AIObjectiveGoTo.cs

using Microsoft.Xna.Framework;
using System;
using System.Collections.Generic;
using System.Linq;
using Barotrauma.Extensions;
 
namespace Barotrauma
{
    class AIObjectiveGoTo : AIObjective
    {
        public override Identifier Identifier { get; set; } = "go to".ToIdentifier();
 
        public override bool KeepDivingGearOn => GetTargetHull() == null;
 
        private AIObjectiveFindDivingGear findDivingGear;
        private readonly bool repeat;
        //how long until the path to the target is declared unreachable
        private float waitUntilPathUnreachable;
        private readonly bool getDivingGearIfNeeded;
 
        public Func<bool> requiredCondition;
        public Func<PathNode, bool> endNodeFilter;
 
        public Func<float> PriorityGetter;
 
        public bool IsFollowOrder;
        public bool IsWaitOrder;
        public bool Mimic;
 
        public bool SpeakIfFails { get; set; } = true;
        public bool DebugLogWhenFails { get; set; } = true;
        public bool UsePathingOutside { get; set; } = true;
 
        public float ExtraDistanceWhileSwimming;
        public float ExtraDistanceOutsideSub;
        private float _closeEnoughMultiplier = 1;
        public float CloseEnoughMultiplier
        {
            get { return _closeEnoughMultiplier; }
            set { _closeEnoughMultiplier = Math.Max(value, 1); }
        }
        private float _closeEnough = 50;
        private readonly float minDistance = 50;
        private readonly float seekGapsInterval = 1;
        private float seekGapsTimer;
        private bool cantFindDivingGear;
 
        public float CloseEnough
        {
            get
            {
                if (IsFollowOrder && Target is Character targetCharacter && (targetCharacter.CurrentHull == null) != (character.CurrentHull == null))
                {
                    // Keep close when the target is going inside/outside
                    return minDistance;
                }
                float dist = _closeEnough * CloseEnoughMultiplier;
                float extraMultiplier = Math.Clamp(CloseEnoughMultiplier * 0.6f, 1, 3);
                if (character.AnimController.InWater)
                {
                    dist += ExtraDistanceWhileSwimming * extraMultiplier;
                }
                if (character.CurrentHull == null)
                {
                    dist += ExtraDistanceOutsideSub * extraMultiplier;
                }
                return dist;
            }
            set
            {
                _closeEnough = Math.Max(minDistance, value);
            }
        }
        public bool IgnoreIfTargetDead { get; set; }
        public bool AllowGoingOutside { get; set; }
 
        public bool FaceTargetOnCompleted { get; set; } = true;
 
        public bool AlwaysUseEuclideanDistance { get; set; } = true;
 
        public bool UseDistanceRelativeToAimSourcePos { get; set; } = false;
 
        public override bool AbandonWhenCannotCompleteSubObjectives => false;
 
        protected override bool AllowOutsideSubmarine => AllowGoingOutside;
        protected override bool AllowInAnySub => true;
 
        public Identifier DialogueIdentifier { get; set; } = "dialogcannotreachtarget".ToIdentifier();
        public LocalizedString TargetName { get; set; }
 
        public ISpatialEntity Target { get; private set; }
 
        public float? OverridePriority = null;
 
        public Func<bool> SpeakCannotReachCondition { get; set; }
 
        protected override float GetPriority()
        {
            bool isOrder = objectiveManager.IsOrder(this);
            if (!IsAllowed)
            {
                Priority = 0;
                Abandon = !isOrder;
                return Priority;
            }
            if (Target == null || Target is Entity e && e.Removed)
            {
                Priority = 0;
                Abandon = !isOrder;
            }
            if (IgnoreIfTargetDead && Target is Character character && character.IsDead)
            {
                Priority = 0;
                Abandon = !isOrder;
            }
            else
            {
                if (PriorityGetter != null)
                {
                    Priority = PriorityGetter();
                }
                else if (OverridePriority.HasValue)
                {
                    Priority = OverridePriority.Value;
                }
                else
                {
                    Priority = isOrder ? objectiveManager.GetOrderPriority(this) : 10;
                }
            }
            return Priority;
        }
 
        private readonly float avoidLookAheadDistance = 5;
        private readonly float pathWaitingTime = 3;
 
