float bestDistance = float.MaxValue;
for (int i = 0; i < guardLance.unitGuids.Count; ++i)
{
string unitGUID = guardLance.unitGuids[i];
AbstractActor guardUnitActor = unit.Combat.ItemRegistry.GetItemByGUID <AbstractActor>(unitGUID);
if ((guardUnitActor != null) && (!guardUnitActor.IsDead))
{
bestDistance = Mathf.Min(bestDistance, AIUtil.Get2DDistanceBetweenVector3s(guardUnitActor.CurrentPosition, position));
}
}
return(bestDistance);
}
int FindIndexOfPointInNodeList(HexGrid grid, Vector3 point, List <PathNode> pathNodes, bool findClosest = false)
{
HBS.Math.HexPoint3 hexPoint = unit.Combat.HexGrid.GetClosestHexPoint3OnGrid(point);
float closestDistance = float.MaxValue;
int closestIndex = -1;
for (int i = 0; i < pathNodes.Count; ++i)
{
PathNode pn = pathNodes[i];
HBS.Math.HexPoint3 testHexPoint = unit.Combat.HexGrid.GetClosestHexPoint3OnGrid(pn.Position);
if (hexPoint == testHexPoint)
{
return(i);
}
if (findClosest)
{
float distance = AIUtil.Get2DDistanceBetweenVector3s(point, pn.Position);
if (distance < closestDistance)
{
closestDistance = distance;
closestIndex = i;
}
}
}
if (findClosest)
{
return(closestIndex);
}
else
{
return(-1);
}
}
/// <summary>
/// Finds a path from any of start to goal, such that the path has no links that are steeper than the unit's maxGrade.
/// </summary>
/// <returns>The path.</returns>
/// <param name="startPointList">List of PointWithDistances for points to start from</param>
/// <param name="snappedGoalPoint">HexPoint3 to go to</param>
/// <param name="unit">moving unit</param>
/// <param name="moveType">move type - walk, sprint</param>
/// <param name="targetRadius">how close to get to the target</param>
/// <param name="actorAware">Discard nodes where other actors reside</param>
public static List <PointWithCost> FindPath(List <PointWithCost> startPointList, HexPoint3 snappedGoalPoint, AbstractActor unit, MoveType moveType, float targetRadius, bool actorAware)
{
MapMetaData mapMetaData = unit.Combat.MapMetaData;
HexGrid hexGrid = unit.Combat.HexGrid;
unit.Pathing.MoveType = moveType;
List <AbstractActor> actors = null;
bool startedInEncounterBounds = false;
BattleTech.Designed.EncounterBoundaryChunkGameLogic boundaryChunk = unit.Combat.EncounterLayerData.encounterBoundaryChunk;
for (int spi = 0; spi < startPointList.Count; ++spi)
{
PointWithCost sp = startPointList[spi];
//Vector3 wp = HexPoint3ToWorldPoint(sp.point, hexGrid);
if (boundaryChunk.IsInEncounterBounds(unit.CurrentPosition))
{
startedInEncounterBounds = true;
break;
}
}
actorAware = unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Bool_EnableLongRangePathfindingBeActorAware).BoolVal ? true : actorAware;
if (actorAware)
{
actors = unit.Combat.AllActors;
actors.Remove(unit);
}
List <PointWithCost> path = new List <PointWithCost>();
HeapQueue <PointWithCost> openHeap = new HeapQueue <PointWithCost>();
Dictionary <HexPoint3, float> bestCostDict = new Dictionary <HexPoint3, float>();
Dictionary <HexPoint3, PointWithCost> bestPrevPoint = new Dictionary <HexPoint3, PointWithCost>();
Vector3 worldGoalPoint = HexPoint3ToWorldPoint(snappedGoalPoint, hexGrid);
float bestPathCost = float.MaxValue;
bool anyPathFound = false;
PointWithCost bestGoalPoint = new PointWithCost(new HexPoint3(-4000, -4000),
float.MaxValue,
float.MaxValue);
for (int startIndex = 0; startIndex < startPointList.Count; ++startIndex)
{
PointWithCost pwd = startPointList[startIndex];
openHeap.Push(pwd);
bestCostDict[pwd.point] = pwd.cost;
bestPrevPoint[pwd.point] = null;
Vector3 wp = HexPoint3ToWorldPoint(pwd.point, hexGrid);
if ((pwd.point.Equals(snappedGoalPoint)) ||
