veloren/server/src/sys/agent.rs

pub mod attack;
pub mod behavior_tree;
pub mod consts;
pub mod data;
pub mod util;

use crate::{
    rtsim::RtSim,
    sys::agent::{
        behavior_tree::{BehaviorData, BehaviorTree},
        consts::{
            AVG_FOLLOW_DIST, DEFAULT_ATTACK_RANGE, IDLE_HEALING_ITEM_THRESHOLD, PARTIAL_PATH_DIST,
            SEPARATION_BIAS, SEPARATION_DIST,
        },
        data::{AgentData, AttackData, Path, ReadData, Tactic, TargetData},
        util::{
            aim_projectile, are_our_owners_hostile, entities_have_line_of_sight, get_attacker,
            get_entity_by_id, is_dead_or_invulnerable, is_dressed_as_cultist, is_invulnerable,
            is_village_guard, is_villager,
        },
    },
};
use common::{
    combat::perception_dist_multiplier_from_stealth,
    comp::{
        self,
        agent::{Sound, SoundKind, Target},
        buff::BuffKind,
        inventory::slot::EquipSlot,
        item::{
            tool::{AbilitySpec, ToolKind},
            ConsumableKind, Item, ItemDesc, ItemKind,
        },
        item_drop,
        projectile::ProjectileConstructor,
        Agent, Alignment, Body, CharacterState, ControlAction, ControlEvent, Controller, Health,
        HealthChange, InputKind, InventoryAction, Pos, Scale, UnresolvedChatMsg, UtteranceKind,
    },
    effect::{BuffEffect, Effect},
    event::{Emitter, EventBus, ServerEvent},
    path::TraversalConfig,
    rtsim::RtSimEvent,
    states::basic_beam,
    terrain::{Block, TerrainGrid},
    time::DayPeriod,
    util::Dir,
    vol::ReadVol,
};
use common_base::prof_span;
use common_ecs::{Job, Origin, ParMode, Phase, System};
use itertools::Itertools;
use rand::{thread_rng, Rng};
use rayon::iter::ParallelIterator;
use specs::{Entity as EcsEntity, Join, ParJoin, Read, WriteExpect, WriteStorage};
use vek::*;

/// This system will allow NPCs to modify their controller
#[derive(Default)]
pub struct Sys;
impl<'a> System<'a> for Sys {
    type SystemData = (
        ReadData<'a>,
        Read<'a, EventBus<ServerEvent>>,
        WriteStorage<'a, Agent>,
        WriteStorage<'a, Controller>,
        WriteExpect<'a, RtSim>,
    );

    const NAME: &'static str = "agent";
    const ORIGIN: Origin = Origin::Server;
    const PHASE: Phase = Phase::Create;

    fn run(
        job: &mut Job<Self>,
        (read_data, event_bus, mut agents, mut controllers, mut rtsim): Self::SystemData,
    ) {
        let rtsim = &mut *rtsim;
        job.cpu_stats.measure(ParMode::Rayon);

        (
            &read_data.entities,
            (&read_data.energies, read_data.healths.maybe()),
            (
                &read_data.positions,
                &read_data.velocities,
                &read_data.orientations,
            ),
            read_data.bodies.maybe(),
            &read_data.inventories,
            (
                &read_data.char_states,
                &read_data.skill_set,
                &read_data.active_abilities,
            ),
            &read_data.physics_states,
            &read_data.uids,
            &mut agents,
            &mut controllers,
            read_data.light_emitter.maybe(),
            read_data.groups.maybe(),
            !&read_data.is_mounts,
        )
            .par_join()
            .for_each_init(
                || {
                    prof_span!(guard, "agent rayon job");
                    guard
                },
                |_guard,
                 (
                    entity,
                    (energy, health),
                    (pos, vel, ori),
                    body,
                    inventory,
                    (char_state, skill_set, active_abilities),
                    physics_state,
                    uid,
                    agent,
                    controller,
                    light_emitter,
                    group,
                    _,
                )| {
                    let mut event_emitter = event_bus.emitter();
                    let mut rng = thread_rng();

                    // Hack, replace with better system when groups are more sophisticated
                    // Override alignment if in a group unless entity is owned already
                    let alignment = if matches!(
                        &read_data.alignments.get(entity),
                        &Some(Alignment::Owned(_))
                    ) {
                        read_data.alignments.get(entity).copied()
                    } else {
                        group
                            .and_then(|g| read_data.group_manager.group_info(*g))
                            .and_then(|info| read_data.uids.get(info.leader))
                            .copied()
                            .map_or_else(
                                || read_data.alignments.get(entity).copied(),
                                |uid| Some(Alignment::Owned(uid)),
                            )
                    };

                    if !matches!(char_state, CharacterState::LeapMelee(_)) {
                        // Default to looking in orientation direction
                        // (can be overridden below)
                        //
                        // This definitely breaks LeapMelee and
                        // probably not only that, do we really need this at all?
                        controller.reset();
                        controller.inputs.look_dir = ori.look_dir();
                    }

                    let scale = read_data.scales.get(entity).map_or(1.0, |Scale(s)| *s);

                    let glider_equipped = inventory
                        .equipped(EquipSlot::Glider)
                        .as_ref()
                        .map_or(false, |item| {
                            matches!(&*item.kind(), comp::item::ItemKind::Glider)
                        });

                    let is_gliding = matches!(
                        read_data.char_states.get(entity),
                        Some(CharacterState::GlideWield(_) | CharacterState::Glide(_))
                    ) && physics_state.on_ground.is_none();

                    if let Some(pid) = agent.position_pid_controller.as_mut() {
                        pid.add_measurement(read_data.time.0, pos.0);
                    }

                    // This controls how picky NPCs are about their pathfinding.
                    // Giants are larger and so can afford to be less precise
                    // when trying to move around the world
                    // (especially since they would otherwise get stuck on
                    // obstacles that smaller entities would not).
                    let node_tolerance = scale * 1.5;
                    let slow_factor = body.map_or(0.0, |b| b.base_accel() / 250.0).min(1.0);
                    let traversal_config = TraversalConfig {
                        node_tolerance,
                        slow_factor,
                        on_ground: physics_state.on_ground.is_some(),
                        in_liquid: physics_state.in_liquid().is_some(),
                        min_tgt_dist: 1.0,
                        can_climb: body.map_or(false, Body::can_climb),
                        can_fly: body.map_or(false, |b| b.fly_thrust().is_some()),
                    };
                    let health_fraction = health.map_or(1.0, Health::fraction);
                    let rtsim_entity = read_data
                        .rtsim_entities
                        .get(entity)
                        .and_then(|rtsim_ent| rtsim.get_entity(rtsim_ent.0));

                    if traversal_config.can_fly && matches!(body, Some(Body::Ship(_))) {
                        // hack (kinda): Never turn off flight airships
                        // since it results in stuttering and falling back to the ground.
                        //
                        // TODO: look into `controller.reset()` line above
                        // and see if it fixes it
                        controller.push_basic_input(InputKind::Fly);
                    }

