[TM] Port TG Jump Point Search and SSpathfinder (#18984)

* move along move along

* Update bot.dm

* Diagonals are now more expensive

* Update path.dm

* Update parrot.dm

* Update path.dm

* Tweaks

* Fix cleanbot, add path safety

* Tweaked, added a safety, removed the previous one

* Update medbot.dm

* path.len isn't very safe as a whole, floorbots also had order of operations wrong

* Update medbot.dm

* clings not even once

* Back to the drawing board

* Update path.dm

* Make mules actually clear the drawn path.

* Make bots use step_towards unconditionally instead of flipping between step_to and Move

* Making extra sure the path is cleared. Somehow path was left over.

* Check for length as get_path_to is always true

* This and that

code/modules/antagonists/changeling/powers/tiny_prick.dm

@@ -41,7 +41,7 @@
 	user.hud_used.lingstingdisplay.invisibility = 101
 
 /datum/action/changeling/sting/can_sting(mob/user, mob/target)
-	if(!..() || !iscarbon(target) || !isturf(user.loc) || !AStar(user, target.loc, /turf/proc/Distance, cling.sting_range, simulated_only = 0))
+	if(!..() || !iscarbon(target) || !isturf(user.loc) || !length(get_path_to(user, target, max_distance = cling.sting_range, simulated_only = FALSE)))
 		return FALSE
 	if(!cling.chosen_sting)
 		to_chat(user, "We haven't prepared our sting yet!")

code/modules/mob/living/simple_animal/bot/bot.dm

@@ -193,6 +193,7 @@
 		data_hud.remove_hud_from(src)
 
  	GLOB.bots_list -= src
+	QDEL_NULL(path)
 	QDEL_NULL(Radio)
 	QDEL_NULL(access_card)
 
@@ -489,12 +490,12 @@ Movement proc for stepping a bot through a path generated through A-star.
 Pass a positive integer as an argument to override a bot's default speed.
 */
 /mob/living/simple_animal/bot/proc/bot_move(dest, move_speed)
-	if(!dest || !path || path.len == 0) //A-star failed or a path/destination was not set.
+	if(!dest || !path || !length(path)) //A-star failed or a path/destination was not set.
 		set_path(null)
 		return FALSE
 
 	dest = get_turf(dest) //We must always compare turfs, so get the turf of the dest var if dest was originally something else.
-	var/turf/last_node = get_turf(path[path.len]) //This is the turf at the end of the path, it should be equal to dest.
+	var/turf/last_node = get_turf(path[length(path)]) //This is the turf at the end of the path, it should be equal to dest.
 	if(get_turf(src) == dest) //We have arrived, no need to move again.
 		return TRUE
 
@@ -517,21 +518,12 @@ Pass a positive integer as an argument to override a bot's default speed.
 	if(!length(path))
 		return FALSE
 
-	// Only one destination
-	if(length(path) == 1)
-		step_to(src, path[1])
-		set_path(null)
-
-	else
-		// Move us slowly
-		Move(path[1], get_dir(src, path[1]), BOT_STEP_DELAY)
-		if(get_turf(src) == path[1]) //Successful move
-			increment_path()
-			tries = 0
-		else
-			tries++
-			return FALSE
+	if(!step_towards(src, path[1]))
+		tries++
+		return FALSE
 
+	increment_path()
+	tries = 0
 	return TRUE
 
 
@@ -546,18 +538,18 @@ Pass a positive integer as an argument to override a bot's default speed.
 	var/datum/job/captain/All = new/datum/job/captain
 	access_card.access = All.get_access() // Give the bot temporary all access
 
-	set_path(get_path_to(src, waypoint, /turf/proc/Distance_cardinal, 0, 200, id = access_card))
+	set_path(get_path_to(src, waypoint, 200, id = access_card))
 	calling_ai = caller //Link the AI to the bot!
 	ai_waypoint = waypoint
 
