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New behaviour tree system for rtsim2

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This commit is contained in:
Joshua Barretto 2022-09-05 02:21:11 +01:00
parent e8b489a71a
commit 1b439d0897
7 changed files with 464 additions and 228 deletions
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135
rtsim/src/data/npc.rs
View File

@ -11,7 +11,8 @@ use serde::{Deserialize, Serialize};
use slotmap::HopSlotMap;
use std::{
collections::VecDeque,
ops::{Deref, DerefMut},
ops::{Deref, DerefMut, ControlFlow},
any::Any,
};
use vek::*;
use world::{civ::Track, site::Site as WorldSite, util::RandomPerm};
@ -38,7 +39,113 @@ pub struct PathingMemory {
pub intersite_path: Option<(PathData<(Id<Track>, bool), SiteId>, usize)>,
}
#[derive(Clone, Serialize, Deserialize)]
pub struct Controller {
pub goto: Option<(Vec3<f32>, f32)>,
}
#[derive(Default)]
pub struct TaskState {
state: Option<Box<dyn Any + Send + Sync>>,
}
pub const CONTINUE: ControlFlow<()> = ControlFlow::Break(());
pub const FINISH: ControlFlow<()> = ControlFlow::Continue(());
pub trait Task: PartialEq + Clone + Send + Sync + 'static {
type State: Send + Sync;
type Ctx<'a>;
fn begin<'a>(&self, ctx: &Self::Ctx<'a>) -> Self::State;
fn run<'a>(&self, state: &mut Self::State, ctx: &Self::Ctx<'a>, controller: &mut Controller) -> ControlFlow<()>;
fn then<B: Task>(self, other: B) -> Then<Self, B> {
Then(self, other)
}
fn repeat(self) -> Repeat<Self> {
Repeat(self)
}
}
#[derive(Clone, PartialEq)]
pub struct Then<A, B>(A, B);
impl<A: Task, B> Task for Then<A, B>
where B: for<'a> Task<Ctx<'a> = A::Ctx<'a>>
{
type State = Result<A::State, B::State>; // TODO: Use `Either` instead
type Ctx<'a> = A::Ctx<'a>;
fn begin<'a>(&self, ctx: &Self::Ctx<'a>) -> Self::State {
Ok(self.0.begin(ctx))
}
fn run<'a>(&self, state: &mut Self::State, ctx: &Self::Ctx<'a>, controller: &mut Controller) -> ControlFlow<()> {
match state {
Ok(a_state) => {
self.0.run(a_state, ctx, controller)?;
*state = Err(self.1.begin(ctx));
CONTINUE
},
Err(b_state) => self.1.run(b_state, ctx, controller),
}
}
}
#[derive(Clone, PartialEq)]
pub struct Repeat<A>(A);
impl<A: Task> Task for Repeat<A> {
type State = A::State;
type Ctx<'a> = A::Ctx<'a>;
fn begin<'a>(&self, ctx: &Self::Ctx<'a>) -> Self::State {
self.0.begin(ctx)
}
fn run<'a>(&self, state: &mut Self::State, ctx: &Self::Ctx<'a>, controller: &mut Controller) -> ControlFlow<()> {
self.0.run(state, ctx, controller)?;
*state = self.0.begin(ctx);
CONTINUE
}
}
impl TaskState {
pub fn perform<'a, T: Task>(
&mut self,
task: T,
ctx: &T::Ctx<'a>,
controller: &mut Controller,
) -> ControlFlow<()> {
type StateOf<T> = (T, <T as Task>::State);
let mut state = if let Some(state) = self.state
.take()
.and_then(|state| state
.downcast::<StateOf<T>>()
.ok()
.filter(|state| state.0 == task))
{
state
} else {
let mut state = task.begin(ctx);
Box::new((task, state))
};
let res = state.0.run(&mut state.1, ctx, controller);
self.state = if matches!(res, ControlFlow::Break(())) {
Some(state)
} else {
None
};
res
}
}
#[derive(Serialize, Deserialize)]
pub struct Npc {
// Persisted state
/// Represents the location of the NPC.
@ -50,8 +157,6 @@ pub struct Npc {
pub faction: Option<FactionId>,
// Unpersisted state
#[serde(skip_serializing, skip_deserializing)]
pub pathing: PathingMemory,
#[serde(skip_serializing, skip_deserializing)]
pub current_site: Option<SiteId>,
@ -66,6 +171,26 @@ pub struct Npc {
/// should instead be derived from the game.
#[serde(skip_serializing, skip_deserializing)]
pub mode: NpcMode,
#[serde(skip_serializing, skip_deserializing)]
pub task_state: Option<TaskState>,
}
impl Clone for Npc {
fn clone(&self) -> Self {
Self {
seed: self.seed,
wpos: self.wpos,
profession: self.profession.clone(),
home: self.home,
faction: self.faction,
// Not persisted
current_site: Default::default(),
goto: Default::default(),
mode: Default::default(),
task_state: Default::default(),
}
}
}
impl Npc {
@ -79,10 +204,10 @@ impl Npc {
profession: None,
home: None,
faction: None,
pathing: Default::default(),
current_site: None,
goto: None,
mode: NpcMode::Simulated,
task_state: Default::default(),
}
}