                    // Package all this agent's data into a convenient struct
                    let data = AgentData {
                        entity: &entity,
                        rtsim_entity,
                        uid,
                        pos,
                        vel,
                        ori,
                        energy,
                        body,
                        inventory,
                        skill_set,
                        physics_state,
                        alignment: alignment.as_ref(),
                        traversal_config,
                        scale,
                        damage: health_fraction,
                        light_emitter,
                        glider_equipped,
                        is_gliding,
                        health: read_data.healths.get(entity),
                        char_state,
                        active_abilities,
                        cached_spatial_grid: &read_data.cached_spatial_grid,
                        msm: &read_data.msm,
                    };
                    ///////////////////////////////////////////////////////////
                    // Behavior tree
                    ///////////////////////////////////////////////////////////
                    // The behavior tree is meant to make decisions for agents
                    // *but should not* mutate any data (only action nodes
                    // should do that). Each path should lead to one (and only
                    // one) action node. This makes bugfinding much easier and
                    // debugging way easier. If you don't think so, try
                    // debugging the agent code before this MR
                    // (https://gitlab.com/veloren/veloren/-/merge_requests/1801).
                    // Each tick should arrive at one (1) action node which
                    // then determines what the agent does. If this makes you
                    // uncomfortable, consider dt the response time of the
                    // NPC. To make the tree easier to read, subtrees can be
                    // created as methods on `AgentData`. Action nodes are
                    // also methods on the `AgentData` struct. Action nodes
                    // are the only parts of this tree that should provide
                    // inputs.
                    let mut behavior_data = BehaviorData {
                        agent,
                        agent_data: data,
                        read_data: &read_data,
                        event_emitter: &mut event_emitter,
                        controller,
                        rng: &mut rng,
                    };

                    BehaviorTree::root().run(&mut behavior_data);

                    debug_assert!(controller.inputs.move_dir.map(|e| !e.is_nan()).reduce_and());
                    debug_assert!(controller.inputs.look_dir.map(|e| !e.is_nan()).reduce_and());
                },
            );
        for (agent, rtsim_entity) in (&mut agents, &read_data.rtsim_entities).join() {
            // Entity must be loaded in as it has an agent component :)
            // React to all events in the controller
            for event in core::mem::take(&mut agent.rtsim_controller.events) {
                match event {
                    RtSimEvent::AddMemory(memory) => {
                        rtsim.insert_entity_memory(rtsim_entity.0, memory.clone());
                    },
                    RtSimEvent::ForgetEnemy(name) => {
                        rtsim.forget_entity_enemy(rtsim_entity.0, &name);
                    },
                    RtSimEvent::SetMood(memory) => {
                        rtsim.set_entity_mood(rtsim_entity.0, memory.clone());
                    },
                    RtSimEvent::PrintMemories => {},
                }
            }
        }
    }
}

impl<'a> AgentData<'a> {
    ////////////////////////////////////////
    // Action Nodes
    ////////////////////////////////////////

    fn glider_fall(&self, controller: &mut Controller) {
        controller.push_action(ControlAction::GlideWield);

        let flight_direction =
            Vec3::from(self.vel.0.xy().try_normalized().unwrap_or_else(Vec2::zero));
        let flight_ori = Quaternion::from_scalar_and_vec3((1.0, flight_direction));

        let ori = self.ori.look_vec();
        let look_dir = if ori.z > 0.0 {
            flight_ori.rotated_x(-0.1)
        } else {
            flight_ori.rotated_x(0.1)
        };

        let (_, look_dir) = look_dir.into_scalar_and_vec3();
        controller.inputs.look_dir = Dir::from_unnormalized(look_dir).unwrap_or_else(Dir::forward);
    }

    fn fly_upward(&self, controller: &mut Controller) {
        controller.push_basic_input(InputKind::Fly);
        controller.inputs.move_z = 1.0;
    }

    fn idle(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        read_data: &ReadData,
        rng: &mut impl Rng,
    ) {
        // Light lanterns at night
        // TODO Add a method to turn on NPC lanterns underground
        let lantern_equipped = self
            .inventory
            .equipped(EquipSlot::Lantern)
            .as_ref()
            .map_or(false, |item| {
                matches!(&*item.kind(), comp::item::ItemKind::Lantern(_))
            });
        let lantern_turned_on = self.light_emitter.is_some();
        let day_period = DayPeriod::from(read_data.time_of_day.0);
        // Only emit event for agents that have a lantern equipped
        if lantern_equipped && rng.gen_bool(0.001) {
            if day_period.is_dark() && !lantern_turned_on {
                // Agents with turned off lanterns turn them on randomly once it's
                // nighttime and keep them on.
                // Only emit event for agents that sill need to
                // turn on their lantern.
                controller.push_event(ControlEvent::EnableLantern)
            } else if lantern_turned_on && day_period.is_light() {
                // agents with turned on lanterns turn them off randomly once it's
                // daytime and keep them off.
                controller.push_event(ControlEvent::DisableLantern)
            }
        };

        if let Some(body) = self.body {
            let attempt_heal = if matches!(body, Body::Humanoid(_)) {
                self.damage < IDLE_HEALING_ITEM_THRESHOLD
            } else {
                true
            };
            if attempt_heal && self.heal_self(agent, controller, true) {
                agent.action_state.timer = 0.01;
                return;
            }
        } else {
            agent.action_state.timer = 0.01;
            return;
        }

        agent.action_state.timer = 0.0;
        if let Some((travel_to, _destination)) = &agent.rtsim_controller.travel_to {
            // If it has an rtsim destination and can fly, then it should.
            // If it is flying and bumps something above it, then it should move down.
            if self.traversal_config.can_fly
                && !read_data
                    .terrain
                    .ray(self.pos.0, self.pos.0 + (Vec3::unit_z() * 3.0))
                    .until(Block::is_solid)
                    .cast()
                    .1
                    .map_or(true, |b| b.is_some())
            {
                controller.push_basic_input(InputKind::Fly);
            } else {
                controller.push_cancel_input(InputKind::Fly)
            }

            if let Some((bearing, speed)) = agent.chaser.chase(
                &*read_data.terrain,
                self.pos.0,
                self.vel.0,
                *travel_to,
                TraversalConfig {
                    min_tgt_dist: 1.25,
                    ..self.traversal_config
                },
            ) {
                controller.inputs.move_dir =
                    bearing.xy().try_normalized().unwrap_or_else(Vec2::zero)
                        * speed.min(agent.rtsim_controller.speed_factor);
                self.jump_if(bearing.z > 1.5 || self.traversal_config.can_fly, controller);
                controller.inputs.climb = Some(comp::Climb::Up);
                //.filter(|_| bearing.z > 0.1 || self.physics_state.in_liquid().is_some());

                let height_offset = bearing.z
                    + if self.traversal_config.can_fly {
                        // NOTE: costs 4 us (imbris)
                        let obstacle_ahead = read_data
                            .terrain
                            .ray(
                                self.pos.0 + Vec3::unit_z(),
                                self.pos.0
                                    + bearing.try_normalized().unwrap_or_else(Vec3::unit_y) * 80.0
                                    + Vec3::unit_z(),
                            )
                            .until(Block::is_solid)
                            .cast()
                            .1
                            .map_or(true, |b| b.is_some());