-	if(path && path.len) //Ensures that a valid path is calculated!
+	if(path && length(path)) //Ensures that a valid path is calculated!
 		if(!on)
 			turn_on() //Saves the AI the hassle of having to activate a bot manually.
 		if(client)
 			reset_access_timer_id = addtimer(CALLBACK (src, .proc/bot_reset), 600, TIMER_OVERRIDE|TIMER_STOPPABLE) //if the bot is player controlled, they get the extra access for a limited time
-			to_chat(src, "<span class='notice'><span class='big'>Priority waypoint set by [calling_ai] <b>[caller]</b>. Proceed to <b>[end_area.name]</b>.</span><br>[path.len-1] meters to destination. You have been granted additional door access for 60 seconds.</span>")
+			to_chat(src, "<span class='notice'><span class='big'>Priority waypoint set by [calling_ai] <b>[caller]</b>. Proceed to <b>[end_area.name]</b>.</span><br>[length(path)-1] meters to destination. You have been granted additional door access for 60 seconds.</span>")
 		if(message)
-			to_chat(calling_ai, "<span class='notice'>[bicon(src)] [name] called to [end_area.name]. [path.len-1] meters to destination.</span>")
+			to_chat(calling_ai, "<span class='notice'>[bicon(src)] [name] called to [end_area.name]. [length(path)-1] meters to destination.</span>")
 		pathset = TRUE
 		mode = BOT_RESPONDING
 		tries = 0
@@ -640,27 +632,26 @@ Pass a positive integer as an argument to override a bot's default speed.
 
 /mob/living/simple_animal/bot/proc/patrol_step()
 
-	if(client)		// In use by player, don't actually move.
+	if(client) // In use by player, don't actually move.
 		return
 
-	if(loc == patrol_target)		// reached target
+	if(loc == patrol_target) // reached target
 		//Find the next beacon matching the target.
 		if(!get_next_patrol_target())
 			find_patrol_target() //If it fails, look for the nearest one instead.
 		return
 
-	else if(path.len > 0 && patrol_target)		// valid path
-		var/turf/next = path[1]
-		if(next == loc)
+	else if(length(path) && patrol_target) // valid path
+		if(path[1] == loc)
 			increment_path()
 			return
 
 
-		var/moved = bot_move(patrol_target)//step_towards(src, next)	// attempt to move
+		var/moved = bot_move(patrol_target)//step_towards(src, next) // attempt to move
 		if(!moved) //Couldn't proceed the next step of the path BOT_STEP_MAX_RETRIES times
 			addtimer(CALLBACK(src, .proc/patrol_step_not_moved), 2)
 
-	else	// no path, so calculate new one
+	else // no path, so calculate new one
 		mode = BOT_START_PATROL
 
 /mob/living/simple_animal/bot/proc/patrol_step_not_moved()
@@ -766,13 +757,13 @@ Pass a positive integer as an argument to override a bot's default speed.
 // given an optional turf to avoid
 /mob/living/simple_animal/bot/proc/calc_path(turf/avoid)
 	check_bot_access()
-	set_path(get_path_to(src, patrol_target, /turf/proc/Distance_cardinal, 0, 120, id=access_card, exclude=avoid))
+	set_path(get_path_to(src, patrol_target, 120, id=access_card, exclude=avoid))
 
 /mob/living/simple_animal/bot/proc/calc_summon_path(turf/avoid)
 	set waitfor = FALSE
 	check_bot_access()
-	set_path(get_path_to(src, summon_target, /turf/proc/Distance_cardinal, 0, 150, id=access_card, exclude=avoid))
-	if(!path.len) //Cannot reach target. Give up and announce the issue.
+	set_path(get_path_to(src, summon_target, 150, id=access_card, exclude=avoid))
+	if(!length(path)) //Cannot reach target. Give up and announce the issue.
 		speak("Summon command failed, destination unreachable.",radio_channel)
 		bot_reset()
 
@@ -785,7 +776,7 @@ Pass a positive integer as an argument to override a bot's default speed.
 		bot_reset()
 		return
 
-	else if(path.len > 0 && summon_target)		//Proper path acquired!
+	else if(length(path) && summon_target)		//Proper path acquired!
 		var/turf/next = path[1]
 		if(next == loc)
 			increment_path()
@@ -1090,7 +1081,7 @@ Pass a positive integer as an argument to override a bot's default speed.
 