14
rtsim/src/gen/mod.rs
View File

@ -77,13 +77,13 @@ impl Data {
Npc::new(rng.gen(), rand_wpos(&mut rng))
.with_faction(site.faction)
.with_home(site_id)
.with_profession(match rng.gen_range(0..20) {
0 => Profession::Hunter,
1 => Profession::Blacksmith,
2 => Profession::Chef,
3 => Profession::Alchemist,
5..=10 => Profession::Farmer,
11..=15 => Profession::Guard,
.with_profession(match rng.gen_range(0..17) {
// 0 => Profession::Hunter,
// 1 => Profession::Blacksmith,
// 2 => Profession::Chef,
// 3 => Profession::Alchemist,
// 5..=10 => Profession::Farmer,
// 11..=15 => Profession::Guard,
_ => Profession::Adventurer(rng.gen_range(0..=3)),
}),
);

2
rtsim/src/lib.rs
View File

@ -1,4 +1,4 @@
#![feature(explicit_generic_args_with_impl_trait)]
#![feature(explicit_generic_args_with_impl_trait, generic_associated_types, never_type, try_blocks)]
pub mod data;
pub mod event;

327
rtsim/src/rule/npc_ai.rs
View File

@ -1,9 +1,9 @@
use std::{collections::VecDeque, hash::BuildHasherDefault};
use crate::{
data::{npc::PathData, Sites},
data::{npc::{PathData, PathingMemory, Npc, Task, TaskState, Controller, CONTINUE, FINISH}, Sites},
event::OnTick,
RtState, Rule, RuleError,
RtState, Rule, RuleError, EventCtx,
};
use common::{
astar::{Astar, PathResult},
@ -15,7 +15,7 @@ use common::{
};
use fxhash::FxHasher64;
use itertools::Itertools;
use rand::seq::IteratorRandom;
use rand::prelude::*;
use vek::*;
use world::{
civ::{self, Track},
@ -23,6 +23,11 @@ use world::{
site2::{self, TileKind},
IndexRef, World,
};
use std::{
ops::ControlFlow,
marker::PhantomData,
any::{Any, TypeId},
};
pub struct NpcAi;
@ -46,7 +51,7 @@ const CARDINALS: &[Vec2<i32>] = &[
fn path_in_site(start: Vec2<i32>, end: Vec2<i32>, site: &site2::Site) -> PathResult<Vec2<i32>> {
let heuristic = |tile: &Vec2<i32>| tile.as_::<f32>().distance(end.as_());
let mut astar = Astar::new(
100,
250,
start,
&heuristic,
BuildHasherDefault::<FxHasher64>::default(),
@ -69,7 +74,7 @@ fn path_in_site(start: Vec2<i32>, end: Vec2<i32>, site: &site2::Site) -> PathRes
| TileKind::Tower(_)
| TileKind::Keep(_)
| TileKind::Gate
| TileKind::GnarlingFortification => 3.0,
| TileKind::GnarlingFortification => 20.0,
};
let is_door_tile = |plot: Id<site2::Plot>, tile: Vec2<i32>| match site.plot(plot).kind() {
site2::PlotKind::House(house) => house.door_tile == tile,
@ -96,7 +101,7 @@ fn path_in_site(start: Vec2<i32>, end: Vec2<i32>, site: &site2::Site) -> PathRes
};
astar.poll(
100,
250,
heuristic,
|&tile| NEIGHBOURS.iter().map(move |c| tile + *c),
transition,
@ -132,7 +137,7 @@ fn path_between_sites(
let heuristic = |site: &Id<civ::Site>| get_site(site).center.as_().distance(end_pos);
let mut astar = Astar::new(
100,
250,
start,
heuristic,
BuildHasherDefault::<FxHasher64>::default(),
@ -149,7 +154,7 @@ fn path_between_sites(
let transition = |a: &Id<civ::Site>, b: &Id<civ::Site>| track_between(*a, *b).cost;
let path = astar.poll(100, heuristic, neighbors, transition, |site| *site == end);
let path = astar.poll(250, heuristic, neighbors, transition, |site| *site == end);
path.map(|path| {
let path = path
@ -231,74 +236,208 @@ fn path_towns(
}
}
const MAX_STEP: f32 = 32.0;
impl Rule for NpcAi {
fn start(rtstate: &mut RtState) -> Result<Self, RuleError> {
rtstate.bind::<Self, OnTick>(|ctx| {