                        let mut ground_too_close = self
                            .body
                            .map(|body| {
                                #[cfg(feature = "worldgen")]
                                let height_approx = self.pos.0.z
                                    - read_data
                                        .world
                                        .sim()
                                        .get_alt_approx(self.pos.0.xy().map(|x: f32| x as i32))
                                        .unwrap_or(0.0);
                                #[cfg(not(feature = "worldgen"))]
                                let height_approx = self.pos.0.z;

                                height_approx < body.flying_height()
                            })
                            .unwrap_or(false);

                        const NUM_RAYS: usize = 5;

                        // NOTE: costs 15-20 us (imbris)
                        for i in 0..=NUM_RAYS {
                            let magnitude = self.body.map_or(20.0, |b| b.flying_height());
                            // Lerp between a line straight ahead and straight down to detect a
                            // wedge of obstacles we might fly into (inclusive so that both vectors
                            // are sampled)
                            if let Some(dir) = Lerp::lerp(
                                -Vec3::unit_z(),
                                Vec3::new(bearing.x, bearing.y, 0.0),
                                i as f32 / NUM_RAYS as f32,
                            )
                            .try_normalized()
                            {
                                ground_too_close |= read_data
                                    .terrain
                                    .ray(self.pos.0, self.pos.0 + magnitude * dir)
                                    .until(|b: &Block| b.is_solid() || b.is_liquid())
                                    .cast()
                                    .1
                                    .map_or(false, |b| b.is_some())
                            }
                        }

                        if obstacle_ahead || ground_too_close {
                            5.0 //fly up when approaching obstacles
                        } else {
                            -2.0
                        } //flying things should slowly come down from the stratosphere
                    } else {
                        0.05 //normal land traveller offset
                    };
                if let Some(pid) = agent.position_pid_controller.as_mut() {
                    pid.sp = self.pos.0.z + height_offset * Vec3::unit_z();
                    controller.inputs.move_z = pid.calc_err();
                } else {
                    controller.inputs.move_z = height_offset;
                }
                // Put away weapon
                if rng.gen_bool(0.1)
                    && matches!(
                        read_data.char_states.get(*self.entity),
                        Some(CharacterState::Wielding(_))
                    )
                {
                    controller.push_action(ControlAction::Unwield);
                }
            }
        } else {
            agent.bearing += Vec2::new(rng.gen::<f32>() - 0.5, rng.gen::<f32>() - 0.5) * 0.1
                - agent.bearing * 0.003
                - agent.patrol_origin.map_or(Vec2::zero(), |patrol_origin| {
                    (self.pos.0 - patrol_origin).xy() * 0.0002
                });

            // Stop if we're too close to a wall
            // or about to walk off a cliff
            // NOTE: costs 1 us (imbris) <- before cliff raycast added
            agent.bearing *= 0.1
                + if read_data
                    .terrain
                    .ray(
                        self.pos.0 + Vec3::unit_z(),
                        self.pos.0
                            + Vec3::from(agent.bearing)
                                .try_normalized()
                                .unwrap_or_else(Vec3::unit_y)
                                * 5.0
                            + Vec3::unit_z(),
                    )
                    .until(Block::is_solid)
                    .cast()
                    .1
                    .map_or(true, |b| b.is_none())
                    && read_data
                        .terrain
                        .ray(
                            self.pos.0
                                + Vec3::from(agent.bearing)
                                    .try_normalized()
                                    .unwrap_or_else(Vec3::unit_y),
                            self.pos.0
                                + Vec3::from(agent.bearing)
                                    .try_normalized()
                                    .unwrap_or_else(Vec3::unit_y)
                                - Vec3::unit_z() * 4.0,
                        )
                        .until(Block::is_solid)
                        .cast()
                        .0
                        < 3.0
                {
                    0.9
                } else {
                    0.0
                };

            if agent.bearing.magnitude_squared() > 0.5f32.powi(2) {
                controller.inputs.move_dir = agent.bearing * 0.65;
            }

            // Put away weapon
            if rng.gen_bool(0.1)
                && matches!(
                    read_data.char_states.get(*self.entity),
                    Some(CharacterState::Wielding(_))
                )
            {
                controller.push_action(ControlAction::Unwield);
            }

            if rng.gen::<f32>() < 0.0015 {
                controller.push_utterance(UtteranceKind::Calm);
            }

            // Sit
            if rng.gen::<f32>() < 0.0035 {
                controller.push_action(ControlAction::Sit);
            }
        }
    }

    pub fn follow(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        terrain: &TerrainGrid,
        tgt_pos: &Pos,
    ) {
        if let Some((bearing, speed)) = agent.chaser.chase(
            &*terrain,
            self.pos.0,
            self.vel.0,
            tgt_pos.0,
            TraversalConfig {
                min_tgt_dist: AVG_FOLLOW_DIST,
                ..self.traversal_config
            },
        ) {
            let dist_sqrd = self.pos.0.distance_squared(tgt_pos.0);
            controller.inputs.move_dir = bearing.xy().try_normalized().unwrap_or_else(Vec2::zero)
                * speed.min(0.2 + (dist_sqrd - AVG_FOLLOW_DIST.powi(2)) / 8.0);
            self.jump_if(bearing.z > 1.5, controller);
            controller.inputs.move_z = bearing.z;
        }
    }

    fn look_toward(
        &self,
        controller: &mut Controller,
        read_data: &ReadData,
        target: EcsEntity,
    ) -> bool {
        if let Some(tgt_pos) = read_data.positions.get(target) {
            let eye_offset = self.body.map_or(0.0, |b| b.eye_height());
            let tgt_eye_offset = read_data.bodies.get(target).map_or(0.0, |b| b.eye_height());
            if let Some(dir) = Dir::from_unnormalized(
                Vec3::new(tgt_pos.0.x, tgt_pos.0.y, tgt_pos.0.z + tgt_eye_offset)
                    - Vec3::new(self.pos.0.x, self.pos.0.y, self.pos.0.z + eye_offset),
            ) {
                controller.inputs.look_dir = dir;
            }
            true
        } else {
            false
        }
    }

    fn menacing(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        target: EcsEntity,
        read_data: &ReadData,
        event_emitter: &mut Emitter<ServerEvent>,
        rng: &mut impl Rng,
    ) {
        let max_move = 0.5;
        let move_dir = controller.inputs.move_dir;
        let move_dir_mag = move_dir.magnitude();
        let small_chance = rng.gen::<f32>() < read_data.dt.0 * 0.25;
        let mut chat = |msg: &str| {
            self.chat_npc_if_allowed_to_speak(msg.to_string(), agent, event_emitter);
        };
        let mut chat_villager_remembers_fighting = || {
            let tgt_name = read_data.stats.get(target).map(|stats| stats.name.clone());

            if let Some(tgt_name) = tgt_name {
                chat(format!("{}! How dare you cross me again!", &tgt_name).as_str());
            } else {
                chat("You! How dare you cross me again!");
            }
        };

        self.look_toward(controller, read_data, target);
        controller.push_action(ControlAction::Wield);

        if move_dir_mag > max_move {
            controller.inputs.move_dir = max_move * move_dir / move_dir_mag;
        }

        if small_chance {
            controller.push_utterance(UtteranceKind::Angry);
            if is_villager(self.alignment) {
                if self.remembers_fight_with(target, read_data) {
                    chat_villager_remembers_fighting();
                } else if is_dressed_as_cultist(target, read_data) {
                    chat("npc-speech-villager_cultist_alarm");
                } else {
                    chat("npc-speech-menacing");
                }
            } else {
                chat("npc-speech-menacing");
            }
        }

