Shuttle docking (#5169)
Co-authored-by: metalgearsloth <metalgearsloth@gmail.com>
This commit is contained in:
metalgearsloth
494
Content.Server/Shuttles/DockingSystem.cs
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494
Content.Server/Shuttles/DockingSystem.cs
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@@ -0,0 +1,494 @@
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using System;
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using Content.Server.Doors.Components;
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using Content.Server.Power.Components;
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using Content.Shared.Doors;
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using Content.Shared.Shuttles;
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using Content.Shared.Verbs;
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using Robust.Shared.GameObjects;
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using Robust.Shared.IoC;
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using Robust.Shared.Localization;
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using Robust.Shared.Log;
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using Robust.Shared.Map;
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using Robust.Shared.Maths;
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using Robust.Shared.Physics;
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using Robust.Shared.Physics.Collision.Shapes;
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using Robust.Shared.Physics.Dynamics;
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using Robust.Shared.Physics.Dynamics.Joints;
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using Robust.Shared.Utility;
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using Robust.Shared.ViewVariables;
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namespace Content.Server.Shuttles
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{
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[RegisterComponent]
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public sealed class DockingComponent : SharedDockingComponent
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{
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[ViewVariables]
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public DockingComponent? DockedWith;
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[ViewVariables]
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public Joint? DockJoint;
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[ViewVariables]
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public override bool Docked => DockedWith != null;
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}
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public sealed class DockingSystem : EntitySystem
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{
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[Dependency] private readonly IMapManager _mapManager = default!;
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[Dependency] private readonly SharedBroadphaseSystem _broadphaseSystem = default!;
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[Dependency] private readonly SharedJointSystem _jointSystem = default!;
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private const string DockingFixture = "docking";
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private const string DockingJoint = "docking";
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private const float DockingRadius = 0.20f;
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public override void Initialize()
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{
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base.Initialize();
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SubscribeLocalEvent<DockingComponent, ComponentStartup>(OnStartup);
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SubscribeLocalEvent<DockingComponent, ComponentShutdown>(OnShutdown);
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SubscribeLocalEvent<DockingComponent, PowerChangedEvent>(OnPowerChange);
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SubscribeLocalEvent<DockingComponent, AnchorStateChangedEvent>(OnAnchorChange);
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SubscribeLocalEvent<DockingComponent, GetInteractionVerbsEvent>(OnVerb);
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SubscribeLocalEvent<DockingComponent, BeforeDoorAutoCloseEvent>(OnAutoClose);
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SubscribeLocalEvent<DockingComponent, DoorOpenAttemptEvent>(OnDoorOpenAttempt);
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SubscribeLocalEvent<DockingComponent, DoorCloseAttemptEvent>(OnDoorCloseAttempt);
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}
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// Won't allow users to override door controls
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private void OnDoorOpenAttempt(EntityUid uid, DockingComponent component, DoorOpenAttemptEvent args)
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{
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args.Cancel();
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}
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private void OnDoorCloseAttempt(EntityUid uid, DockingComponent component, DoorCloseAttemptEvent args)
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{
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args.Cancel();
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}
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private void OnAutoClose(EntityUid uid, DockingComponent component, BeforeDoorAutoCloseEvent args)
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{
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// We'll just pin the door open when docked.
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if (component.Docked)
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args.Cancel();
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}
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private void OnVerb(EntityUid uid, DockingComponent component, GetInteractionVerbsEvent args)
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{
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if (!args.CanInteract ||
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!args.CanAccess) return;
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Verb? verb;
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// TODO: Have it open the UI and have the UI do this.
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if (!component.Docked &&
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EntityManager.TryGetComponent(uid, out PhysicsComponent? body) &&
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EntityManager.TryGetComponent(uid, out TransformComponent? xform))
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{
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DockingComponent? otherDock = null;
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if (component.Enabled)
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otherDock = GetDockable(body, xform);
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verb = new Verb
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{
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Disabled = otherDock == null,
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Text = Loc.GetString("docking-component-dock"),
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Act = () =>
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{
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if (otherDock == null) return;
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TryDock(component, otherDock);
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}
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};
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}
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else if (component.Docked)
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{
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verb = new Verb
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{
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Disabled = !component.Docked,
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Text = Loc.GetString("docking-component-undock"),
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Act = () =>
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{
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if (component.DockedWith == null || !component.Enabled) return;
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Undock(component);
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}
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};
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}
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else
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{
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return;
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}
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args.Verbs.Add(verb);
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}
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private DockingComponent? GetDockable(PhysicsComponent body, TransformComponent dockingXform)
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{
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// Did you know Saltern is the most dockable station?