        public AIObjectiveGoTo(ISpatialEntity target, Character character, AIObjectiveManager objectiveManager, bool repeat = false, bool getDivingGearIfNeeded = true, float priorityModifier = 1, float closeEnough = 0)
            : base(character, objectiveManager, priorityModifier)
        {
            Target = target;
            this.repeat = repeat;
            waitUntilPathUnreachable = pathWaitingTime;
            this.getDivingGearIfNeeded = getDivingGearIfNeeded;
            if (Target is Item i)
            {
                CloseEnough = Math.Max(CloseEnough, i.InteractDistance + Math.Max(i.Rect.Width, i.Rect.Height) / 2);
            }
            else if (Target is Character)
            {
                //if closeEnough value is given, allow setting CloseEnough as low as 50, otherwise above AIObjectiveGetItem.DefaultReach
                CloseEnough = Math.Max(closeEnough, MathUtils.NearlyEqual(closeEnough, 0.0f) ? AIObjectiveGetItem.DefaultReach : minDistance);
            }
            else
            {
                CloseEnough = closeEnough;
            }
        }
 
        private void SpeakCannotReach()
        {
#if DEBUG
            if (DebugLogWhenFails)
            {
                DebugConsole.NewMessage($"{character.Name}: Cannot reach the target: {Target}", Color.Yellow);
            }
#endif
            if (!character.IsOnPlayerTeam) { return; }
            if (objectiveManager.CurrentOrder != objectiveManager.CurrentObjective) { return; }
            if (DialogueIdentifier == null) { return; }
            if (!SpeakIfFails) { return; }
            if (SpeakCannotReachCondition != null && !SpeakCannotReachCondition()) { return; }
            LocalizedString msg = TargetName == null ?
                TextManager.Get(DialogueIdentifier) :
                TextManager.GetWithVariable(DialogueIdentifier, "[name]".ToIdentifier(), TargetName, formatCapitals: Target is Character ? FormatCapitals.No : FormatCapitals.Yes);
            if (msg.IsNullOrEmpty() || !msg.Loaded) { return; }
            character.Speak(msg.Value, identifier: DialogueIdentifier, minDurationBetweenSimilar: 20.0f);
        }
 
        public void ForceAct(float deltaTime) => Act(deltaTime);
 