 
 /mob/living/simple_animal/bot/proc/increment_path()
-	if(!path || !path.len)
+	if(!path || !length(path))
 		return
 	var/image/I = path[path[1]]
 	if(I)

code/modules/mob/living/simple_animal/bot/cleanbot.dm

@@ -115,10 +115,15 @@
 		if(mode == BOT_PATROL)
 			bot_patrol()
 
+	if(target && loc == get_turf(target))
+		start_clean(target)
+		path = list()
+		target = null
+
 	if(target)
-		if(!path || path.len == 0) //No path, need a new one
+		if(!path || !length(path)) //No path, need a new one
 			//Try to produce a path to the target, and ignore airlocks to which it has access.
-			path = get_path_to(src, target.loc, /turf/proc/Distance_cardinal, 0, 30, id=access_card)
+			path = get_path_to(src, target, 30, id=access_card)
 			if(!bot_move(target))
 				add_to_ignore(target)
 				target = null
@@ -130,11 +135,6 @@
 			mode = BOT_IDLE
 			return
 
-	if(target && loc == target.loc)
-		start_clean(target)
-		path = list()
-		target = null
-
 	oldloc = loc
 
 /mob/living/simple_animal/bot/cleanbot/proc/get_targets()

code/modules/mob/living/simple_animal/bot/floorbot.dm

@@ -214,23 +214,6 @@
 				bot_patrol()
 
 	if(target)
-		if(path.len == 0)
-			if(!isturf(target))
-				var/turf/TL = get_turf(target)
-				path = get_path_to(src, TL, /turf/proc/Distance_cardinal, 0, 30, id=access_card,simulated_only = 0)
-			else
-				path = get_path_to(src, target, /turf/proc/Distance_cardinal, 0, 30, id=access_card,simulated_only = 0)
-
-			if(!bot_move(target))
-				add_to_ignore(target)
-				target = null
-				mode = BOT_IDLE
-				return
-		else if( !bot_move(target) )
-			target = null
-			mode = BOT_IDLE
-			return
-
 		if(loc == target || loc == target.loc)
 			if(istype(target, /obj/item/stack/tile/plasteel))
 				start_eattile(target)
@@ -251,6 +234,22 @@
 
 			path = list()
 			return
+		if(!length(path))
+			if(!isturf(target))
+				var/turf/TL = get_turf(target)
+				path = get_path_to(src, TL, 30, id=access_card,simulated_only = 0)
+			else
+				path = get_path_to(src, target, 30, id=access_card,simulated_only = 0)
+
+			if(!bot_move(target))
+				add_to_ignore(target)
+				target = null
+				mode = BOT_IDLE
+				return
+		else if(!bot_move(target))
+			target = null
+			mode = BOT_IDLE
+			return
 
 	oldloc = loc
 

code/modules/mob/living/simple_animal/bot/medbot.dm

@@ -322,7 +322,7 @@
 		return
 
 	//Patient has moved away from us!
-	else if(patient && path.len && (get_dist(patient,path[path.len]) > 2))
+	else if(patient && length(path) && (get_dist(patient,path[length(path)]) > 2))
 		path = list()
 		mode = BOT_IDLE
 		last_found = world.time
@@ -331,21 +331,21 @@
 		soft_reset()
 		return
 
-	if(patient && path.len == 0 && (get_dist(src,patient) > 1))
-		path = get_path_to(src, get_turf(patient), /turf/proc/Distance_cardinal, 0, 30,id=access_card)
+	if(patient && !length(path) && (get_dist(src,patient) > 1))
+		path = get_path_to(src, patient, 30,id=access_card)
 		mode = BOT_MOVING
-		if(!path.len) //try to get closer if you can't reach the patient directly
-			path = get_path_to(src, get_turf(patient), /turf/proc/Distance_cardinal, 0, 30,1,id=access_card)
-			if(!path.len) //Do not chase a patient we cannot reach.
+		if(!length(path)) //try to get closer if you can't reach the patient directly
+			path = get_path_to(src, patient, 30,1,id=access_card)
+			if(!length(path)) //Do not chase a patient we cannot reach.
 				soft_reset()
 
-	if(path.len > 0 && patient)
-		if(!bot_move(path[path.len]))
+	if(length(path) && patient)
+		if(!bot_move(path[length(path)]))
 			oldpatient = patient
 			soft_reset()
 		return
 
-	if(path.len > 8 && patient)
+	if(length(path) > 8 && patient)
 		frustration++
 
 	if(auto_patrol && !stationary_mode && !patient)

code/modules/mob/living/simple_animal/bot/mulebot.dm

@@ -80,6 +80,9 @@
 	QDEL_NULL(cell)
 	return ..()
 
+/mob/living/simple_animal/bot/mulebot/CanPathfindPass(obj/item/card/id/ID, to_dir, atom/movable/caller, no_id)
+	return FALSE
+
 /mob/living/simple_animal/bot/mulebot/can_buckle()
 	return FALSE //no ma'am, you cannot buckle mulebots to chairs
 