        // Remember target.
        self.rtsim_entity.is_some().then(|| {
            read_data
                .stats
                .get(target)
                .map(|stats| agent.add_fight_to_memory(&stats.name, read_data.time.0))
        });
    }

    fn flee(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        tgt_pos: &Pos,
        terrain: &TerrainGrid,
    ) {
        if let Some(body) = self.body {
            if body.can_strafe() && !self.is_gliding {
                controller.push_action(ControlAction::Unwield);
            }
        }

        if let Some((bearing, speed)) = agent.chaser.chase(
            &*terrain,
            self.pos.0,
            self.vel.0,
            // Away from the target (ironically)
            self.pos.0
                + (self.pos.0 - tgt_pos.0)
                    .try_normalized()
                    .unwrap_or_else(Vec3::unit_y)
                    * 50.0,
            TraversalConfig {
                min_tgt_dist: 1.25,
                ..self.traversal_config
            },
        ) {
            controller.inputs.move_dir =
                bearing.xy().try_normalized().unwrap_or_else(Vec2::zero) * speed;
            self.jump_if(bearing.z > 1.5, controller);
            controller.inputs.move_z = bearing.z;
        }
    }

    /// Attempt to consume a healing item, and return whether any healing items
    /// were queued. Callers should use this to implement a delay so that
    /// the healing isn't interrupted. If `relaxed` is `true`, we allow eating
    /// food and prioritise healing.
    fn heal_self(&self, _agent: &mut Agent, controller: &mut Controller, relaxed: bool) -> bool {
        let healing_value = |item: &Item| {
            let mut value = 0.0;

            if let ItemKind::Consumable { kind, effects, .. } = &*item.kind() {
                if matches!(kind, ConsumableKind::Drink)
                    || (relaxed && matches!(kind, ConsumableKind::Food))
                {
                    for effect in effects.iter() {
                        use BuffKind::*;
                        match effect {
                            Effect::Health(HealthChange { amount, .. }) => {
                                value += *amount;
                            },
                            Effect::Buff(BuffEffect { kind, data, .. })
                                if matches!(kind, Regeneration | Saturation | Potion) =>
                            {
                                value += data.strength
                                    * data.duration.map_or(0.0, |d| d.as_secs() as f32);
                            },
                            _ => {},
                        }
                    }
                }
            }
            value as i32
        };

        let item = self
            .inventory
            .slots_with_id()
            .filter_map(|(id, slot)| match slot {
                Some(item) if healing_value(item) > 0 => Some((id, item)),
                _ => None,
            })
            .max_by_key(|(_, item)| {
                if relaxed {
                    -healing_value(item)
                } else {
                    healing_value(item)
                }
            });

        if let Some((id, _)) = item {
            use comp::inventory::slot::Slot;
            controller.push_action(ControlAction::InventoryAction(InventoryAction::Use(
                Slot::Inventory(id),
            )));
            true
        } else {
            false
        }
    }

    fn choose_target(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        read_data: &ReadData,
        event_emitter: &mut Emitter<ServerEvent>,
    ) {
        agent.action_state.timer = 0.0;
        let mut aggro_on = false;

        // Search the area.
        // TODO: choose target by more than just distance
        let common::CachedSpatialGrid(grid) = self.cached_spatial_grid;

        let entities_nearby = grid
            .in_circle_aabr(self.pos.0.xy(), agent.psyche.search_dist())
            .collect_vec();

        let can_ambush = |entity: EcsEntity, read_data: &ReadData| {
            let self_different_from_entity = || {
                read_data
                    .uids
                    .get(entity)
                    .map_or(false, |eu| eu != self.uid)
            };
            if self.will_ambush()
                && self_different_from_entity()
                && !self.passive_towards(entity, read_data)
            {
                let surrounding_humanoids = entities_nearby
                    .iter()
                    .filter(|e| read_data.bodies.get(**e).map_or(false, |b| b.is_humanoid()))
                    .collect_vec();
                surrounding_humanoids.len() == 2
                    && surrounding_humanoids.iter().any(|e| **e == entity)
            } else {
                false
            }
        };

        let get_pos = |entity| read_data.positions.get(entity);
        let get_enemy = |(entity, attack_target): (EcsEntity, bool)| {
            if attack_target {
                if self.is_enemy(entity, read_data) {
                    Some((entity, true))
                } else if can_ambush(entity, read_data) {
                    controller.clone().push_utterance(UtteranceKind::Ambush);
                    self.chat_npc_if_allowed_to_speak(
                        "npc-speech-ambush".to_string(),
                        agent,
                        event_emitter,
                    );
                    aggro_on = true;
                    Some((entity, true))
                } else if self.should_defend(entity, read_data) {
                    if let Some(attacker) = get_attacker(entity, read_data) {
                        if !self.passive_towards(attacker, read_data) {
                            // aggro_on: attack immediately, do not warn/menace.
                            aggro_on = true;
                            Some((attacker, true))
                        } else {
                            None
                        }
                    } else {
                        None
                    }
                } else {
                    None
                }
            } else {
                Some((entity, false))
            }
        };
        let is_valid_target = |entity: EcsEntity| match read_data.bodies.get(entity) {
            Some(Body::ItemDrop(item)) => {
                //If the agent is humanoid, it will pick up all kinds of item drops. If the
                // agent isn't humanoid, it will pick up only consumable item drops.
                let wants_pickup = matches!(self.body, Some(Body::Humanoid(_)))
                    || matches!(item, item_drop::Body::Consumable);

                // The agent will attempt to pickup the item if it wants to pick it up and is
                // allowed to
                let attempt_pickup = wants_pickup
                    && read_data
                        .loot_owners
                        .get(entity)
                        .map_or(true, |loot_owner| {
                            loot_owner.can_pickup(
                                *self.uid,
                                read_data.groups.get(entity),
                                self.alignment,
                                self.body,
                                None,
                            )
                        });

                if attempt_pickup {
                    Some((entity, false))
                } else {
                    None
                }
            },
            _ => {
                if read_data.healths.get(entity).map_or(false, |health| {
                    !health.is_dead && !is_invulnerable(entity, read_data)
                }) {
                    Some((entity, true))
                } else {
                    None
                }
            },
        };

        let can_sense_directly_near =
            { |e_pos: &Pos| e_pos.0.distance_squared(self.pos.0) < 5_f32.powi(2) };

        let is_detected = |entity: EcsEntity, e_pos: &Pos| {
            let chance = thread_rng().gen_bool(0.3);

