qstbak/Questionable/Questionable.Controller.CustomDelivery/DeliveryNpcApproachExecutor.cs

using System;
using System.Collections.Generic;
using System.Numerics;
using System.Threading;
using System.Threading.Tasks;
using Dalamud.Game.ClientState.Objects.SubKinds;
using Dalamud.Game.ClientState.Objects.Types;
using Dalamud.Plugin.Services;
using FFXIVClientStructs.FFXIV.Client.System.Framework;
using FFXIVClientStructs.FFXIV.Common.Component.BGCollision;
using Microsoft.Extensions.Logging;
using Questionable.Controller.Steps;
using Questionable.External;
using Questionable.Functions;
using Questionable.Model;

namespace Questionable.Controller.CustomDelivery;

internal sealed class DeliveryNpcApproachExecutor(NavmeshIpc navmeshIpc, MovementController movementController, GameFunctions gameFunctions, IObjectTable objectTable, IClientState clientState, ILogger<DeliveryNpcApproachExecutor> logger) : TaskExecutor<DeliveryNpcApproachTask>(), IStoppableTaskExecutor, ITaskExecutor, IDisposable
{
	private readonly List<Vector3> _candidates = new List<Vector3>();

	private CancellationTokenSource? _cancellationTokenSource;

	private Task<NavPathfindResult>? _pathfindTask;

	private int _candidateIndex;

	private bool _moving;

	private float _interactionDistance;

	private Vector3 _npcPosition;

	protected override bool Start()
	{
		_candidates.Clear();
		_candidateIndex = 0;
		_moving = false;
		_pathfindTask = null;
		_cancellationTokenSource = new CancellationTokenSource(TimeSpan.FromSeconds(30L));
		IPlayerCharacter localPlayer = objectTable.LocalPlayer;
		IGameObject gameObject = gameFunctions.FindObjectByDataId(base.Task.NpcDataId, null, warnIfMissing: false);
		_npcPosition = gameObject?.Position ?? base.Task.NpcPosition;
		_interactionDistance = 3f + (gameObject?.HitboxRadius ?? 0f) + (localPlayer?.HitboxRadius ?? 0f);
		if (localPlayer == null || clientState.TerritoryType != base.Task.TerritoryId)
		{
			return true;
		}
		if (Vector3.Distance(localPlayer.Position, _npcPosition) <= _interactionDistance + 0.5f)
		{
			return false;
		}
		float num = MathF.Atan2(localPlayer.Position.X - _npcPosition.X, localPlayer.Position.Z - _npcPosition.Z);
		float num2 = MathF.Max(1f, _interactionDistance - 0.5f);
		for (int i = 0; i < 24; i++)
		{
			int num3 = ((i != 0) ? ((i + 1) / 2 * ((i % 2 == 1) ? 1 : (-1))) : 0);
			float x = num + (float)Math.PI * 2f * (float)num3 / 24f;
			Vector3 position = new Vector3(_npcPosition.X + MathF.Sin(x) * num2, _npcPosition.Y + 5f, _npcPosition.Z + MathF.Cos(x) * num2);
			Vector3? pointOnFloor = navmeshIpc.GetPointOnFloor(position, unlandable: false, 0.75f);
			if (pointOnFloor.HasValue && Vector2.Distance(new Vector2(pointOnFloor.Value.X, pointOnFloor.Value.Z), new Vector2(_npcPosition.X, _npcPosition.Z)) <= _interactionDistance && HasLineOfSight(pointOnFloor.Value, _npcPosition) && HasBodyClearance(pointOnFloor.Value, localPlayer.HitboxRadius + 0.5f))
			{
				_candidates.Add(pointOnFloor.Value);
			}
		}
		logger.LogDebug("Searching {CandidateCount} reachable approaches to delivery NPC {DataId} within {Distance:F1}y", _candidates.Count, base.Task.NpcDataId, _interactionDistance);
		StartNextPathfind();
		return true;
	}