@@ -465,7 +468,7 @@
 /mob/living/simple_animal/bot/mulebot/call_bot()
 	..()
 	var/area/dest_area
-	if(path && path.len)
+	if(path && length(path))
 		target = ai_waypoint //Target is the end point of the path, the waypoint set by the AI.
 		dest_area = get_area(target)
 		destination = format_text(dest_area.name)
@@ -514,6 +517,7 @@
 				var/turf/next = path[1]
 				reached_target = FALSE
 				if(next == loc)
+					increment_path()
 					path -= next
 					return
 				if(isturf(next))
@@ -521,6 +525,7 @@
 					var/moved = step_towards(src, next) // attempt to move
 					if(moved && oldloc!=loc) // successful move
 						blockcount = 0
+						increment_path()
 						path -= loc
 						if(destination == home_destination)
 							mode = BOT_GO_HOME
@@ -577,7 +582,7 @@
 // given an optional turf to avoid
 /mob/living/simple_animal/bot/mulebot/calc_path(turf/avoid = null)
 	check_bot_access()
-	set_path(get_path_to(src, target, /turf/proc/Distance_cardinal, 0, 250, id=access_card, exclude=avoid))
+	set_path(get_path_to(src, target, 250, id=access_card, exclude=avoid))
 
 // sets the current destination
 // signals all beacons matching the delivery code

code/modules/mob/living/simple_animal/parrot.dm

@@ -414,7 +414,7 @@
 			parrot_state = PARROT_SWOOP|PARROT_RETURN
 			return
 
-		var/list/path_to_take = get_path_to(src, get_turf(parrot_interest), /turf/proc/Distance_cardinal)
+		var/list/path_to_take = get_path_to(src, parrot_interest)
 		if(length(path_to_take) <= 1) // The target is below us
 			parrot_interest = null
 			parrot_state = PARROT_SWOOP|PARROT_RETURN
@@ -439,7 +439,7 @@
 			icon_state = "parrot_sit"
 			return
 
-		var/list/path_to_take = get_path_to(src, get_turf(parrot_perch), /turf/proc/Distance_cardinal)
+		var/list/path_to_take = get_path_to(src, parrot_perch)
 		if(length(path_to_take) <= 1) // The target is below us
 			parrot_perch = null
 			parrot_state = PARROT_WANDER
@@ -544,7 +544,7 @@
 		var/turf/T = get_turf(O)
 		if(my_turf != T)
 			var/cache_id = "[my_turf.UID()]_[T.UID()]"
-			computed_paths[cache_id] = computed_paths[cache_id] || get_path_to(src, T, /turf/proc/Distance_cardinal)
+			computed_paths[cache_id] = computed_paths[cache_id] || get_path_to(src, T)
 			if(!length(computed_paths[cache_id]))
 				continue
 
@@ -760,5 +760,5 @@
 	animate(held_item_icon, transform = m180)
 	underlays += held_item_icon
 
-/mob/living/simple_animal/parrot/CanAStarPassTo(ID, dir, obj/destination)
+/mob/living/simple_animal/parrot/CanPathfindPassTo(ID, dir, obj/destination)
 	return is_type_in_typecache(destination, desired_perches)

code/modules/surgery/surgery.dm

@@ -474,12 +474,12 @@
 	var/germs = 0
 
 	for(var/mob/living/carbon/human/H in view(2, E.loc))//germs from people
-		if(AStar(E.loc, H.loc, /turf/proc/Distance, 2, simulated_only = 0))
+		if(length(get_path_to(E.loc, H.loc, max_distance = 2, simulated_only = FALSE)))
 			if(!HAS_TRAIT(H, TRAIT_NOBREATH) && !H.wear_mask) //wearing a mask helps preventing people from breathing cooties into open incisions
 				germs += H.germ_level * 0.25
 
 	for(var/obj/effect/decal/cleanable/M in view(2, E.loc))//germs from messes
-		if(AStar(E.loc, M.loc, /turf/proc/Distance, 2, simulated_only = 0))
+		if(length(get_path_to(E.loc, M.loc, 2, simulated_only = FALSE)))
 			germs++
 
 	if(tool && tool.blood_DNA && length(tool.blood_DNA)) //germs from blood-stained tools