            (can_sense_directly_near(e_pos) && chance)
                || self.can_see_entity(agent, controller, entity, e_pos, read_data)
        };

        let target = entities_nearby
            .iter()
            .filter_map(|e| is_valid_target(*e))
            .filter_map(get_enemy)
            .filter_map(|(entity, attack_target)| {
                get_pos(entity).map(|pos| (entity, pos, attack_target))
            })
            .filter(|(entity, e_pos, _)| is_detected(*entity, e_pos))
            .min_by_key(|(_, e_pos, attack_target)| {
                (
                    *attack_target,
                    (e_pos.0.distance_squared(self.pos.0) * 100.0) as i32,
                )
            })
            .map(|(entity, _, attack_target)| (entity, attack_target));

        if agent.target.is_none() && target.is_some() {
            if aggro_on {
                controller.push_utterance(UtteranceKind::Angry);
            } else {
                controller.push_utterance(UtteranceKind::Surprised);
            }
        }

        agent.target = target.map(|(entity, attack_target)| Target {
            target: entity,
            hostile: attack_target,
            selected_at: read_data.time.0,
            aggro_on,
        })
    }

    fn attack(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        tgt_data: &TargetData,
        read_data: &ReadData,
        rng: &mut impl Rng,
    ) {
        let tool_tactic = |tool_kind| match tool_kind {
            ToolKind::Bow => Tactic::Bow,
            ToolKind::Staff => Tactic::Staff,
            ToolKind::Sceptre => Tactic::Sceptre,
            ToolKind::Hammer => Tactic::Hammer,
            ToolKind::Sword | ToolKind::Blowgun => Tactic::Sword,
            ToolKind::Axe => Tactic::Axe,
            _ => Tactic::SimpleMelee,
        };

        let tactic = self
            .inventory
            .equipped(EquipSlot::ActiveMainhand)
            .as_ref()
            .map(|item| {
                if let Some(ability_spec) = item.ability_spec() {
                    match &*ability_spec {
                        AbilitySpec::Custom(spec) => match spec.as_str() {
                            "Oni" | "Sword Simple" => Tactic::Sword,
                            "Staff Simple" => Tactic::Staff,
                            "Bow Simple" => Tactic::Bow,
                            "Stone Golem" => Tactic::StoneGolem,
                            "Quad Med Quick" => Tactic::CircleCharge {
                                radius: 3,
                                circle_time: 2,
                            },
                            "Quad Med Jump" => Tactic::QuadMedJump,
                            "Quad Med Charge" => Tactic::CircleCharge {
                                radius: 6,
                                circle_time: 1,
                            },
                            "Quad Med Basic" => Tactic::QuadMedBasic,
                            "Asp" | "Maneater" => Tactic::QuadLowRanged,
                            "Quad Low Breathe" | "Quad Low Beam" | "Basilisk" => {
                                Tactic::QuadLowBeam
                            },
                            "Organ" => Tactic::OrganAura,
                            "Quad Low Tail" | "Husk Brute" => Tactic::TailSlap,
                            "Quad Low Quick" => Tactic::QuadLowQuick,
                            "Quad Low Basic" => Tactic::QuadLowBasic,
                            "Theropod Basic" | "Theropod Bird" => Tactic::Theropod,
                            // Arthropods
                            "Antlion" => Tactic::ArthropodMelee,
                            "Tarantula" | "Horn Beetle" => Tactic::ArthropodAmbush,
                            "Weevil" | "Black Widow" => Tactic::ArthropodRanged,
                            "Theropod Charge" => Tactic::CircleCharge {
                                radius: 6,
                                circle_time: 1,
                            },
                            "Turret" => Tactic::Turret,
                            "Haniwa Sentry" => Tactic::RotatingTurret,
                            "Bird Large Breathe" => Tactic::BirdLargeBreathe,
                            "Bird Large Fire" => Tactic::BirdLargeFire,
                            "Bird Large Basic" => Tactic::BirdLargeBasic,
                            "Mindflayer" => Tactic::Mindflayer,
                            "Minotaur" => Tactic::Minotaur,
                            "Clay Golem" => Tactic::ClayGolem,
                            "Tidal Warrior" => Tactic::TidalWarrior,
                            "Tidal Totem"
                            | "Tornado"
                            | "Gnarling Totem Red"
                            | "Gnarling Totem Green"
                            | "Gnarling Totem White" => Tactic::RadialTurret,
                            "Yeti" => Tactic::Yeti,
                            "Harvester" => Tactic::Harvester,
                            "Cardinal" => Tactic::Cardinal,
                            "Dagon" => Tactic::Dagon,
                            "Gnarling Dagger" => Tactic::SimpleBackstab,
                            "Gnarling Blowgun" => Tactic::ElevatedRanged,
                            "Deadwood" => Tactic::Deadwood,
                            "Mandragora" => Tactic::Mandragora,
                            "Wood Golem" => Tactic::WoodGolem,
                            "Gnarling Chieftain" => Tactic::GnarlingChieftain,
                            _ => Tactic::SimpleMelee,
                        },
                        AbilitySpec::Tool(tool_kind) => tool_tactic(*tool_kind),
                    }
                } else if let ItemKind::Tool(tool) = &*item.kind() {
                    tool_tactic(tool.kind)
                } else {
                    Tactic::SimpleMelee
                }
            })
            .unwrap_or(Tactic::SimpleMelee);

        // Wield the weapon as running towards the target
        controller.push_action(ControlAction::Wield);

        let min_attack_dist = (self.body.map_or(0.5, |b| b.max_radius()) + DEFAULT_ATTACK_RANGE)
            * self.scale
            + tgt_data.body.map_or(0.5, |b| b.max_radius()) * tgt_data.scale.map_or(1.0, |s| s.0);
        let dist_sqrd = self.pos.0.distance_squared(tgt_data.pos.0);
        let angle = self
            .ori
            .look_vec()
            .angle_between(tgt_data.pos.0 - self.pos.0)
            .to_degrees();
        let angle_xy = self
            .ori
            .look_vec()
            .xy()
            .angle_between((tgt_data.pos.0 - self.pos.0).xy())
            .to_degrees();

        let eye_offset = self.body.map_or(0.0, |b| b.eye_height());

        let tgt_eye_height = tgt_data.body.map_or(0.0, |b| b.eye_height());
        let tgt_eye_offset = tgt_eye_height +
                   // Special case for jumping attacks to jump at the body
                   // of the target and not the ground around the target
                   // For the ranged it is to shoot at the feet and not
                   // the head to get splash damage
                   if tactic == Tactic::QuadMedJump {
                       1.0
                   } else if matches!(tactic, Tactic::QuadLowRanged) {
                       -1.0
                   } else {
                       0.0
                   };