	public override ETaskResult Update()
	{
		if (_moving)
		{
			if (movementController.IsPathfinding || movementController.IsPathRunning)
			{
				return ETaskResult.StillRunning;
			}
			IPlayerCharacter localPlayer = objectTable.LocalPlayer;
			if (localPlayer != null && Vector3.Distance(localPlayer.Position, _npcPosition) <= _interactionDistance + 0.5f)
			{
				return ETaskResult.TaskComplete;
			}
			throw new MovementController.PathfindingFailedException("Delivery NPC approach ended outside interaction range");
		}
		if (_pathfindTask == null)
		{
			if (_candidateIndex >= _candidates.Count)
			{
				throw new MovementController.PathfindingFailedException("No reachable approach within delivery NPC interaction range");
			}
			StartNextPathfind();
			return ETaskResult.StillRunning;
		}
		if (!_pathfindTask.IsCompleted)
		{
			return ETaskResult.StillRunning;
		}
		if (_pathfindTask.IsCanceled)
		{
			throw new MovementController.PathfindingFailedException("Delivery NPC approach search timed out");
		}
		if (_pathfindTask.IsFaulted)
		{
			logger.LogDebug(_pathfindTask.Exception, "Delivery NPC approach candidate pathfinding failed");
			_pathfindTask = null;
			return ETaskResult.StillRunning;
		}
		Vector3 vector = _candidates[_candidateIndex - 1];
		NavPathfindResult result = _pathfindTask.Result;
		float num;
		if (!result.HasPartialInfo)
		{
			if (result.Waypoints.Count <= 0)
			{
				num = float.MaxValue;
			}
			else
			{
				List<Vector3> waypoints = result.Waypoints;
				num = Vector3.Distance(waypoints[waypoints.Count - 1], vector);
			}
		}
		else
		{
			num = result.EndDistance;
		}
		float num2 = num;
		IPlayerCharacter localPlayer2 = objectTable.LocalPlayer;
		if (result.Waypoints.Count > 0 && (!result.HasPartialInfo || !result.IsPartial) && num2 <= 1f && localPlayer2 != null && HasCollisionFreePath(localPlayer2.Position, result.Waypoints))
		{
			logger.LogDebug("Selected reachable delivery NPC approach {Approach}", vector);
			movementController.NavigateTo(EMovementType.Quest, base.Task.NpcDataId, result.Waypoints, fly: false, sprint: true, 0.5f);
			_moving = true;
			return ETaskResult.StillRunning;
		}
		_pathfindTask = null;
		return ETaskResult.StillRunning;
	}

	private void StartNextPathfind()
	{
		IPlayerCharacter localPlayer = objectTable.LocalPlayer;
		if (localPlayer != null && _candidateIndex < _candidates.Count && _cancellationTokenSource != null)
		{
			Vector3 targetPosition = _candidates[_candidateIndex++];
			_pathfindTask = navmeshIpc.Pathfind(localPlayer.Position, targetPosition, fly: false, _cancellationTokenSource.Token);
		}
	}

	private static bool HasLineOfSight(Vector3 from, Vector3 to)
	{
		return HasLineOfSightAtHeight(from, to, 2f);
	}

	private static bool HasBodyClearance(Vector3 position, float radius)
	{
		for (int i = 0; i < 8; i++)
		{
			float x = (float)Math.PI * 2f * (float)i / 8f;
			if (!HasLineOfSightAtHeight(to: new Vector3(position.X + MathF.Sin(x) * radius, position.Y, position.Z + MathF.Cos(x) * radius), from: position, height: 1f))
			{
				return false;
			}
		}
		return true;
	}

	private static bool HasCollisionFreePath(Vector3 start, IReadOnlyList<Vector3> waypoints)
	{
		Vector3 vector = start;
		foreach (Vector3 waypoint in waypoints)
		{
			if (!HasLineOfSightAtHeight(vector, waypoint, 0.75f) || !HasLineOfSightAtHeight(vector, waypoint, 1.5f))
			{
				return false;
			}
			vector = waypoint;
		}
		return true;
	}

	private unsafe static bool HasLineOfSightAtHeight(Vector3 from, Vector3 to, float height)
	{
		Framework* ptr = Framework.Instance();
		if (ptr == null || ptr->BGCollisionModule == null)
		{
			return true;
		}
		from.Y += height;
		to.Y += height;
		Vector3 vector = to - from;
		float num = vector.Length();
		if (num < 0.1f)
		{
			return true;
		}
		Vector3 vector2 = vector / num;
		int* flags = stackalloc int[4] { 16384, 0, 16384, 0 };
		RaycastHit raycastHit = default(RaycastHit);
		return !ptr->BGCollisionModule->RaycastMaterialFilter(&raycastHit, &from, &vector2, num, 1, flags);
	}

	public void StopNow()
	{
		_cancellationTokenSource?.Cancel();
		movementController.Stop();
	}

	public void Dispose()
	{
		_cancellationTokenSource?.Dispose();
	}

	public override bool ShouldInterruptOnDamage()
	{
		return false;
	}
}