Lots of pathfinder bugfixes

Content.Server/AI/Pathfinding/PathfindingNode.cs

@@ -263,7 +263,8 @@ public void AddEntity(EntityUid entity, IPhysBody physicsComponent, IEntityManag
 
             DebugTools.Assert((PathfindingSystem.TrackedCollisionLayers & physicsComponent.CollisionLayer) != 0);
 
-            if (physicsComponent.BodyType != BodyType.Static)
+            if (physicsComponent.BodyType != BodyType.Static ||
+                !physicsComponent.Hard)
             {
                 _physicsLayers.Add(entity, physicsComponent.CollisionLayer);
             }
@@ -285,18 +286,19 @@ public void RemoveEntity(EntityUid entity)
             // There's no guarantee that the entity isn't deleted
             // 90% of updates are probably entities moving around
             // Entity can't be under multiple categories so just checking each once is fine.
-            if (_physicsLayers.ContainsKey(entity))
+            if (_physicsLayers.Remove(entity))
             {
-                _physicsLayers.Remove(entity);
+                return;
             }
-            else if (_accessReaders.ContainsKey(entity))
+
+            if (_accessReaders.Remove(entity))
             {
-                _accessReaders.Remove(entity);
                 ParentChunk.Dirty();
+                return;
             }
-            else if (_blockedCollidables.ContainsKey(entity))
+
+            if (_blockedCollidables.Remove(entity))
             {
-                _blockedCollidables.Remove(entity);
                 GenerateMask();
                 ParentChunk.Dirty();
             }

Content.Server/AI/Pathfinding/PathfindingSystem.Grid.cs

@@ -7,11 +7,12 @@
 
 namespace Content.Server.AI.Pathfinding;
 
-/// <summary>
-/// Handles pathfinding while on a grid.
-/// </summary>
 public sealed partial class PathfindingSystem
 {
+    /*
+     * Handles pathfinding while on a grid.
+     */
+
     [Dependency] private readonly AccessReaderSystem _accessReader = default!;
     [Dependency] private readonly IMapManager _mapManager = default!;
 
@@ -28,11 +29,23 @@ public override void Initialize()
         SubscribeLocalEvent<AccessReaderChangeEvent>(OnAccessChange);
         SubscribeLocalEvent<GridAddEvent>(OnGridAdd);
         SubscribeLocalEvent<TileChangedEvent>(OnTileChange);
+        SubscribeLocalEvent<PhysicsBodyTypeChangedEvent>(OnBodyTypeChange);
 
         // Handle all the base grid changes
         // Anything that affects traversal (i.e. collision layer) is handled separately.
     }
 
+    private void OnBodyTypeChange(ref PhysicsBodyTypeChangedEvent ev)
+    {
+        var xform = Transform(ev.Entity);
+
+        if (!IsRelevant(xform, ev.Component)) return;
+
+        var node = GetNode(xform);
+        node?.RemoveEntity(ev.Entity);
+        node?.AddEntity(ev.Entity, ev.Component, EntityManager);
+    }
+
     private void OnGridAdd(GridAddEvent ev)
     {
         EnsureComp<GridPathfindingComponent>(ev.EntityUid);
@@ -91,6 +104,8 @@ private PathfindingChunk CreateChunk(GridPathfindingComponent comp, Vector2i ind
         return newChunk;
     }
 
+
+
     /// <summary>
     /// Return the corresponding PathfindingNode for this tile
     /// </summary>
@@ -149,6 +164,27 @@ private void OnEntityRemove(EntityUid entity, TransformComponent? xform = null)
         node.RemoveEntity(entity);
     }
 
+    private void OnEntityRemove(EntityUid entity, EntityCoordinates coordinates)
+    {
+        var gridId = coordinates.GetGridId(EntityManager);
+        if (!_mapManager.TryGetGrid(gridId, out var grid)) return;
+
+        var node = GetNode(grid.GetTileRef(coordinates));
+        node.RemoveEntity(entity);
+    }
+
+    private PathfindingNode? GetNode(TransformComponent xform)
+    {
+        if (!_mapManager.TryGetGrid(xform.GridID, out var grid)) return null;
+        return GetNode(grid.GetTileRef(xform.Coordinates));
+    }
+
+    private PathfindingNode? GetNode(EntityCoordinates coordinates)
+    {
+        if (!_mapManager.TryGetGrid(coordinates.GetGridId(EntityManager), out var grid)) return null;
+        return GetNode(grid.GetTileRef(coordinates));
+    }
+
     /// <summary>
     /// When an entity moves around we'll remove it from its old node and add it to its new node (if applicable)
     /// </summary>
@@ -159,27 +195,19 @@ private void OnEntityMove(MoveEvent moveEvent)
 