        protected override void Act(float deltaTime)
        {
            if (Target == null)
            {
                Abandon = true;
                return;
            }
            if (Target == character || character.SelectedBy != null && HumanAIController.IsFriendly(character.SelectedBy))
            {
                // Wait
                character.AIController.SteeringManager.Reset();
                return;
            }
            character.SelectedItem = null;
            if (character.SelectedSecondaryItem != null && !character.SelectedSecondaryItem.IsLadder)
            {
                character.SelectedSecondaryItem = null;
            }
            if (Target is Entity e)
            {
                if (e.Removed)
                {
                    Abandon = true;
                    return;
                }
                else
                {
                    character.AIController.SelectTarget(e.AiTarget);
                }
            }
            Hull targetHull = GetTargetHull();
            if (!IsFollowOrder)
            {
                // Abandon if going through unsafe paths or targeting unsafe hulls.
                bool isUnreachable = HumanAIController.UnreachableHulls.Contains(targetHull);
                if (!objectiveManager.CurrentObjective.IgnoreUnsafeHulls)
                {
                    // Wait orders check this so that the bot temporarily leaves the unsafe hull.
                    // Non-orders (that are not set to ignore the unsafe hulls) abandon. In practice this means e.g. repair and clean up item subobjectives (of the looping parent objective).
                    // Other orders are only abandoned if the hull is unreachable, because the path is invalid or not found at all.
                    if (IsWaitOrder || !objectiveManager.HasOrders())
                    {
                        if (HumanAIController.UnsafeHulls.Contains(targetHull))
                        {
                            isUnreachable = true;
                            HumanAIController.AskToRecalculateHullSafety(targetHull);
                        }
                        else if (PathSteering?.CurrentPath != null)
                        {
                            foreach (WayPoint wp in PathSteering.CurrentPath.Nodes)
                            {
                                if (wp.CurrentHull == null) { continue; }
                                if (HumanAIController.UnsafeHulls.Contains(wp.CurrentHull))
                                {
                                    isUnreachable = true;
                                    HumanAIController.AskToRecalculateHullSafety(wp.CurrentHull);
                                }
                            }
                        }
                    }
                }
                if (isUnreachable)
                {
                    SteeringManager.Reset();
                    if (PathSteering?.CurrentPath != null)
                    {
                        PathSteering.CurrentPath.Unreachable = true;
                    }
                    if (repeat)
                    {
                        SpeakCannotReach();
                    }
                    else
                    {
                        Abandon = true;
                    }
                    return;
                }
            }
            bool insideSteering = SteeringManager == PathSteering && PathSteering.CurrentPath != null && !PathSteering.IsPathDirty;
            bool isInside = character.CurrentHull != null;
            bool hasOutdoorNodes = insideSteering && PathSteering.CurrentPath.HasOutdoorsNodes;
            if (isInside && hasOutdoorNodes && !AllowGoingOutside)
            {
                Abandon = true;
            }
            else if (HumanAIController.SteeringManager == PathSteering)
            {
                waitUntilPathUnreachable -= deltaTime;
                if (HumanAIController.IsCurrentPathNullOrUnreachable)
                {
                    SteeringManager.Reset();
                    if (waitUntilPathUnreachable < 0)
                    {
                        waitUntilPathUnreachable = pathWaitingTime;
                        if (repeat && !IsCompleted)
                        {
                            if (!IsDoneFollowing())
                            {
                                SpeakCannotReach();
                            }
                        }
                        else
                        {
                            Abandon = true;
                        }
                    }
                }
                else if (HumanAIController.HasValidPath(requireUnfinished: false))
                {
                    waitUntilPathUnreachable = pathWaitingTime;
                }
            }
            if (Abandon) { return; }
            if (getDivingGearIfNeeded)
            {
                Character followTarget = Target as Character;
                bool needsDivingSuit = (!isInside || hasOutdoorNodes) && !character.IsImmuneToPressure;
                bool tryToGetDivingGear = needsDivingSuit || HumanAIController.NeedsDivingGear(targetHull, out needsDivingSuit);
                bool tryToGetDivingSuit = needsDivingSuit;
                if (Mimic && !character.IsImmuneToPressure)
                {
                    if (HumanAIController.HasDivingSuit(followTarget))
                    {
                        tryToGetDivingGear = true;
                        tryToGetDivingSuit = true;
                    }
                    else if (HumanAIController.HasDivingMask(followTarget) && character.CharacterHealth.OxygenLowResistance < 1)
                    {
                        tryToGetDivingGear = true;
                    }
                }
                bool needsEquipment = false;
                float minOxygen = AIObjectiveFindDivingGear.GetMinOxygen(character);
                if (tryToGetDivingSuit)
                {
                    needsEquipment = !HumanAIController.HasDivingSuit(character, minOxygen, requireSuitablePressureProtection: !objectiveManager.FailedToFindDivingGearForDepth);
                }
                else if (tryToGetDivingGear)
                {
                    needsEquipment = !HumanAIController.HasDivingGear(character, minOxygen);
                }
                if (character.LockHands)
                {
                    cantFindDivingGear = true;
                }
                if (cantFindDivingGear && needsDivingSuit)
                {
                    // Don't try to reach the target without a suit because it's lethal.
                    Abandon = true;
                    return;
                }
                if (needsEquipment && !cantFindDivingGear)
                {
                    SteeringManager.Reset();
                    TryAddSubObjective(ref findDivingGear, () => new AIObjectiveFindDivingGear(character, needsDivingSuit: tryToGetDivingSuit, objectiveManager),
                        onAbandon: () =>
                        {
                            cantFindDivingGear = true;
                            if (needsDivingSuit)
                            {
                                // Shouldn't try to reach the target without a suit, because it's lethal.
                                Abandon = true;
                            }
                            else
                            {
                                // Try again without requiring the diving suit
                                RemoveSubObjective(ref findDivingGear);
                                TryAddSubObjective(ref findDivingGear, () => new AIObjectiveFindDivingGear(character, needsDivingSuit: false, objectiveManager),
                                    onAbandon: () =>
                                    {
                                        Abandon = character.CurrentHull != null && (objectiveManager.CurrentOrder != this || Target.Submarine == null);
                                        RemoveSubObjective(ref findDivingGear);
                                    },
                                    onCompleted: () =>
                                    {
                                        RemoveSubObjective(ref findDivingGear);
                                    });
                            }
                        },
                        onCompleted: () => RemoveSubObjective(ref findDivingGear));
                    return;
                }
            }
            if (IsDoneFollowing())
            {
                OnCompleted();
                return;
            }
            float maxGapDistance = 500;
            Character targetCharacter = Target as Character;
            if (character.AnimController.InWater)
            {
                if (character.CurrentHull == null ||
                    IsFollowOrder && 
                    targetCharacter != null && (targetCharacter.CurrentHull == null) != (character.CurrentHull == null) &&
                    Vector2.DistanceSquared(character.WorldPosition, Target.WorldPosition) < maxGapDistance * maxGapDistance)
                {
                    if (seekGapsTimer > 0)
                    {
                        seekGapsTimer -= deltaTime;
                    }
                    else
                    {
                        bool isRuins = character.Submarine?.Info.IsRuin != null || Target.Submarine?.Info.IsRuin != null;
                        bool isEitherOneInside = isInside || Target.Submarine != null;
                        if (isEitherOneInside && (!isRuins || !HumanAIController.HasValidPath()))
                        {
                            SeekGaps(maxGapDistance);
                            seekGapsTimer = seekGapsInterval * Rand.Range(0.1f, 1.1f);
                            if (TargetGap != null)
                            {
                                // Check that nothing is blocking the way
                                Vector2 rayStart = character.SimPosition;
                                Vector2 rayEnd = TargetGap.SimPosition;
                                if (TargetGap.Submarine != null && character.Submarine == null)
                                {
                                    rayStart -= TargetGap.Submarine.SimPosition;