        // FIXME:
        // 1) Retrieve actual projectile speed!
        // We have to assume projectiles are faster than base speed because there are
        // skills that increase it, and in most cases this will cause agents to
        // overshoot
        //
        // 2) We use eye_offset-s which isn't actually ideal.
        // Some attacks (beam for example) may use different offsets,
        // we should probably use offsets from corresponding states.
        //
        // 3) Should we even have this big switch?
        // Not all attacks may want their direction overwritten.
        // And this is quite hard to debug when you don't see it in actual
        // attack handler.
        if let Some(dir) = match self.char_state {
            CharacterState::ChargedRanged(c) if dist_sqrd > 0.0 => {
                let charge_factor =
                    c.timer.as_secs_f32() / c.static_data.charge_duration.as_secs_f32();
                let projectile_speed = c.static_data.initial_projectile_speed
                    + charge_factor * c.static_data.scaled_projectile_speed;
                aim_projectile(
                    projectile_speed,
                    self.pos.0
                        + self.body.map_or(Vec3::zero(), |body| {
                            body.projectile_offsets(self.ori.look_vec())
                        }),
                    Vec3::new(
                        tgt_data.pos.0.x,
                        tgt_data.pos.0.y,
                        tgt_data.pos.0.z + tgt_eye_offset,
                    ),
                )
            },
            CharacterState::BasicRanged(c) => {
                let offset_z = match c.static_data.projectile {
                    // Aim fireballs at feet instead of eyes for splash damage
                    ProjectileConstructor::Fireball {
                        damage: _,
                        radius: _,
                        energy_regen: _,
                        min_falloff: _,
                    } => 0.0,
                    _ => tgt_eye_offset,
                };
                let projectile_speed = c.static_data.projectile_speed;
                aim_projectile(
                    projectile_speed,
                    self.pos.0
                        + self.body.map_or(Vec3::zero(), |body| {
                            body.projectile_offsets(self.ori.look_vec())
                        }),
                    Vec3::new(
                        tgt_data.pos.0.x,
                        tgt_data.pos.0.y,
                        tgt_data.pos.0.z + offset_z,
                    ),
                )
            },
            CharacterState::RepeaterRanged(c) => {
                let projectile_speed = c.static_data.projectile_speed;
                aim_projectile(
                    projectile_speed,
                    self.pos.0
                        + self.body.map_or(Vec3::zero(), |body| {
                            body.projectile_offsets(self.ori.look_vec())
                        }),
                    Vec3::new(
                        tgt_data.pos.0.x,
                        tgt_data.pos.0.y,
                        tgt_data.pos.0.z + tgt_eye_offset,
                    ),
                )
            },
            CharacterState::LeapMelee(_) if matches!(tactic, Tactic::Hammer | Tactic::Axe) => {
                let direction_weight = match tactic {
                    Tactic::Hammer => 0.1,
                    Tactic::Axe => 0.3,
                    _ => unreachable!("Direction weight called on incorrect tactic."),
                };

                let tgt_pos = tgt_data.pos.0;
                let self_pos = self.pos.0;

                let delta_x = (tgt_pos.x - self_pos.x) * direction_weight;
                let delta_y = (tgt_pos.y - self_pos.y) * direction_weight;

                Dir::from_unnormalized(Vec3::new(delta_x, delta_y, -1.0))
            },
            CharacterState::BasicBeam(_) => {
                let aim_from = self.body.map_or(self.pos.0, |body| {
                    self.pos.0
                        + basic_beam::beam_offsets(
                            body,
                            controller.inputs.look_dir,
                            self.ori.look_vec(),
                            // Try to match animation by getting some context
                            self.vel.0 - self.physics_state.ground_vel,
                            self.physics_state.on_ground,
                        )
                });
                let aim_to = Vec3::new(
                    tgt_data.pos.0.x,
                    tgt_data.pos.0.y,
                    tgt_data.pos.0.z + tgt_eye_offset,
                );
                Dir::from_unnormalized(aim_to - aim_from)
            },
            _ => {
                let aim_from = Vec3::new(self.pos.0.x, self.pos.0.y, self.pos.0.z + eye_offset);
                let aim_to = Vec3::new(
                    tgt_data.pos.0.x,
                    tgt_data.pos.0.y,
                    tgt_data.pos.0.z + tgt_eye_offset,
                );
                Dir::from_unnormalized(aim_to - aim_from)
            },
        } {
            controller.inputs.look_dir = dir;
        }

        let attack_data = AttackData {
            min_attack_dist,
            dist_sqrd,
            angle,
            angle_xy,
        };

        // Match on tactic. Each tactic has different controls depending on the distance
        // from the agent to the target.
        match tactic {
            Tactic::SimpleMelee => {
                self.handle_simple_melee(agent, controller, &attack_data, tgt_data, read_data, rng)
            },
            Tactic::Axe => {
                self.handle_axe_attack(agent, controller, &attack_data, tgt_data, read_data, rng)
            },
            Tactic::Hammer => {
                self.handle_hammer_attack(agent, controller, &attack_data, tgt_data, read_data, rng)
            },
            Tactic::Sword => {
                self.handle_sword_attack(agent, controller, &attack_data, tgt_data, read_data, rng)
            },
            Tactic::Bow => {
                self.handle_bow_attack(agent, controller, &attack_data, tgt_data, read_data, rng)
            },
            Tactic::Staff => {
                self.handle_staff_attack(agent, controller, &attack_data, tgt_data, read_data, rng)
            },
            Tactic::Sceptre => self.handle_sceptre_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
            Tactic::StoneGolem => {
                self.handle_stone_golem_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::CircleCharge {
                radius,
                circle_time,
            } => self.handle_circle_charge_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                radius,
                circle_time,
                rng,
            ),
            Tactic::QuadLowRanged => self.handle_quadlow_ranged_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::TailSlap => {
                self.handle_tail_slap_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::QuadLowQuick => self.handle_quadlow_quick_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::QuadLowBasic => self.handle_quadlow_basic_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::QuadMedJump => self.handle_quadmed_jump_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::QuadMedBasic => self.handle_quadmed_basic_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::QuadLowBeam => self.handle_quadlow_beam_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::OrganAura => {
                self.handle_organ_aura_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::Theropod => {
                self.handle_theropod_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::ArthropodMelee => self.handle_arthropod_melee_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::ArthropodAmbush => self.handle_arthropod_ambush_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
            Tactic::ArthropodRanged => self.handle_arthropod_ranged_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::Turret => {
                self.handle_turret_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::FixedTurret => self.handle_fixed_turret_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::RotatingTurret => {
                self.handle_rotating_turret_attack(agent, controller, tgt_data, read_data)
            },
            Tactic::Mindflayer => self.handle_mindflayer_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
            Tactic::BirdLargeFire => self.handle_birdlarge_fire_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
            // Mostly identical to BirdLargeFire but tweaked for flamethrower instead of shockwave
            Tactic::BirdLargeBreathe => self.handle_birdlarge_breathe_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
            Tactic::BirdLargeBasic => self.handle_birdlarge_basic_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::Minotaur => {
                self.handle_minotaur_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::ClayGolem => {
                self.handle_clay_golem_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::TidalWarrior => self.handle_tidal_warrior_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
            ),
            Tactic::RadialTurret => self.handle_radial_turret_attack(controller),
            Tactic::Yeti => {
                self.handle_yeti_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::Harvester => {
                self.handle_harvester_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::Cardinal => self.handle_cardinal_attack(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
            Tactic::Dagon => {
                self.handle_dagon_attack(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::SimpleBackstab => {
                self.handle_simple_backstab(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::ElevatedRanged => {
                self.handle_elevated_ranged(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::Deadwood => {
                self.handle_deadwood(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::Mandragora => {
                self.handle_mandragora(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::WoodGolem => {
                self.handle_wood_golem(agent, controller, &attack_data, tgt_data, read_data)
            },
            Tactic::GnarlingChieftain => self.handle_gnarling_chieftain(
                agent,
                controller,
                &attack_data,
                tgt_data,
                read_data,
                rng,
            ),
        }
    }