let data = &mut *ctx.state.data_mut();
let mut dynamic_rng = rand::thread_rng();
for npc in data.npcs.values_mut() {
npc.current_site = ctx
.world
.sim()
.get(npc.wpos.xy().as_::<i32>() / TerrainChunkSize::RECT_SIZE.as_())
.and_then(|chunk| data.sites.world_site_map.get(chunk.sites.first()?).copied());
rtstate.bind::<Self, OnTick>(|mut ctx| {
let npc_ids = ctx.state.data().npcs.keys().collect::<Vec<_>>();
if let Some(home_id) = npc.home {
if let Some((target, _)) = npc.goto {
// Walk to the current target
if target.xy().distance_squared(npc.wpos.xy()) < 4.0 {
npc.goto = None;
for npc_id in npc_ids {
let mut task_state = ctx.state.data_mut().npcs[npc_id].task_state.take().unwrap_or_default();
let (controller, task_state) = {
let data = &*ctx.state.data();
let npc = &data.npcs[npc_id];
let mut controller = Controller { goto: npc.goto };
let action: ControlFlow<()> = try {
if matches!(npc.profession, Some(Profession::Adventurer(_))) {
if let Some(home) = npc.home {
// Travel between random nearby sites
let task = generate(move |(npc, ctx): &(&Npc, &EventCtx<_, _>)| {
let tgt_site = ctx.state.data().sites
.iter()
.filter(|(site_id, site)| npc
.current_site
.map_or(true, |cs| *site_id != cs) && thread_rng().gen_bool(0.25))
.min_by_key(|(_, site)| site.wpos.as_().distance(npc.wpos.xy()) as i32)
.map(|(site_id, _)| site_id)
.unwrap_or(home);
TravelToSite(tgt_site)
})
.repeat();
task_state.perform(task, &(&*npc, &ctx), &mut controller)?;
}
} else {
// Walk slower when pathing in a site, and faster when between sites
if npc.pathing.intersite_path.is_none() {
npc.goto = Some((npc.goto.map_or(npc.wpos, |(wpos, _)| wpos), 0.7));
} else {
npc.goto = Some((npc.goto.map_or(npc.wpos, |(wpos, _)| wpos), 1.0));
controller.goto = None;
// // Choose a random plaza in the npcs home site (which should be the
// // current here) to go to.
// if let Some(home_id) =
// data.sites.get(home_id).and_then(|site| site.world_site)
// {
// npc.pathing.intrasite_path =
// path_town(npc.wpos, home_id, ctx.index, |site| {
// Some(
// site.plots
// [site.plazas().choose(&mut dynamic_rng)?]
// .root_tile(),
// )
// })
// .map(|path| (path, home_id));
// }
}
};
(controller, task_state)
};
ctx.state.data_mut().npcs[npc_id].goto = controller.goto;
ctx.state.data_mut().npcs[npc_id].task_state = Some(task_state);
}
});
Ok(Self)
}
}
#[derive(Clone)]
pub struct Generate<F, T>(F, PhantomData<T>);
impl<F, T> PartialEq for Generate<F, T> {
fn eq(&self, _: &Self) -> bool { true }
}
pub fn generate<F, T>(f: F) -> Generate<F, T> { Generate(f, PhantomData) }
impl<F, T: Task> Task for Generate<F, T>
where F: Clone + Send + Sync + 'static + for<'a> Fn(&T::Ctx<'a>) -> T
{
type State = (T::State, T);
type Ctx<'a> = T::Ctx<'a>;
fn begin<'a>(&self, ctx: &Self::Ctx<'a>) -> Self::State {
let task = (self.0)(ctx);
(task.begin(ctx), task)
}
if let Some((ref mut path, site)) = npc.pathing.intrasite_path {
fn run<'a>(
&self,
(state, task): &mut Self::State,
ctx: &Self::Ctx<'a>,
controller: &mut Controller,
) -> ControlFlow<()> {
task.run(state, ctx, controller)
}
}
#[derive(Clone, PartialEq)]
struct Goto(Vec2<f32>, f32);
impl Task for Goto {
type State = (Vec2<f32>, f32);
type Ctx<'a> = (&'a Npc, &'a EventCtx<'a, NpcAi, OnTick>);
fn begin<'a>(&self, (_npc, _ctx): &Self::Ctx<'a>) -> Self::State { (self.0, self.1) }