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// Assume the docking port itself (and its body) is valid
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if (!_mapManager.TryGetGrid(dockingXform.GridID, out var grid) ||
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!EntityManager.HasComponent<ShuttleComponent>(grid.GridEntityId)) return null;
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var transform = body.GetTransform();
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var dockingFixture = body.GetFixture(DockingFixture);
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if (dockingFixture == null)
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{
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DebugTools.Assert(false);
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Logger.ErrorS("docking", $"Found null fixture on {EntityManager.GetEntity(body.OwnerUid)}");
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return null;
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}
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Box2? aabb = null;
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for (var i = 0; i < dockingFixture.Shape.ChildCount; i++)
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{
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aabb = aabb?.Union(dockingFixture.Shape.ComputeAABB(transform, i)) ?? dockingFixture.Shape.ComputeAABB(transform, i);
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}
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if (aabb == null) return null;
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var enlargedAABB = aabb.Value.Enlarged(DockingRadius * 1.5f);
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// Get any docking ports in range on other grids.
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_mapManager.FindGridsIntersectingEnumerator(dockingXform.MapID, enlargedAABB, out var enumerator);
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while (enumerator.MoveNext(out var otherGrid))
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{
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if (otherGrid.Index == dockingXform.GridID) continue;
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foreach (var ent in otherGrid.GetAnchoredEntities(enlargedAABB))
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{
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if (!EntityManager.TryGetComponent(ent, out DockingComponent? otherDocking) ||
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!otherDocking.Enabled ||
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!EntityManager.TryGetComponent(ent, out PhysicsComponent? otherBody)) continue;
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var otherTransform = otherBody.GetTransform();
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var otherDockingFixture = otherBody.GetFixture(DockingFixture);
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if (otherDockingFixture == null)
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{
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DebugTools.Assert(false);
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Logger.ErrorS("docking", $"Found null docking fixture on {EntityManager.GetEntity(ent)}");
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continue;
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}
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for (var i = 0; i < otherDockingFixture.Shape.ChildCount; i++)
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{
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var otherAABB = otherDockingFixture.Shape.ComputeAABB(otherTransform, i);
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if (!aabb.Value.Intersects(otherAABB)) continue;
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// TODO: Need CollisionManager's GJK for accurate bounds
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// Realistically I want 2 fixtures anyway but I'll deal with that later.
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return otherDocking;
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}
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}
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}
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return null;
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}
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private void OnShutdown(EntityUid uid, DockingComponent component, ComponentShutdown args)
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{
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if (component.DockedWith == null ||
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EntityManager.GetComponent<MetaDataComponent>(uid).EntityLifeStage > EntityLifeStage.MapInitialized) return;
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Cleanup(component);
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}
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private void Cleanup(DockingComponent dockA)
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{
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_jointSystem.RemoveJoint(dockA.DockJoint!);
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var dockB = dockA.DockedWith;
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if (dockB == null || dockA.DockJoint == null)
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{
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DebugTools.Assert(false);
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Logger.Error("docking", $"Tried to cleanup {dockA.OwnerUid} but not docked?");
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dockA.DockedWith = null;
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if (dockA.DockJoint != null)
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{
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// We'll still cleanup the dock joint on release at least
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_jointSystem.RemoveJoint(dockA.DockJoint);
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}
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return;
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}
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dockB.DockedWith = null;
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dockB.DockJoint = null;
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dockA.DockJoint = null;
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dockA.DockedWith = null;
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// If these grids are ever invalid then need to look at fixing ordering for unanchored events elsewhere.