         // If we've moved to space or the likes then remove us.
         if (!TryComp<PhysicsComponent>(moveEvent.Sender, out var physics) ||
-            !IsRelevant(xform, physics) ||
-            moveEvent.NewPosition.GetGridId(EntityManager) == GridId.Invalid)
+            !IsRelevant(xform, physics))
         {
-            OnEntityRemove(moveEvent.Sender, xform);
+            OnEntityRemove(moveEvent.Sender, moveEvent.OldPosition);
             return;
         }
 
-        var oldGridId = moveEvent.OldPosition.GetGridId(EntityManager);
-        var gridId = moveEvent.NewPosition.GetGridId(EntityManager);
+        var oldNode = GetNode(moveEvent.OldPosition);
+        var newNode = GetNode(moveEvent.NewPosition);
 
-        if (_mapManager.TryGetGrid(oldGridId, out var oldGrid))
-        {
-            var oldNode = GetNode(oldGrid.GetTileRef(moveEvent.OldPosition));
-            oldNode.RemoveEntity(moveEvent.Sender);
-        }
+        if (oldNode?.Equals(newNode) == true) return;
 
-        if (_mapManager.TryGetGrid(gridId, out var grid))
-        {
-            var newNode = GetNode(grid.GetTileRef(moveEvent.OldPosition));
-            newNode.AddEntity(moveEvent.Sender, physics, EntityManager);
-        }
+        oldNode?.RemoveEntity(moveEvent.Sender);
+        newNode?.AddEntity(moveEvent.Sender, physics, EntityManager);
     }
 
     // TODO: Need to rethink the pathfinder utils (traversable etc.). Maybe just chuck them all in PathfindingSystem

Content.Server/Disposal/Tube/DisposalTubeSystem.cs

@@ -114,7 +114,7 @@ private void OnOpenTaggerUIAttempt(EntityUid uid, DisposalTaggerComponent router
         private static void BodyTypeChanged(
             EntityUid uid,
             DisposalTubeComponent component,
-            PhysicsBodyTypeChangedEvent args)
+            ref PhysicsBodyTypeChangedEvent args)
         {
             component.AnchoredChanged();
         }

Content.Server/ParticleAccelerator/EntitySystems/ParticleAcceleratorSystem.Parts.cs

@@ -15,7 +15,7 @@ private void InitializePartSystem()
         private static void BodyTypeChanged(
             EntityUid uid,
             ParticleAcceleratorPartComponent component,
-            PhysicsBodyTypeChangedEvent args)
+            ref PhysicsBodyTypeChangedEvent args)
         {
             component.OnAnchorChanged();
         }

Content.Server/Singularity/EntitySystems/ContainmentFieldGeneratorSystem.cs

@@ -57,7 +57,7 @@ private void HandleFieldCollide(EntityUid uid, ContainmentFieldComponent compone
         private static void BodyTypeChanged(
             EntityUid uid,
             ContainmentFieldGeneratorComponent component,
-            PhysicsBodyTypeChangedEvent args)
+            ref PhysicsBodyTypeChangedEvent args)
         {
             component.OnAnchoredChanged();
         }

Resources/Prototypes/Entities/Mobs/NPCs/simplemob.yml

@@ -4,6 +4,9 @@
   id: SimpleSpaceMobBase # Mob without barotrauma, freezing and asphyxiation (for space carps!?)
   suffix: AI
   components:
+  - type: Tag
+    tags:
+    - DoorBumpOpener
   - type: Reactive
     groups:
       Flammable: [Touch]

Resources/Prototypes/Entities/Mobs/NPCs/xeno.yml

@@ -31,7 +31,7 @@
     fixtures:
     - shape:
         !type:PhysShapeCircle
-        radius: 0.35
+        radius: 0.25
       mass: 120
       mask:
       - MobMask
@@ -88,6 +88,8 @@
   - type: Tag
     tags:
       - CannotSuicide
+      - DoorBumpOpener
+      - FootstepSound
   - type: NoSlip
 
 - type: entity