    fn handle_sounds_heard(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        read_data: &ReadData,
        rng: &mut impl Rng,
    ) {
        agent.forget_old_sounds(read_data.time.0);

        if is_invulnerable(*self.entity, read_data) {
            self.idle(agent, controller, read_data, rng);
            return;
        }

        if let Some(sound) = agent.sounds_heard.last() {
            let sound_pos = Pos(sound.pos);
            let dist_sqrd = self.pos.0.distance_squared(sound_pos.0);
            // NOTE: There is an implicit distance requirement given that sound volume
            // dissipates as it travels, but we will not want to flee if a sound is super
            // loud but heard from a great distance, regardless of how loud it was.
            // `is_close` is this limiter.
            let is_close = dist_sqrd < 35.0_f32.powi(2);

            let sound_was_loud = sound.vol >= 10.0;
            let sound_was_threatening = sound_was_loud
                || matches!(sound.kind, SoundKind::Utterance(UtteranceKind::Scream, _));

            let has_enemy_alignment = matches!(self.alignment, Some(Alignment::Enemy));
            // FIXME: We need to be able to change the name of a guard without breaking this
            // logic. The `Mark` enum from common::agent could be used to match with
            // `agent::Mark::Guard`
            let is_village_guard = read_data
                .stats
                .get(*self.entity)
                .map_or(false, |stats| stats.name == *"Guard".to_string());
            let follows_threatening_sounds = has_enemy_alignment || is_village_guard;

            // TODO: Awareness currently doesn't influence anything.
            //agent.awareness += 0.5 * sound.vol;

            if sound_was_threatening && is_close {
                if !self.below_flee_health(agent) && follows_threatening_sounds {
                    self.follow(agent, controller, &read_data.terrain, &sound_pos);
                } else if self.below_flee_health(agent) || !follows_threatening_sounds {
                    self.flee(agent, controller, &sound_pos, &read_data.terrain);
                } else {
                    self.idle(agent, controller, read_data, rng);
                }
            } else {
                self.idle(agent, controller, read_data, rng);
            }
        } else {
            self.idle(agent, controller, read_data, rng);
        }
    }

    fn attack_target_attacker(
        &self,
        agent: &mut Agent,
        read_data: &ReadData,
        controller: &mut Controller,
        rng: &mut impl Rng,
    ) {
        if let Some(Target { target, .. }) = agent.target {
            if let Some(tgt_health) = read_data.healths.get(target) {
                if let Some(by) = tgt_health.last_change.damage_by() {
                    if let Some(attacker) = get_entity_by_id(by.uid().0, read_data) {
                        if agent.target.is_none() {
                            controller.push_utterance(UtteranceKind::Angry);
                        }

                        agent.target = Some(Target::new(attacker, true, read_data.time.0, true));

                        if let Some(tgt_pos) = read_data.positions.get(attacker) {
                            if is_dead_or_invulnerable(attacker, read_data) {
                                // FIXME?: Shouldn't target be set to `None`?
                                // If is dead, then probably. If invulnerable, maybe not.
                                agent.target =
                                    Some(Target::new(target, false, read_data.time.0, false));

                                self.idle(agent, controller, read_data, rng);
                            } else {
                                let target_data = TargetData::new(
                                    tgt_pos,
                                    read_data.bodies.get(target),
                                    read_data.scales.get(target),
                                );
                                if let Some(tgt_name) =
                                    read_data.stats.get(target).map(|stats| stats.name.clone())
                                {
                                    agent.add_fight_to_memory(&tgt_name, read_data.time.0)
                                }
                                self.attack(agent, controller, &target_data, read_data, rng);
                            }
                        }
                    }
                }
            }
        }
    }

    /// Directs the entity to path and move toward the target
    /// If path is not Full, the entity will path to a location 50 units along
    /// the vector between the entity and the target. The speed multiplier
    /// multiplies the movement speed by a value less than 1.0.
    /// A `None` value implies a multiplier of 1.0.
    /// Returns `false` if the pathfinding algorithm fails to return a path
    fn path_toward_target(
        &self,
        agent: &mut Agent,
        controller: &mut Controller,
        tgt_pos: Vec3<f32>,
        read_data: &ReadData,
        path: Path,
        speed_multiplier: Option<f32>,
    ) -> bool {
        let partial_path_tgt_pos = |pos_difference: Vec3<f32>| {
            self.pos.0
                + PARTIAL_PATH_DIST * pos_difference.try_normalized().unwrap_or_else(Vec3::zero)
        };
        let pos_difference = tgt_pos - self.pos.0;
        let pathing_pos = match path {
            Path::Separate => {
                let mut sep_vec: Vec3<f32> = Vec3::<f32>::zero();

                for entity in read_data
                    .cached_spatial_grid
                    .0
                    .in_circle_aabr(self.pos.0.xy(), SEPARATION_DIST)
                {
                    if let (Some(alignment), Some(other_alignment)) =
                        (self.alignment, read_data.alignments.get(entity))
                    {
                        if Alignment::passive_towards(*alignment, *other_alignment) {
                            if let (Some(pos), Some(body), Some(other_body)) = (
                                read_data.positions.get(entity),
                                self.body,
                                read_data.bodies.get(entity),
                            ) {
                                let dist_xy = self.pos.0.xy().distance(pos.0.xy());
                                let spacing = body.spacing_radius() + other_body.spacing_radius();
                                if dist_xy < spacing {
                                    let pos_diff = self.pos.0.xy() - pos.0.xy();
                                    sep_vec += pos_diff.try_normalized().unwrap_or_else(Vec2::zero)
                                        * ((spacing - dist_xy) / spacing);
                                }
                            }
                        }
                    }
                }
                partial_path_tgt_pos(
                    sep_vec * SEPARATION_BIAS + pos_difference * (1.0 - SEPARATION_BIAS),
                )
            },
            Path::Full => tgt_pos,
            Path::Partial => partial_path_tgt_pos(pos_difference),
        };
        let speed_multiplier = speed_multiplier.unwrap_or(1.0).min(1.0);
        if let Some((bearing, speed)) = agent.chaser.chase(
            &*read_data.terrain,
            self.pos.0,
            self.vel.0,
            pathing_pos,
            TraversalConfig {
                min_tgt_dist: 0.25,
                ..self.traversal_config
            },
        ) {
            controller.inputs.move_dir =
                bearing.xy().try_normalized().unwrap_or_else(Vec2::zero) * speed * speed_multiplier;
            self.jump_if(bearing.z > 1.5, controller);
            controller.inputs.move_z = bearing.z;
            true
        } else {
            false
        }
    }