fn run<'a>(
&self,
(tgt, speed_factor): &mut Self::State,
(npc, ctx): &Self::Ctx<'a>,
controller: &mut Controller,
) -> ControlFlow<()> {
if npc.wpos.xy().distance_squared(*tgt) < 2f32.powi(2) {
controller.goto = None;
FINISH
} else {
let dist = npc.wpos.xy().distance(*tgt);
let step = dist.min(32.0);
let next_tgt = npc.wpos.xy() + (*tgt - npc.wpos.xy()) / dist * step;
if npc.goto.map_or(true, |(tgt, _)| tgt.xy().distance_squared(next_tgt) > (step * 0.5).powi(2)) || npc.wpos.xy().distance_squared(next_tgt) < (step * 0.5).powi(2) {
controller.goto = Some((next_tgt.with_z(ctx.world.sim().get_alt_approx(next_tgt.map(|e| e as i32)).unwrap_or(0.0)), *speed_factor));
}
CONTINUE
}
}
}
#[derive(Clone, PartialEq)]
struct TravelToSite(SiteId);
impl Task for TravelToSite {
type State = (PathingMemory, TaskState);
type Ctx<'a> = (&'a Npc, &'a EventCtx<'a, NpcAi, OnTick>);
fn begin<'a>(&self, (npc, ctx): &Self::Ctx<'a>) -> Self::State {
(PathingMemory::default(), TaskState::default())
}
fn run<'a>(
&self,
(pathing, task_state): &mut Self::State,
(npc, ctx): &Self::Ctx<'a>,
controller: &mut Controller,
) -> ControlFlow<()> {
if let Some(current_site) = npc.current_site {
if pathing.intersite_path.is_none() {
pathing.intersite_path = path_towns(
current_site,
self.0,
&ctx.state.data().sites,
ctx.world,
);
if pathing.intersite_path.is_none() {
return FINISH;
}
}
}
if let Some((ref mut path, site)) = pathing.intrasite_path {
// If the npc walking in a site and want to reroll (because the path was
// exhausted.) to try to find a complete path.
if path.repoll {
npc.pathing.intrasite_path =
pathing.intrasite_path =
path_town(npc.wpos, site, ctx.index, |_| Some(path.end))
.map(|path| (path, site));
}
}
if let Some((ref mut path, site)) = npc.pathing.intrasite_path {
if let Some(next_tile) = path.path.pop_front() {
if let Some((ref mut path, site)) = pathing.intrasite_path {
if let Some(next_tile) = path.path.front() {
match &ctx.index.sites.get(site).kind {
SiteKind::Refactor(site)
| SiteKind::CliffTown(site)
| SiteKind::DesertCity(site) => {
// Set the target to the next node in the path.
let wpos = site.tile_center_wpos(next_tile);
let wpos = wpos.as_::<f32>().with_z(
ctx.world.sim().get_alt_approx(wpos).unwrap_or(0.0),
);
npc.goto = Some((wpos, npc.goto.map_or(1.0, |(_, sf)| sf)));
let wpos = site.tile_center_wpos(*next_tile);
task_state.perform(Goto(wpos.map(|e| e as f32 + 0.5), 1.0), &(npc, ctx), controller)?;
path.path.pop_front();
return CONTINUE;
},
_ => {},
}
} else {
// If the path is empty, we're done.
npc.pathing.intrasite_path = None;
pathing.intrasite_path = None;
}
} else if let Some((path, progress)) = {
// Check if we are done with this part of the inter site path.
if let Some((path, progress)) = &mut npc.pathing.intersite_path {
}
if let Some((path, progress)) = {
if let Some((path, progress)) = &mut pathing.intersite_path {
if let Some((track_id, _)) = path.path.front() {
let track = ctx.world.civs().tracks.get(*track_id);
if *progress >= track.path().len() {
if path.repoll {
// Repoll if last path wasn't complete.
npc.pathing.intersite_path = path_towns(
pathing.intersite_path = path_towns(
npc.current_site.unwrap(),
path.end,
&data.sites,
&ctx.state.data().sites,
ctx.world,
);
} else {
@ -309,7 +448,7 @@ impl Rule for NpcAi {
