public static async Task <bool> MoveTo(Vector3 destination, int distance, bool straightLinePath = false, [CallerMemberName] string caller = "", [CallerFilePath] string callerPath = "")
{
//destination.Z = AdvDia.MainGridProvider.GetHeight(destination.ToVector2());
if (_navigationCoroutine == null || _moveToDestination != destination || _moveToDistance != distance)
{
AdvDia.Navigator.Clear();
_navigationCoroutine = new NavigationCoroutine(destination, distance, straightLinePath);
Core.Logger.Debug($"Created Navigation Task for {destination}, within a range of (specified={distance}, actual={_navigationCoroutine._distance}). ({callerPath.Split('\\').LastOrDefault()} > {caller} )");
_moveToDestination = destination;
_moveToDistance = distance;
}
LastDestination = _moveToDestination;
if (await _navigationCoroutine.GetCoroutine())
{
LastResult = _navigationCoroutine.State == States.Completed ? CoroutineResult.Success : CoroutineResult.Failure;
if (_navigationCoroutine.State == States.Failed)
{
Core.Logger.Debug($"NavigationCoroutine failed for {destination} Distance={destination.Distance(ZetaDia.Me.Position)}, within a range of (specified={distance}, actual={_navigationCoroutine._distance}). ({callerPath.Split('\\').LastOrDefault()} > {caller} )");
return(true);
}
_navigationCoroutine = null;
return(true);
}
return(false);
}
private async Task <bool> Checking()
{
var actor = ActorFinder.FindObject(_actorId);
//if (actor != null && actor.Distance > actor.CollisionSphere.Radius + 2)
//{
// await NavigationCoroutine.MoveTo(actor.Position, (int)actor.CollisionSphere.Radius + 1);
// return false;
//}
if (_sourceWorldDynamicId != AdvDia.CurrentWorldDynamicId)
{
Core.Logger.Debug("[UsePortal] World has changed, assuming done.");
State = States.Completed;
return(false);
}
if (actor == null)
{
Core.Logger.Debug("[UsePortal] Nothing to interact, failing. ");
State = States.Failed;
return(false);
}
if (_interactAttempts > 5)
{
var zDiff = Math.Abs((float)(actor.Position.Z - AdvDia.MyPosition.Z));
if (zDiff > 3)
{
State = States.Failed;
}
await NavigationCoroutine.MoveTo(actor.Position, (int)actor.Distance - 1);
_interactAttempts = 0;
}
State = States.Interacting;
return(false);
}
private async Task <bool> ForceClearing()
{
if (!await NavigationCoroutine.MoveTo(_currentDestination, 10))
{
return(false);
}
if (!_forceClearDestinations.TryTake(out _currentDestination))
{
State = States.Cleared;
}
return(false);
}
private async Task <bool> Cleared()
{
if (!_returnToCenter)
{
State = States.Completed;
return(false);
}
if (!await NavigationCoroutine.MoveTo(_center, 10))
{
return(false);
}
State = States.Completed;
return(true);
}
private async Task <bool> Clearing()
{
ClearAreaHelper.CheckClearArea(_center, _radius);
if (!await NavigationCoroutine.MoveTo(_currentDestination, 10))
{
return(false);
}
_currentDestination = _currentDestination = ActorFinder.FindNearestHostileUnitInRadius(_center, _radius);
if (_currentDestination == Vector3.Zero)
{
State = States.Cleared;
}
return(false);
}
private async Task <bool> Exploring()
{
if (_useIgnoreRegions)
{
ExplorationHelpers.UpdateIgnoreRegions();
}
if (_currentDestination == null || _currentDestination.IsVisited)
{
if (_explorationDataMaxWaitUntil != DateTime.MinValue && DateTime.UtcNow > _explorationDataMaxWaitUntil)
{
Core.Logger.Debug($"[Exploration] Timeout waiting for exploration data");
State = States.Completed;
return(false);
}
if (!ExplorationGrid.Instance.WalkableNodes.Any())
{
if (_explorationDataMaxWaitUntil == DateTime.MinValue)
{
_explorationDataMaxWaitUntil = DateTime.UtcNow + TimeSpan.FromSeconds(15);
}
Core.Scenes.Update();
await Coroutine.Sleep(1000);
Core.Logger.Debug($"[Exploration] Patiently waiting for exploration data");
return(false);
}
_explorationDataMaxWaitUntil = DateTime.MinValue;
if (_currentDestination != null)
{
_currentDestination.IsCurrentDestination = false;
}
var destination = ExplorationHelpers.NearestWeightedUnvisitedNode(_levelAreaIds);
// Ignore marking nodes as Visited for bounties.