(AIUtil.Get2DDistanceBetweenVector3s(wp, worldGoalPoint) < targetRadius))
{
if (pwd.cost < bestPathCost)
{
anyPathFound = true;
bestPathCost = pwd.cost;
bestGoalPoint = pwd;
}
}
}
while (!openHeap.IsEmpty())
{
PointWithCost ptWithCost = openHeap.PopMinimum();
if (ptWithCost.estimatedTotalCost > bestPathCost)
{
continue;
}
Vector3 worldPoint = HexPoint3ToWorldPoint(ptWithCost.point, hexGrid);
if (actorAware && CheckForOccupiedPoint(actors, worldPoint))
{
continue;
}
if (startedInEncounterBounds && (!boundaryChunk.IsInEncounterBounds(worldPoint)))
{
continue;
}
for (int direction = 0; direction < 6; ++direction)
{
HexPoint3 neighborHexPoint = ptWithCost.point.Step(direction, 1);
Vector3 neighborWorldPoint = HexPoint3ToWorldPoint(neighborHexPoint, hexGrid);
if ((!mapMetaData.IsWithinBounds(neighborWorldPoint)) ||
(unit.Pathing.CurrentGrid.FindBlockerReciprocal(worldPoint, neighborWorldPoint)))
{
continue;
}
Debug.DrawLine(worldPoint, neighborWorldPoint, Color.yellow, 15.0f);
float linkCost = unit.Pathing.CurrentGrid.GetTerrainModifiedCost(worldPoint, neighborWorldPoint);
float newCost = ptWithCost.cost + linkCost;
if (newCost >= bestPathCost)
{
continue;
}
if ((!bestCostDict.ContainsKey(neighborHexPoint)) ||
(newCost < bestCostDict[neighborHexPoint]))
{
bestCostDict[neighborHexPoint] = newCost;
bestPrevPoint[neighborHexPoint] = ptWithCost;
if ((neighborHexPoint.Equals(snappedGoalPoint)) ||
((neighborWorldPoint - worldGoalPoint).magnitude < targetRadius))
{
if (newCost < bestPathCost)
{
anyPathFound = true;
bestPathCost = newCost;
bestGoalPoint = new PointWithCost(neighborHexPoint, newCost, 0.0f);
}
}
else
{
Vector3 remainingDistance = (worldGoalPoint - neighborWorldPoint);
float estRemainingCost = remainingDistance.magnitude;
openHeap.Push(new PointWithCost(neighborHexPoint, newCost, newCost + estRemainingCost));
}
}
}
}
if (anyPathFound)
{
PointWithCost p = bestGoalPoint;
path.Add(p);
while (bestPrevPoint.ContainsKey(p.point))
{
PointWithCost prevPoint = bestPrevPoint[p.point];
if ((prevPoint == null) || (path.Contains(prevPoint)))
{
break;
}
path.Insert(0, prevPoint);
p = prevPoint;
}
}
else
{
// draw the failed path data
const int SIDES = 3;
const float RADIUS = 12;
foreach (PointWithCost startPoint in startPointList)
{
Vector3 worldStartPoint = HexPoint3ToWorldPoint(startPoint.point, hexGrid);
for (int i = 0; i < SIDES; ++i)
{
float dx0 = RADIUS * Mathf.Cos(i * Mathf.PI * 2 / SIDES);
float dz0 = RADIUS * Mathf.Sin(i * Mathf.PI * 2 / SIDES);
float dx1 = RADIUS * Mathf.Cos((i + 1) * Mathf.PI * 2 / SIDES);
float dz1 = RADIUS * Mathf.Sin((i + 1) * Mathf.PI * 2 / SIDES);
Vector3 wp0 = new Vector3(worldStartPoint.x + dx0, 0, worldStartPoint.z + dz0);
Vector3 wp1 = new Vector3(worldStartPoint.x + dx1, 0, worldStartPoint.z + dz1);
Debug.DrawLine(wp0, wp1, Color.magenta, 15.0f);
}
}
Vector3 worldEndPoint = HexPoint3ToWorldPoint(snappedGoalPoint, hexGrid);
Color orangeColor = new Color(1.0f, 0.5f, 0.0f);
for (int i = 0; i < SIDES; ++i)
{
float dx0 = RADIUS * Mathf.Cos(i * Mathf.PI * 2 / SIDES);
float dz0 = RADIUS * Mathf.Sin(i * Mathf.PI * 2 / SIDES);
float dx1 = RADIUS * Mathf.Cos((i + 1) * Mathf.PI * 2 / SIDES);
float dz1 = RADIUS * Mathf.Sin((i + 1) * Mathf.PI * 2 / SIDES);
Vector3 wp0 = new Vector3(worldEndPoint.x + dx0, 0, worldEndPoint.z + dz0);
Vector3 wp1 = new Vector3(worldEndPoint.x + dx1, 0, worldEndPoint.z + dz1);
Debug.DrawLine(wp0, wp1, orangeColor, 15.0f);
}
}
int removedCount = 0;
// Now, check to see if the end of the path is in "danger". If it is, prune until it's not, which might lead to an empty path.
