NPC refactor

[metalgearsloth]

• Prototypes everywhere
• More ECS
• Better debugging tools (TBC cough)

TODO:

• [ ] Docs on the dev wiki
• [ ] Enums instead of strings for the blackboard.

Alright so utility AI replaced with HTN. It's essentially just a tree of primitive tasks (nodes) and compound tasks (leaves). From a root compound task it gets expanded upon trying to find the first valid "plan". Compound tasks get expanded further and further until we only have primitive tasks remaining (a "plan"). A compound task can have N branches and each branch can have N sequential tasks. Each primitive task has an "operator" (the actual code that gets run) attached to it.

I've tried to move as much as I can to prototypes which also means it should be more re-usable (as exemplified by the linecount going down a lot... plus the removal of the old blackboard).

Plan A is considered better than plan B if it expands earlier (branch traversal record / method traversal record).

I moved the blackboard (AKA how the NPC thinks about data when planning) to just 1 class with an internal dictionary. It's kinda scuffed but I also couldn't think of anything easier as I need to be able to represent data changing during planning.

This also includes rudimentary dedicated melee + steering systems that will be built upon later. The reason they're in their own systems and not operators is because they'll require more detailed co-operation between NPCs (e.g. to avoid stacking) and it's just easier to do it in a dedicated system.

Pathfinding is largely untouched for now but it will be the first thing I come back to after my next PR after I suss out recast.

Requires: https://github.com/space-wizards/RobustToolbox/pull/3103

:cl:

• tweak: Pets will no longer try to run away when buckled or pulled.

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RSI Diff Bot; head commit 63733158e73ced51303d82de87a77eb1af349b71 merging into 138e328c046603250a0b5fbbcc16cb328cfd1423 This PR makes changes to 1 or more RSIs. Here is a summary of all changes:

Resources/Textures/Objects/Weapons/Guns/turrets.rsi

State	Old	New	Status
syndie_broken			Added
syndie_lethal			Added
syndie_off			Added
syndie_stun			Added

Edit: diff updated after 63733158e73ced51303d82de87a77eb1af349b71

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[metalgearsloth]

Just needs the collision avoidance split out and dev docs and then it's good for review (the line count is mostly just the debug map).

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[Partmedia]

Clicking the link to the docs in the PR description gives me: "Unauthorized You cannot create the page." Has this moved elsewhere?