}
}
}
&mut npc.pathing.intersite_path
&mut pathing.intersite_path
} {
if let Some((track_id, reversed)) = path.path.front() {
let track = ctx.world.civs().tracks.get(*track_id);
@ -334,8 +473,7 @@ impl Rule for NpcAi {
// Loop through and skip nodes that are inside a site, and use intra
// site path finding there instead.
let walk_path = loop {
if let Some(chunk_pos) =
let walk_path = if let Some(chunk_pos) =
track.path().nodes.get(get_progress(*progress))
{
if let Some((wpos, site_id, site)) =
@ -345,32 +483,33 @@ impl Rule for NpcAi {
match &ctx.index.sites.get(site_id).kind {
SiteKind::Refactor(site)
| SiteKind::CliffTown(site)
| SiteKind::DesertCity(site)
if !site.wpos_tile(wpos).is_empty() =>
{
| SiteKind::DesertCity(site) => {
Some((wpos, site_id, site))
},
_ => None,
}
})
{
if !site.wpos_tile(wpos).is_empty() {
*progress += 1;
} else {
if pathing.intrasite_path.is_none() {
let end = site.wpos_tile_pos(wpos);
npc.pathing.intrasite_path =
pathing.intrasite_path =
path_town(npc.wpos, site_id, ctx.index, |_| {
Some(end)
})
.map(|path| (path, site_id));
break false;
}
if site.wpos_tile(wpos).is_obstacle() {
*progress += 1;
pathing.intrasite_path = None;
false
} else {
true
}
} else {
break true;
true
}
} else {
break false;
}
false
};
if walk_path {
@ -381,66 +520,30 @@ impl Rule for NpcAi {
let wpos = transform_path_pos(
track.path().nodes[get_progress(*progress)],
);
let wpos = wpos.as_::<f32>().with_z(
ctx.world.sim().get_alt_approx(wpos).unwrap_or(0.0),
);
npc.goto = Some((wpos, npc.goto.map_or(1.0, |(_, sf)| sf)));
task_state.perform(Goto(wpos.map(|e| e as f32 + 0.5), 0.8), &(npc, ctx), controller)?;
*progress += 1;
return CONTINUE;
}
} else {
npc.pathing.intersite_path = None;
}
} else {
if matches!(npc.profession, Some(Profession::Adventurer(_))) {
// If the npc is home, choose a random site to go to, otherwise go
// home.
if let Some(start) = npc.current_site {
let end = if home_id == start {
data.sites
.keys()
.filter(|site| *site != home_id)
.choose(&mut dynamic_rng)
.unwrap_or(home_id)
} else {
home_id
};
npc.pathing.intersite_path =
path_towns(start, end, &data.sites, ctx.world);
}
} else {
// Choose a random plaza in the npcs home site (which should be the
// current here) to go to.
if let Some(home_id) =
data.sites.get(home_id).and_then(|site| site.world_site)
{
npc.pathing.intrasite_path =
path_town(npc.wpos, home_id, ctx.index, |site| {
Some(
site.plots
[site.plazas().choose(&mut dynamic_rng)?]
.root_tile(),
)
})
.map(|path| (path, home_id));
pathing.intersite_path = None;
}
}
}
}
} else {
// TODO: Don't make homeless people walk around in circles
npc.goto = Some((
npc.wpos
+ Vec3::new(
ctx.event.time.0.sin() as f32 * 16.0,
ctx.event.time.0.cos() as f32 * 16.0,
0.0,
),
0.7,
));
}
}
});
Ok(Self)
let world_site = |site_id: SiteId| {
let id = ctx.state.data().sites.get(site_id).and_then(|site| site.world_site)?;
ctx.world.civs().sites.recreate_id(id.id())
};
if let Some(site_wpos) = world_site(self.0)
.map(|home| TerrainChunkSize::center_wpos(ctx.world.civs().sites.get(home).center))
{
if site_wpos.map(|e| e as f32 + 0.5).distance_squared(npc.wpos.xy()) < 16f32.powi(2) {
FINISH
} else {
task_state.perform(Goto(site_wpos.map(|e| e as f32 + 0.5), 0.8), &(npc, ctx), controller)
}
} else {
FINISH
}
}
}