                                }
                                else if (TargetGap.Submarine == null && character.Submarine != null)
                                {
                                    rayEnd -= character.Submarine.SimPosition;
                                }
                                var closestBody = Submarine.CheckVisibility(rayStart, rayEnd, ignoreSubs: true);
                                if (closestBody != null)
                                {
                                    TargetGap = null;
                                }
                            }
                        }
                        else
                        {
                            TargetGap = null;
                        }
                    }
                }
                else
                {
                    TargetGap = null;
                }
                if (TargetGap != null)
                {
                    if (TargetGap.FlowTargetHull != null && HumanAIController.SteerThroughGap(TargetGap, IsFollowOrder ? Target.WorldPosition : TargetGap.FlowTargetHull.WorldPosition, deltaTime))
                    {
                        SteeringManager.SteeringAvoid(deltaTime, avoidLookAheadDistance, weight: 1);
                        return;
                    }
                    else
                    {
                        TargetGap = null;
                    }
                }
                if (checkScooterTimer <= 0)
                {
                    useScooter = false;
                    checkScooterTimer = checkScooterTime * Rand.Range(0.75f, 1.25f);
                    Item scooter = null;
                    bool shouldUseScooter = Mimic && targetCharacter != null && targetCharacter.HasEquippedItem(Tags.Scooter, allowBroken: false);
                    if (!shouldUseScooter)
                    {
                        float threshold = 500;
                        if (isInside)
                        {
                            Vector2 diff = Target.WorldPosition - character.WorldPosition;
                            shouldUseScooter = Math.Abs(diff.X) > threshold || Math.Abs(diff.Y) > 150;
                        }
                        else
                        {
                            shouldUseScooter = Vector2.DistanceSquared(character.WorldPosition, Target.WorldPosition) > threshold * threshold;
                        }
                    }
                    if (HumanAIController.HasItem(character, Tags.Scooter, out IEnumerable<Item> equippedScooters, recursive: false, requireEquipped: true))
                    {
                        // Currently equipped scooter
                        scooter = equippedScooters.FirstOrDefault();
                    }
                    else if (shouldUseScooter)
                    {
                        var leftHandItem = character.GetEquippedItem(slotType: InvSlotType.LeftHand);
                        var rightHandItem = character.GetEquippedItem(slotType: InvSlotType.RightHand);
                        bool handsFull = 
                            (leftHandItem != null && !character.Inventory.IsAnySlotAvailable(leftHandItem) && !character.Inventory.TryPutItem(leftHandItem, character, InvSlotType.Bag.ToEnumerable())) ||
                            (rightHandItem != null && !character.Inventory.IsAnySlotAvailable(rightHandItem) && !character.Inventory.TryPutItem(rightHandItem, character, InvSlotType.Bag.ToEnumerable()));
                        if (!handsFull)
                        {
                            bool hasBattery = false;
                            if (HumanAIController.HasItem(character, Tags.Scooter, out IEnumerable<Item> nonEquippedScooters, containedTag: Tags.MobileBattery, conditionPercentage: 1, requireEquipped: false))
                            {
                                // Non-equipped scooter with a battery
                                scooter = nonEquippedScooters.FirstOrDefault();
                                hasBattery = true;
                            }
                            else if (HumanAIController.HasItem(character, Tags.Scooter, out IEnumerable<Item> _nonEquippedScooters, requireEquipped: false))
                            {
                                // Non-equipped scooter without a battery
                                scooter = _nonEquippedScooters.FirstOrDefault();
                                // Non-recursive so that the bots won't take batteries from other items. Also means that they can't find batteries inside containers. Not sure how to solve this.
                                hasBattery = HumanAIController.HasItem(character, Tags.MobileBattery, out _, requireEquipped: false, conditionPercentage: 1, recursive: false);
                            }
                            if (scooter != null && hasBattery)
                            {
                                // Equip only if we have a battery available
                                HumanAIController.TakeItem(scooter, character.Inventory, equip: true, dropOtherIfCannotMove: false, allowSwapping: true, storeUnequipped: false);
                            }
                        }
                    }
                    if (scooter != null && character.HasEquippedItem(scooter))
                    {
                        if (shouldUseScooter)
                        {
                            useScooter = true;
                            // Check the battery
                            if (scooter.ContainedItems.None(i => i.Condition > 0))
                            {
                                // Try to switch batteries
                                if (HumanAIController.HasItem(character, Tags.MobileBattery, out IEnumerable<Item> batteries, conditionPercentage: 1, recursive: false))
                                {
                                    scooter.ContainedItems.ForEachMod(emptyBattery => character.Inventory.TryPutItem(emptyBattery, character, CharacterInventory.AnySlot));
                                    if (!scooter.Combine(batteries.OrderByDescending(b => b.Condition).First(), character))
                                    {
                                        useScooter = false;
                                    }
                                }
                                else
                                {
                                    useScooter = false;
                                }
                            }
                        }
                        if (!useScooter)
                        {
                            // Unequip
                            character.Inventory.TryPutItem(scooter, character, CharacterInventory.AnySlot);
                        }
                    }
                }
                else
                {
                    checkScooterTimer -= deltaTime;
                }
            }
            else
            {
                TargetGap = null;
                useScooter = false;
                checkScooterTimer = 0;
            }
            if (SteeringManager == PathSteering)
            {
                Vector2 targetPos = character.GetRelativeSimPosition(Target);
                Func<PathNode, bool> nodeFilter = null;
                if (isInside && !AllowGoingOutside)
                {
                    nodeFilter = n => n.Waypoint.CurrentHull != null;
                }
                else if (!isInside)
                {
                    if (HumanAIController.UseOutsideWaypoints)
                    {
                        nodeFilter = n => n.Waypoint.Submarine == null;
                    }
                    else
                    {
                        nodeFilter = n => n.Waypoint.Submarine != null || n.Waypoint.Ruin != null;
                    }         
                }
                if (!isInside && !UsePathingOutside)
                {
                    character.ReleaseSecondaryItem();
                    PathSteering.SteeringSeekSimple(character.GetRelativeSimPosition(Target), 10);
                    if (character.AnimController.InWater)
                    {
                        SteeringManager.SteeringAvoid(deltaTime, avoidLookAheadDistance, weight: 15);
                    }
                }
                else
                {
                    PathSteering.SteeringSeek(targetPos, weight: 1,
                        startNodeFilter: n => (n.Waypoint.CurrentHull == null) == (character.CurrentHull == null),
                        endNodeFilter: endNodeFilter,
                        nodeFilter: nodeFilter,
                        checkVisiblity: Target is Item || Target is Character);
                }
                if (!isInside && (PathSteering.CurrentPath == null || PathSteering.IsPathDirty || PathSteering.CurrentPath.Unreachable))
                {
                    if (useScooter)
                    {
                        UseScooter(Target.WorldPosition);
                    }
                    else
                    {
                        character.ReleaseSecondaryItem();
                        SteeringManager.SteeringManual(deltaTime, Vector2.Normalize(Target.WorldPosition - character.WorldPosition));
                        if (character.AnimController.InWater)
                        {
                            SteeringManager.SteeringAvoid(deltaTime, avoidLookAheadDistance, weight: 2);
                        }
                    }
                }
                else if (useScooter && PathSteering.CurrentPath?.CurrentNode != null)
                {
                    UseScooter(PathSteering.CurrentPath.CurrentNode.WorldPosition);
                }
            }
            else
            {
                if (useScooter)
                {
                    UseScooter(Target.WorldPosition);
                }
                else
                {
                    character.ReleaseSecondaryItem();
                    SteeringManager.SteeringSeek(character.GetRelativeSimPosition(Target), 10);
                    if (character.AnimController.InWater)
                    {
                        SteeringManager.SteeringAvoid(deltaTime, avoidLookAheadDistance, weight: 15);
                    }
                }
            }
 