if (destination != null && ZetaDia.Storage.Quests.ActiveBounty == null)
{
WorldScene destScene = destination.Scene;
Vector3 destinationPos = destination.NavigableCenter;
var exitPositions = destScene.ExitPositions;
var connectedScenes = destScene.ConnectedScenes();
var unconnectedExits =
exitPositions.Where(ep => connectedScenes.FirstOrDefault(cs => cs.Direction == ep.Key) == null);
if (destinationPos.Distance(ExplorationHelpers.PriorityPosition) >= 15)
{
if (!unconnectedExits.Any(ep => destinationPos.Distance(ep.Value) <= 15) &&
ZetaDia.Minimap.IsExplored(destinationPos, AdvDia.CurrentWorldDynamicId))
{
destination.IsVisited = true;
destination.IsKnown = true;
return(false);
}
}
}
if (destination == null)
{
Core.Logger.Debug($"[Exploration] No more unvisited nodes to explore, so we're done.");
State = States.Completed;
return(false);
}
if (_currentDestination != destination)
{
Core.Logger.Debug($"[Exploration] Destination Changed from {_currentDestination?.NavigableCenter} to {destination.NavigableCenter}");
_currentDestination = destination;
}
if (_currentDestination != null)
{
Core.Logger.Debug($"[Exploration] Current Destination {_currentDestination?.NavigableCenter}, CanRayWalk={CanRayWalkDestination} MyPosition={AdvDia.MyPosition}");
_currentDestination.IsCurrentDestination = true;
}
//_newNodePickTimer.Reset();
}
if (_currentDestination != null)
{
if (await NavigationCoroutine.MoveTo(_currentDestination.NavigableCenter, 15))
{
if (NavigationCoroutine.LastResult == CoroutineResult.Failure && (NavigationCoroutine.LastMoveResult == MoveResult.Failed || NavigationCoroutine.LastMoveResult == MoveResult.PathGenerationFailed))
{
_currentDestination.FailedNavigationAttempts++;
var canClientPathTo = await AdvDia.Navigator.CanFullyClientPathTo(_currentDestination.NavigableCenter);
if (_currentDestination.FailedNavigationAttempts >= 10 && !canClientPathTo)
{
Core.Logger.Debug($"[Exploration] Unable to client path to {_currentDestination.NavigableCenter} and failed {_currentDestination.FailedNavigationAttempts} times; Ignoring Node.");
_currentDestination.IsVisited = true;
_currentDestination.IsIgnored = true;
_currentDestination.IsCurrentDestination = false;
_currentDestination = null;
_failedNavigationAttempts++;
}
else if (!CanRayWalkDestination && _currentDestination.Distance < 25f && _currentDestination.FailedNavigationAttempts >= 3 || _currentDestination.FailedNavigationAttempts >= 15)
{
Core.Logger.Debug($"[Exploration] Failed to Navigate to {_currentDestination.NavigableCenter} {_currentDestination.FailedNavigationAttempts} times; Ignoring Node.");
_currentDestination.IsVisited = true;
_currentDestination.IsIgnored = true;
_currentDestination.IsCurrentDestination = false;
_currentDestination = null;
_failedNavigationAttempts++;
}
}
else
{
Core.Logger.Debug($"[Exploration] Destination Reached!");
_currentDestination.FailedNavigationAttempts = 0;
_currentDestination.IsVisited = true;
_currentDestination.IsCurrentDestination = false;
_currentDestination = null;
}
if (_failedNavigationAttempts > 25)
{
if (_allowReExplore)
{
Core.Logger.Debug($"[Exploration] Exploration Resetting");
Core.Scenes.Reset();
Navigator.Clear();
_failedNavigationAttempts = 0;
}
else
{
Core.Logger.Debug($"[Exploration] too many failed navigation attempts, aborting.");
State = States.Completed;
return(false);
}
}
}
return(false);
}
Core.Logger.Debug($"[Exploration] We found no explore destination, so we're done.");
Core.Scenes.Reset();
Navigator.Clear();
State = States.Completed;
return(false);
}
public static void Reset()
{
_navigationCoroutine = null;
_moveToDestination = Vector3.Zero;
}
//private readonly WaitTimer _newNodePickTimer = new WaitTimer(TimeSpan.FromSeconds(60));
private async Task <bool> Exploring()
{
if (_useIgnoreRegions)
{
ExplorationHelpers.UpdateIgnoreRegions();
}