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var gridAUid = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(dockA.OwnerUid).GridID).GridEntityId;
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var gridBUid = _mapManager.GetGrid(EntityManager.GetComponent<TransformComponent>(dockB.OwnerUid).GridID).GridEntityId;
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var msg = new UndockEvent
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{
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DockA = dockA,
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DockB = dockB,
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GridAUid = gridAUid,
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GridBUid = gridBUid,
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};
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EntityManager.EventBus.RaiseLocalEvent(dockA.OwnerUid, msg, false);
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EntityManager.EventBus.RaiseLocalEvent(dockB.OwnerUid, msg, false);
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EntityManager.EventBus.RaiseEvent(EventSource.Local, msg);
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}
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private void OnStartup(EntityUid uid, DockingComponent component, ComponentStartup args)
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{
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// Use startup so transform already initialized
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if (!EntityManager.GetComponent<TransformComponent>(uid).Anchored) return;
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EnableDocking(uid, component);
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}
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private void OnAnchorChange(EntityUid uid, DockingComponent component, ref AnchorStateChangedEvent args)
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{
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if (args.Anchored)
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{
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EnableDocking(uid, component);
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}
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else
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{
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DisableDocking(uid, component);
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}
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}
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private void OnPowerChange(EntityUid uid, DockingComponent component, PowerChangedEvent args)
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{
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if (args.Powered)
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{
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EnableDocking(uid, component);
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}
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else
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{
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DisableDocking(uid, component);
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}
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}
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private void DisableDocking(EntityUid uid, DockingComponent component)
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{
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if (!component.Enabled) return;
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component.Enabled = false;
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if (component.DockedWith != null)
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{
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Undock(component);
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}
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if (!EntityManager.TryGetComponent(uid, out PhysicsComponent? physicsComponent))
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{
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return;
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}
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_broadphaseSystem.DestroyFixture(physicsComponent, DockingFixture);
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}
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private void EnableDocking(EntityUid uid, DockingComponent component)
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{
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if (component.Enabled)
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return;
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if (!EntityManager.TryGetComponent(uid, out PhysicsComponent? physicsComponent))
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return;
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component.Enabled = true;
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// TODO: WTF IS THIS GARBAGE
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var shape = new PhysShapeCircle
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{
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// Want half of the unit vector
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Position = new Vector2(0f, -0.5f),
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Radius = DockingRadius
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};
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// Listen it makes intersection tests easier; you can probably dump this but it requires a bunch more boilerplate
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var fixture = new Fixture(physicsComponent, shape)
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{
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ID = DockingFixture,
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Hard = false,
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};
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// TODO: I want this to ideally be 2 fixtures to force them to have some level of alignment buuuttt
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// I also need collisionmanager for that yet again so they get dis.
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_broadphaseSystem.CreateFixture(physicsComponent, fixture);
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}
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/// <summary>
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/// Docks 2 ports together and assumes it is valid.
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/// </summary>
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private void Dock(DockingComponent dockA, DockingComponent dockB)
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{
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Logger.DebugS("docking", $"Docking between {dockA.Owner} and {dockB.Owner}");
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// https://gamedev.stackexchange.com/questions/98772/b2distancejoint-with-frequency-equal-to-0-vs-b2weldjoint
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// We could also potentially use a prismatic joint? Depending if we want clamps that can extend or whatever
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var dockAXform = EntityManager.GetComponent<TransformComponent>(dockA.OwnerUid);
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var dockBXform = EntityManager.GetComponent<TransformComponent>(dockB.OwnerUid);
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var gridA = _mapManager.GetGrid(dockAXform.GridID).GridEntityId;
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var gridB = _mapManager.GetGrid(dockBXform.GridID).GridEntityId;
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SharedJointSystem.LinearStiffness(
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2f,
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0.7f,
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EntityManager.GetComponent<PhysicsComponent>(gridA).Mass,
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EntityManager.GetComponent<PhysicsComponent>(gridB).Mass,
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out var stiffness,
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out var damping);
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// These need playing around with
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// Could also potentially have collideconnected false and stiffness 0 but it was a bit more suss???