while (path.Count > 0)
{
PointWithCost lastHexPoint = path[path.Count - 1];
Vector3 lastWorldPoint = HexPoint3ToWorldPoint(lastHexPoint.point, hexGrid);
MapTerrainDataCell dataCell = unit.Combat.MapMetaData.GetCellAt(lastWorldPoint);
if (SplatMapInfo.IsDropshipLandingZone(dataCell.terrainMask) || SplatMapInfo.IsDangerousLocation(dataCell.terrainMask) || SplatMapInfo.IsDropPodLandingZone(dataCell.terrainMask))
{
path.RemoveAt(path.Count - 1);
++removedCount;
}
else
{
break;
}
}
if (removedCount > 0)
{
if (path.Count == 0)
{
BehaviorNode.LogAI(unit, string.Format("DANGER TRIM: removed all {0} points, bracing", removedCount));
}
else
{
BehaviorNode.LogAI(unit, string.Format("DANGER TRIM: removed {0} points, moving to {1}", removedCount, path[path.Count - 1]));
}
}
return(path);
}
override protected BehaviorTreeResults Tick()
{
BehaviorTreeResults results;
if (unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Bool_RouteCompleted).BoolVal)
{
results = new BehaviorTreeResults(BehaviorNodeState.Success);
results.orderInfo = new OrderInfo(OrderType.Brace);
results.debugOrderString = string.Format("{0}: bracing for end of patrol route", this.name);
return(results);
}
bool isSprinting = unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Bool_RouteShouldSprint).BoolVal;
if (isSprinting && unit.CanSprint)
{
unit.Pathing.SetSprinting();
}
else
{
unit.Pathing.SetWalking();
}
PathNodeGrid grid = unit.Pathing.CurrentGrid;
if (grid.UpdateBuild(25) > 0)
{
// have to wait for the grid to build.
results = new BehaviorTreeResults(BehaviorNodeState.Running);
return(results);
}
if (!unit.Pathing.ArePathGridsComplete)
{
// have to wait for the grid to build.
results = new BehaviorTreeResults(BehaviorNodeState.Running);
return(results);
}
float destinationRadius = unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Float_RouteWaypointRadius).FloatVal;
RouteGameLogic myPatrolRoute = getRoute();
if (myPatrolRoute == null)
{
AIUtil.LogAI("Move Along Route failing because no route found", unit);
return(new BehaviorTreeResults(BehaviorNodeState.Failure));
}
BehaviorVariableValue nrpiVal = unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Int_RouteTargetPoint);
int nextRoutePointIndex = (nrpiVal != null) ? nrpiVal.IntVal : 0;
BehaviorVariableValue pfVal = unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Bool_RouteFollowingForward);
bool patrollingForward = (pfVal != null) ? pfVal.BoolVal : true;
PatrolRouteWaypoints routeWaypointIterator = null;
switch (myPatrolRoute.routeTransitType)
{
case RouteTransitType.Circuit:
routeWaypointIterator = new CircuitRouteWaypoints(nextRoutePointIndex, patrollingForward, myPatrolRoute.routePointList.Length);
break;
case RouteTransitType.OneWay:
routeWaypointIterator = new OneWayRouteWaypoints(nextRoutePointIndex, patrollingForward, myPatrolRoute.routePointList.Length);
break;
case RouteTransitType.PingPong:
routeWaypointIterator = new PingPongRouteWaypoints(nextRoutePointIndex, patrollingForward, myPatrolRoute.routePointList.Length);
break;
default:
Debug.LogError("Invalid route transit type: " + myPatrolRoute.routeTransitType);
AIUtil.LogAI("Move Along Route failing because patrol route was set to an invalid transit type: " + myPatrolRoute.routeTransitType, unit);
return(new BehaviorTreeResults(BehaviorNodeState.Failure));
}
float movementAvailable = unit.Pathing.MaxCost * unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.Float_PatrolRouteThrottlePercentage).FloatVal / 100.0f;
bool isComplete = false;
int nextWaypoint = -1;
bool nextPointGoesForward = false;
Vector3 successorPoint;
List <PathNode> availablePathNodes = unit.Pathing.CurrentGrid.GetSampledPathNodes();
// prune for region
string regionGUID = RegionUtil.StayInsideRegionGUID(unit);