            void UseScooter(Vector2 targetWorldPos)
            {
                if (!character.HasEquippedItem("scooter".ToIdentifier())) { return; }
                SteeringManager.Reset();
                character.ReleaseSecondaryItem();
                character.CursorPosition = targetWorldPos;
                if (character.Submarine != null)
                {
                    character.CursorPosition -= character.Submarine.Position;
                }
                Vector2 diff = character.CursorPosition - character.Position;
                Vector2 dir = Vector2.Normalize(diff);
                if (character.CurrentHull == null && IsFollowOrder)
                {
                    float sqrDist = diff.LengthSquared();
                    if (sqrDist > MathUtils.Pow2(CloseEnough * 1.5f))
                    {
                        SteeringManager.SteeringManual(1.0f, dir);
                    }
                    else
                    {
                        float dot = Vector2.Dot(dir, VectorExtensions.Forward(character.AnimController.Collider.Rotation + MathHelper.PiOver2));
                        bool isFacing = dot > 0.9f;
                        if (!isFacing && sqrDist > MathUtils.Pow2(CloseEnough))
                        {
                            SteeringManager.SteeringManual(1.0f, dir);
                        }
                    }
                }
                else
                {
                    SteeringManager.SteeringManual(1.0f, dir);
                }
                character.SetInput(InputType.Aim, false, true);
                character.SetInput(InputType.Shoot, false, true);
            }
            