    fn chat_npc_if_allowed_to_speak(
        &self,
        msg: impl ToString,
        agent: &Agent,
        event_emitter: &mut Emitter<'_, ServerEvent>,
    ) -> bool {
        if agent.allowed_to_speak() {
            self.chat_npc(msg, event_emitter);
            true
        } else {
            false
        }
    }

    fn jump_if(&self, condition: bool, controller: &mut Controller) {
        if condition {
            controller.push_basic_input(InputKind::Jump);
        } else {
            controller.push_cancel_input(InputKind::Jump)
        }
    }

    fn chat_npc(&self, msg: impl ToString, event_emitter: &mut Emitter<'_, ServerEvent>) {
        event_emitter.emit(ServerEvent::Chat(UnresolvedChatMsg::npc(
            *self.uid,
            msg.to_string(),
        )));
    }

    fn emit_scream(&self, time: f64, event_emitter: &mut Emitter<'_, ServerEvent>) {
        if let Some(body) = self.body {
            event_emitter.emit(ServerEvent::Sound {
                sound: Sound::new(
                    SoundKind::Utterance(UtteranceKind::Scream, *body),
                    self.pos.0,
                    13.0,
                    time,
                ),
            });
        }
    }

    fn cry_out(
        &self,
        agent: &Agent,
        event_emitter: &mut Emitter<'_, ServerEvent>,
        read_data: &ReadData,
    ) {
        let has_enemy_alignment = matches!(self.alignment, Some(Alignment::Enemy));

        if has_enemy_alignment {
            // FIXME: If going to use "cultist + low health + fleeing" string, make sure
            // they are each true.
            self.chat_npc_if_allowed_to_speak(
                "npc-speech-cultist_low_health_fleeing",
                agent,
                event_emitter,
            );
        } else if is_villager(self.alignment) {
            self.chat_npc_if_allowed_to_speak(
                "npc-speech-villager_under_attack",
                agent,
                event_emitter,
            );
            self.emit_scream(read_data.time.0, event_emitter);
        }
    }

    fn exclaim_relief_about_enemy_dead(
        &self,
        agent: &Agent,
        event_emitter: &mut Emitter<'_, ServerEvent>,
    ) {
        if is_villager(self.alignment) {
            self.chat_npc_if_allowed_to_speak(
                "npc-speech-villager_enemy_killed",
                agent,
                event_emitter,
            );
        }
    }

    fn below_flee_health(&self, agent: &Agent) -> bool {
        self.damage.min(1.0) < agent.psyche.flee_health
    }

    fn is_more_dangerous_than_target(
        &self,
        entity: EcsEntity,
        target: Target,
        read_data: &ReadData,
    ) -> bool {
        let entity_pos = read_data.positions.get(entity);
        let target_pos = read_data.positions.get(target.target);

        entity_pos.map_or(false, |entity_pos| {
            target_pos.map_or(true, |target_pos| {
                // Fuzzy factor that makes it harder for players to cheese enemies by making
                // them quickly flip aggro between two players.
                // It does this by only switching aggro if the entity is closer to the enemy by
                // a specific proportional threshold.
                const FUZZY_DIST_COMPARISON: f32 = 0.8;

                let is_target_further = target_pos.0.distance(entity_pos.0)
                    < target_pos.0.distance(entity_pos.0) * FUZZY_DIST_COMPARISON;
                let is_entity_hostile = read_data
                    .alignments
                    .get(entity)
                    .zip(self.alignment)
                    .map_or(false, |(entity, me)| me.hostile_towards(*entity));

                // Consider entity more dangerous than target if entity is closer or if target
                // had not triggered aggro.
                !target.aggro_on || (is_target_further && is_entity_hostile)
            })
        })
    }

    fn remembers_fight_with(&self, other: EcsEntity, read_data: &ReadData) -> bool {
        let name = || read_data.stats.get(other).map(|stats| stats.name.clone());

        self.rtsim_entity.map_or(false, |rtsim_entity| {
            name().map_or(false, |name| {
                rtsim_entity.brain.remembers_fight_with_character(&name)
            })
        })
    }

    fn is_enemy(&self, entity: EcsEntity, read_data: &ReadData) -> bool {
        let other_alignment = read_data.alignments.get(entity);

        (entity != *self.entity)
            && !self.passive_towards(entity, read_data)
            && (are_our_owners_hostile(self.alignment, other_alignment, read_data)
                || self.remembers_fight_with(entity, read_data)
                || (is_villager(self.alignment) && is_dressed_as_cultist(entity, read_data)))
    }

    fn will_ambush(&self) -> bool {
        self.health
            .map_or(false, |h| h.current() / h.maximum() > 0.7)
            && self
                .rtsim_entity
                .map_or(false, |re| re.brain.personality.will_ambush)
    }

    fn should_defend(&self, entity: EcsEntity, read_data: &ReadData) -> bool {
        let entity_alignment = read_data.alignments.get(entity);

        let we_are_friendly = entity_alignment.map_or(false, |entity_alignment| {
            self.alignment.map_or(false, |alignment| {
                !alignment.hostile_towards(*entity_alignment)
            })
        });
        let we_share_species = read_data.bodies.get(entity).map_or(false, |entity_body| {
            self.body.map_or(false, |body| {
                entity_body.is_same_species_as(body)
                    || (entity_body.is_humanoid() && body.is_humanoid())
            })
        });
        let self_owns_entity =
            matches!(entity_alignment, Some(Alignment::Owned(ouid)) if *self.uid == *ouid);

        (we_are_friendly && we_share_species)
            || (is_village_guard(*self.entity, read_data) && is_villager(entity_alignment))
            || self_owns_entity
    }

    fn passive_towards(&self, entity: EcsEntity, read_data: &ReadData) -> bool {
        if let (Some(self_alignment), Some(other_alignment)) =
            (self.alignment, read_data.alignments.get(entity))
        {
            self_alignment.passive_towards(*other_alignment)
        } else {
            false
        }
    }

    fn can_see_entity(
        &self,
        agent: &Agent,
        controller: &Controller,
        other: EcsEntity,
        other_pos: &Pos,
        read_data: &ReadData,
    ) -> bool {
        let other_stealth_multiplier = {
            let other_inventory = read_data.inventories.get(other);
            let other_char_state = read_data.char_states.get(other);

            perception_dist_multiplier_from_stealth(other_inventory, other_char_state, self.msm)
        };

        let within_sight_dist = {
            let sight_dist = agent.psyche.sight_dist * other_stealth_multiplier;
            let dist_sqrd = other_pos.0.distance_squared(self.pos.0);

            dist_sqrd < sight_dist.powi(2)
        };

        let within_fov = (other_pos.0 - self.pos.0)
            .try_normalized()
            .map_or(false, |v| v.dot(*controller.inputs.look_dir) > 0.15);

        let other_body = read_data.bodies.get(other);

        (within_sight_dist)
            && within_fov
            && entities_have_line_of_sight(self.pos, self.body, other_pos, other_body, read_data)
    }
}