if (!string.IsNullOrEmpty(regionGUID))
{
availablePathNodes = availablePathNodes.FindAll(node => RegionUtil.PointInRegion(unit.Combat, node.Position, regionGUID));
}
string guardGUID = unit.BehaviorTree.GetBehaviorVariableValue(BehaviorVariableName.String_GuardLanceGUID).StringVal;
Lance guardLance = guardGUID != null?unit.Combat.ItemRegistry.GetItemByGUID <Lance>(guardGUID) : null;
// if guarding units, adjust movement available to account for their speed
if (guardLance != null)
{
movementAvailable = adjustMovementAvailableForGuardLance(unit, movementAvailable, guardLance);
}
// prune for distance from start point
availablePathNodes = availablePathNodes.FindAll(node => node.CostToThisNode <= movementAvailable);
// if there is a guarding lance, make sure that we're not moving out of the lance tether
if (guardLance != null)
{
availablePathNodes = filterAvailablePathNodesForGuardTether(unit, availablePathNodes, guardLance);
}
Vector3 patrolPoint = getReachablePointOnRoute(unit.CurrentPosition, myPatrolRoute, routeWaypointIterator, availablePathNodes, out isComplete, out nextWaypoint, out nextPointGoesForward, out successorPoint);
unit.BehaviorTree.unitBehaviorVariables.SetVariable(BehaviorVariableName.Bool_RouteFollowingForward, new BehaviorVariableValue(nextPointGoesForward));
unit.BehaviorTree.unitBehaviorVariables.SetVariable(BehaviorVariableName.Int_RouteTargetPoint, new BehaviorVariableValue(nextWaypoint));
unit.BehaviorTree.unitBehaviorVariables.SetVariable(BehaviorVariableName.Bool_RouteCompleted, new BehaviorVariableValue(isComplete));
//Vector3 destination = RegionUtil.MaybeClipMovementDestinationToStayInsideRegion(unit, patrolPoint);
Vector3 destination = patrolPoint;
if (!isComplete)
{
List <PathNode> path = constructPath(unit.Combat.HexGrid, destination, availablePathNodes);
if ((path.Count == 0) || ((path.Count == 1) && (AIUtil.Get2DDistanceBetweenVector3s(path[0].Position, unit.CurrentPosition) < 1)))
{
// can't actually make progress - fail here, and presumably pass later on.
AIUtil.LogAI("Move Along Route failing because no nodes in path.", unit);
DialogueGameLogic proximityDialogue = unit.Combat.ItemRegistry.GetItemByGUID <DialogueGameLogic>(unit.Combat.Constants.CaptureEscortProximityDialogID);
if (proximityDialogue != null)
{
TriggerDialog triggerDialogueMessage = new TriggerDialog(unit.GUID, unit.Combat.Constants.CaptureEscortProximityDialogID, async: false);
unit.Combat.MessageCenter.PublishMessage(triggerDialogueMessage);
}
else
{
Debug.LogError("Could not find CaptureEscortProximityDialog. This is only a real error message if this is a Capture Escort (Normal Escort) mission. For other missions (Story, Ambush Convoy, etc) you can safely ignore this error message.");
}
return(new BehaviorTreeResults(BehaviorNodeState.Failure));
}
destination = path[path.Count - 1].Position;
}
Vector3 cur = unit.CurrentPosition;
if ((destination - cur).magnitude < 1)
{
// can't actually make progress - fail here, and presumably pass later on.
AIUtil.LogAI("Move Along Route failing because destination too close to unit start.", unit);
return(new BehaviorTreeResults(BehaviorNodeState.Failure));
}
AIUtil.LogAI(string.Format("issuing order from [{0} {1} {2}] to [{3} {4} {5}] looking at [{6} {7} {8}]",
cur.x, cur.y, cur.z,
destination.x, destination.y, destination.z,
successorPoint.x, successorPoint.y, successorPoint.z
), unit);
results = new BehaviorTreeResults(BehaviorNodeState.Success);
MovementOrderInfo mvtOrderInfo = new MovementOrderInfo(destination, successorPoint);
mvtOrderInfo.IsSprinting = isSprinting;
results.orderInfo = mvtOrderInfo;
results.debugOrderString = string.Format("{0}: dest:{1} sprint:{2}", this.name, destination, mvtOrderInfo.IsSprinting);
return(results);
}