7
rtsim/src/rule/simulate_npcs.rs
View File

@ -36,6 +36,13 @@ impl Rule for SimulateNpcs {
.sim()
.get_alt_approx(npc.wpos.xy().map(|e| e as i32))
.unwrap_or(0.0);
// Update the NPC's current site, if any
npc.current_site = ctx
.world
.sim()
.get(npc.wpos.xy().as_::<i32>() / TerrainChunkSize::RECT_SIZE.as_())
.and_then(|chunk| data.sites.world_site_map.get(chunk.sites.first()?).copied());
}
});

21
server/src/rtsim2/tick.rs
View File

@ -260,16 +260,17 @@ impl<'a> System<'a> for Sys {
if let Some(agent) = agent {
agent.rtsim_controller.travel_to = npc.goto.map(|(wpos, _)| wpos);
agent.rtsim_controller.speed_factor = npc.goto.map_or(1.0, |(_, sf)| sf);
agent.rtsim_controller.heading_to =
npc.pathing.intersite_path.as_ref().and_then(|(path, _)| {
Some(
index
.sites
.get(data.sites.get(path.end)?.world_site?)
.name()
.to_string(),
)
});
// TODO:
// agent.rtsim_controller.heading_to =
// npc.pathing.intersite_path.as_ref().and_then(|(path, _)| {
// Some(
// index
// .sites
// .get(data.sites.get(path.end)?.world_site?)
// .name()
// .to_string(),
// )
// });
}
});
}