            bool IsDoneFollowing()
            {
                if (repeat && IsCloseEnough)
                {
                    if (requiredCondition == null || requiredCondition())
                    {
                        if (character.CanSeeTarget(Target) && (!character.IsClimbing || IsFollowOrder))
                        {
                            return true;
                        }
                    }
                }
                return false;
            }
        }
 
        private bool useScooter;
        private float checkScooterTimer;
        private readonly float checkScooterTime = 0.5f;
 
        public Hull GetTargetHull() => GetTargetHull(Target);
 
        public static Hull GetTargetHull(ISpatialEntity target)
        {
            if (target is Hull h)
            {
                return h;
            }
            else if (target is Item i)
            {
                return i.CurrentHull;
            }
            else if (target is Character c)
            {
                return c.CurrentHull ?? c.AnimController.CurrentHull;
            }
            else if (target is Structure structure)
            {
                return Hull.FindHull(structure.Position, useWorldCoordinates: false);
            }
            else if (target is Gap g)
            {
                return g.FlowTargetHull;
            }
            else if (target is WayPoint wp)
            {
                return wp.CurrentHull;
            }
            else if (target is FireSource fs)
            {
                return fs.Hull;
            }
            else if (target is OrderTarget ot)
            {
                return ot.Hull;
            }
            return null;
        }
 