if (_currentDestination == null || _currentDestination.IsVisited)// || _newNodePickTimer.IsFinished)
{
//_newNodePickTimer.Stop();
//_currentDestination = ExplorationHelpers.NearestWeightedUnvisitedNodeLocation(_levelAreaIds);
if (_explorationDataMaxWaitUntil != DateTime.MinValue && DateTime.UtcNow > _explorationDataMaxWaitUntil)
{
Core.Logger.Debug($"[Exploration] Timeout waiting for exploration data");
State = States.Completed;
return(false);
}
if (!ExplorationGrid.Instance.WalkableNodes.Any())
{
if (_explorationDataMaxWaitUntil == DateTime.MinValue)
{
_explorationDataMaxWaitUntil = DateTime.UtcNow + TimeSpan.FromSeconds(15);
}
Core.Scenes.Update();
await Coroutine.Sleep(1000);
Core.Logger.Debug($"[Exploration] Patiently waiting for exploration data");
return(false);
}
_explorationDataMaxWaitUntil = DateTime.MinValue;
if (_currentDestination != null)
{
_currentDestination.IsCurrentDestination = false;
}
var destination = ExplorationHelpers.NearestWeightedUnvisitedNode(_levelAreaIds);
if (destination == null)
{
Core.Logger.Debug($"[Exploration] No more unvisited nodes to explore, so we're done.");
State = States.Completed;
return(false);
}
if (_currentDestination != destination)
{
Core.Logger.Debug($"[Exploration] Destination Changed from {_currentDestination?.NavigableCenter} to {destination.NavigableCenter}");
_currentDestination = destination;
}
if (_currentDestination != null)
{
Core.Logger.Debug($"[Exploration] Current Destination {_currentDestination?.NavigableCenter}, CanRayWalk={CanRayWalkDestination} MyPosition={AdvDia.MyPosition}");
_currentDestination.IsCurrentDestination = true;
}
//_newNodePickTimer.Reset();
}
if (_currentDestination != null)
{
if (await NavigationCoroutine.MoveTo(_currentDestination.NavigableCenter, 15))
{
if (NavigationCoroutine.LastResult == CoroutineResult.Failure && (NavigationCoroutine.LastMoveResult == MoveResult.Failed || NavigationCoroutine.LastMoveResult == MoveResult.PathGenerationFailed))
{
_currentDestination.FailedNavigationAttempts++;
var canClientPathTo = await AdvDia.Navigator.CanFullyClientPathTo(_currentDestination.NavigableCenter);
if (_currentDestination.FailedNavigationAttempts >= 10 && !canClientPathTo)
{
Core.Logger.Debug($"[Exploration] Unable to client path to {_currentDestination.NavigableCenter} and failed {_currentDestination.FailedNavigationAttempts} times; Ignoring Node.");
_currentDestination.IsVisited = true;
_currentDestination.IsIgnored = true;
_currentDestination.IsCurrentDestination = false;
_currentDestination = null;
_failedNavigationAttempts++;
}
else if (!CanRayWalkDestination && _currentDestination.Distance < 25f && _currentDestination.FailedNavigationAttempts >= 3 || _currentDestination.FailedNavigationAttempts >= 15)
{
Core.Logger.Debug($"[Exploration] Failed to Navigate to {_currentDestination.NavigableCenter} {_currentDestination.FailedNavigationAttempts} times; Ignoring Node.");
_currentDestination.IsVisited = true;
_currentDestination.IsIgnored = true;
_currentDestination.IsCurrentDestination = false;
_currentDestination = null;
_failedNavigationAttempts++;
}
}
else
{
Core.Logger.Debug($"[Exploration] Destination Reached!");
_currentDestination.FailedNavigationAttempts = 0;
_currentDestination.IsVisited = true;
_currentDestination.IsCurrentDestination = false;
_currentDestination = null;
}
if (_failedNavigationAttempts > 25)
{
if (_allowReExplore)
{
Core.Logger.Debug($"[Exploration] Exploration Resetting");
Core.Scenes.Reset();
Navigator.Clear();
_failedNavigationAttempts = 0;
}
else
{
Core.Logger.Debug($"[Exploration] too many failed navigation attempts, aborting.");
State = States.Completed;
return(false);
}
}
}
return(false);
}
Core.Logger.Debug($"[Exploration] We found no explore destination, so we're done.");
Core.Scenes.Reset();
Navigator.Clear();
State = States.Completed;
return(false);
}