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var joint = _jointSystem.CreateWeldJoint(gridA, gridB, DockingJoint + dockA.OwnerUid);
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var gridAXform = EntityManager.GetComponent<TransformComponent>(gridA);
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var gridBXform = EntityManager.GetComponent<TransformComponent>(gridB);
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var anchorA = dockAXform.LocalPosition + dockAXform.LocalRotation.ToWorldVec() / 2f;
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var anchorB = dockBXform.LocalPosition + dockBXform.LocalRotation.ToWorldVec() / 2f;
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joint.LocalAnchorA = anchorA;
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joint.LocalAnchorB = anchorB;
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joint.ReferenceAngle = (float) (gridBXform.WorldRotation - gridAXform.WorldRotation);
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joint.CollideConnected = true;
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joint.Stiffness = stiffness;
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joint.Damping = damping;
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dockA.DockedWith = dockB;
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dockB.DockedWith = dockA;
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dockA.DockJoint = joint;
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dockB.DockJoint = joint;
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if (EntityManager.TryGetComponent(dockA.OwnerUid, out ServerDoorComponent? doorA))
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{
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doorA.Open();
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}
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if (EntityManager.TryGetComponent(dockB.OwnerUid, out ServerDoorComponent? doorB))
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{
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doorB.Open();
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}
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var msg = new DockEvent
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{
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DockA = dockA,
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DockB = dockB,
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GridAUid = gridA,
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GridBUid = gridB,
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};
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EntityManager.EventBus.RaiseLocalEvent(dockA.OwnerUid, msg, false);
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EntityManager.EventBus.RaiseLocalEvent(dockB.OwnerUid, msg, false);
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EntityManager.EventBus.RaiseEvent(EventSource.Local, msg);
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}
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/// <summary>
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/// Attempts to dock 2 ports together and will return early if it's not possible.
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/// </summary>
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private void TryDock(DockingComponent dockA, DockingComponent dockB)
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{
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if (!EntityManager.TryGetComponent(dockA.OwnerUid, out PhysicsComponent? bodyA) ||
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!EntityManager.TryGetComponent(dockB.OwnerUid, out PhysicsComponent? bodyB) ||
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!dockA.Enabled ||
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!dockB.Enabled)
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{
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return;
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}
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var fixtureA = bodyA.GetFixture(DockingFixture);
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var fixtureB = bodyB.GetFixture(DockingFixture);
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if (fixtureA == null || fixtureB == null)
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{
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return;
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}
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var transformA = bodyA.GetTransform();
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var transformB = bodyB.GetTransform();
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var intersect = false;
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for (var i = 0; i < fixtureA.Shape.ChildCount; i++)
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{
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var aabb = fixtureA.Shape.ComputeAABB(transformA, i);
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for (var j = 0; j < fixtureB.Shape.ChildCount; j++)
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{
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var otherAABB = fixtureB.Shape.ComputeAABB(transformB, j);
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if (!aabb.Intersects(otherAABB)) continue;
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// TODO: Need collisionmanager's GJK for accurate checks don't @ me son
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intersect = true;
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break;
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}
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if (intersect) break;
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}
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if (!intersect) return;
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Dock(dockA, dockB);
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}
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private void Undock(DockingComponent dock)
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{
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if (dock.DockedWith == null)
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{
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DebugTools.Assert(false);
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Logger.ErrorS("docking", $"Tried to undock {dock.OwnerUid} but not docked with anything?");
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return;
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}
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if (EntityManager.TryGetComponent(dock.OwnerUid, out ServerDoorComponent? doorA))
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{
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doorA.Close();
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}
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if (EntityManager.TryGetComponent(dock.DockedWith.OwnerUid, out ServerDoorComponent? doorB))
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{
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doorB.Close();
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}
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// Could maybe give the shuttle a light push away, or at least if there's no other docks left?
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Cleanup(dock);
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}
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/// <summary>
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/// Raised whenever 2 airlocks dock.
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/// </summary>
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public sealed class DockEvent : EntityEventArgs
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{
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public DockingComponent DockA = default!;
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public DockingComponent DockB = default!;
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public EntityUid GridAUid = default!;
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public EntityUid GridBUid = default!;
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}
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/// <summary>
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/// Raised whenever 2 grids undock.
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/// </summary>
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public sealed class UndockEvent : EntityEventArgs
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{
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public DockingComponent DockA = default!;
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public DockingComponent DockB = default!;
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public EntityUid GridAUid = default!;
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public EntityUid GridBUid = default!;
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}
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}
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}
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Reference in New Issue
Block a user