        public Gap TargetGap { get; private set; }
        private void SeekGaps(float maxDistance)
        {
            Gap selectedGap = null;
            float selectedDistance = -1;
            Vector2 toTargetNormalized = Vector2.Normalize(Target.WorldPosition - character.WorldPosition);
            foreach (Gap gap in Gap.GapList)
            {
                if (gap.Open < 1) { continue; }
                if (gap.Submarine == null) { continue; }
                if (!IsFollowOrder)
                {
                    if (gap.FlowTargetHull == null) { continue; }
                    if (gap.Submarine != Target.Submarine) { continue; }
                }
                Vector2 toGap = gap.WorldPosition - character.WorldPosition;
                if (Vector2.Dot(Vector2.Normalize(toGap), toTargetNormalized) < 0) { continue; }
                float squaredDistance = toGap.LengthSquared();
                if (squaredDistance > maxDistance * maxDistance) { continue; }
                if (selectedGap == null || squaredDistance < selectedDistance)
                {
                    selectedGap = gap;
                    selectedDistance = squaredDistance;
                }
            }
            TargetGap = selectedGap;
        }
 
        public bool IsCloseEnough
        {
            get
            {
                if (character.IsClimbing)
                {
                    if (SteeringManager == PathSteering && PathSteering.CurrentPath != null && !PathSteering.CurrentPath.Finished && PathSteering.IsCurrentNodeLadder && !PathSteering.CurrentPath.IsAtEndNode)
                    {
                        if (Target.WorldPosition.Y > character.WorldPosition.Y)
                        {
                            // The target is still above us
                            return false;
                        }
                        if (!character.AnimController.IsAboveFloor)
                        {
                            // Going through a hatch
                            return false;
                        }
                    }
                }
                if (!AlwaysUseEuclideanDistance && !character.AnimController.InWater)
                {
                    float yDist = Math.Abs(Target.WorldPosition.Y - character.WorldPosition.Y);
                    if (yDist > CloseEnough) { return false; }
                    float xDist = Math.Abs(Target.WorldPosition.X - character.WorldPosition.X);
                    return xDist <= CloseEnough;
                }
                Vector2 sourcePos = UseDistanceRelativeToAimSourcePos ? character.AnimController.AimSourceWorldPos : character.WorldPosition;
                return Vector2.DistanceSquared(Target.WorldPosition, sourcePos) < CloseEnough * CloseEnough;
            }
        }
 
        protected override bool CheckObjectiveSpecific()
        {
            if (IsCompleted) { return true; }
            // First check the distance and then if can interact (heaviest)
            if (Target == null)
            {
                Abandon = true;
                return false;
            }
            if (repeat)
            {
                return false;
            }
            else
            {
                if (IsCloseEnough)
                {
                    if (requiredCondition == null || requiredCondition())
                    {
                        if (Target is Item item)
                        {
                            if (character.CanInteractWith(item, out _, checkLinked: false)) { IsCompleted = true; }
                        }
                        else if (Target is Character targetCharacter)
                        {
                            character.SelectCharacter(targetCharacter);
                            if (character.CanInteractWith(targetCharacter, skipDistanceCheck: true)) { IsCompleted = true; }
                            character.DeselectCharacter();
                        }
                        else
                        {
                            IsCompleted = true;
                        }
                    }
                }
            }
            return IsCompleted;
        }
 
        protected override void OnAbandon()
        {
            StopMovement();
            if (SteeringManager == PathSteering)
            {
                PathSteering.ResetPath();
            }
            SpeakCannotReach();
            base.OnAbandon();
        }
 
        private void StopMovement()
        {
            SteeringManager?.Reset();
            if (FaceTargetOnCompleted && Target is Entity { Removed: false })
            {
                HumanAIController.FaceTarget(Target);
            }
        }
 
        protected override void OnCompleted()
        {
            StopMovement();
            if (Target is WayPoint { Ladders: null })
            {
                // Release ladders when ordered to wait at a spawnpoint.
                // This is a special case specifically meant for NPCs that spawn in outposts with a wait order.
                // Otherwise they might keep holding to the ladders when the target is just next to it.
                if (character.IsClimbing && character.AnimController.IsAboveFloor)
                {
                    character.StopClimbing();
                }
            }
            base.OnCompleted();
        }
 
        public override void Reset()
        {
            base.Reset();
            findDivingGear = null;
            seekGapsTimer = 0;
            TargetGap = null;
            if (SteeringManager is IndoorsSteeringManager pathSteering)
            {
                pathSteering.ResetPath();
            }
        }
    }
}