Restore autonomous return home
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Meta Vens
parent
3a05d1a143
commit
d79aef1053
2 changed files with 160 additions and 1 deletions
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@ -26,6 +26,7 @@ internal sealed class AetheriaDaemonYmirSmokeChecks
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SchedulerCollapsesDuplicateAssignmentMarkers();
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SchedulerAssignsShortestGalaxyRoute();
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AgentTraversesGalaxyRouteBeforeExecutingTask();
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IdleAgentReturnsToCanonicalHomeAndDocks();
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AttackAgentControlsOptimumRangeThroughMovementLever();
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AgentCompletesAttackTaskThroughTargetFireAndYmir();
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AgentCompletesHaulTaskThroughMovementAndCargoCommands();
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@ -760,6 +761,72 @@ internal sealed class AetheriaDaemonYmirSmokeChecks
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"agent must execute the task only after arriving in its destination zone");
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}
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private static void IdleAgentReturnsToCanonicalHomeAndDocks()
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{
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var worker = Entity(0, 0, "workers");
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worker.EntityId = "worker.return-home";
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worker.HomeEntityId = "station.home";
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worker.AgentTaskCapabilities = [AetheriaRuntimeAgentTaskTypes.Haul];
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var home = Entity(0, 60, "workers");
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home.EntityId = "station.home";
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home.Kind = "station";
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var run = new AetheriaRuntimeRunCheckpointCommit
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{
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RunId = "agent-return-home-smoke",
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Zones =
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[
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new AetheriaRuntimeZoneSnapshotCommit { ZoneIndex = 0, PositionX = 0, GravityTerrainRadius = 100, AdjacentZoneIndices = [1], Entities = [worker] },
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new AetheriaRuntimeZoneSnapshotCommit { ZoneIndex = 1, PositionX = 100, GravityTerrainRadius = 100, AdjacentZoneIndices = [0, 2], Entities = Array.Empty<AetheriaRuntimeEntitySnapshotCommit>() },
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new AetheriaRuntimeZoneSnapshotCommit { ZoneIndex = 2, PositionX = 200, GravityTerrainRadius = 100, AdjacentZoneIndices = [1], Entities = [home] }
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]
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};
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var sawApproach = false;
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var travelCount = 0;
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var sawDock = false;
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var rejectedHomeCommands = new List<string>();
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for (var frame = 0; frame < 40; frame++)
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{
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var tick = AetheriaRuntimeDaemonTickRunner.Tick(
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Path.Combine(Path.GetTempPath(), "aetheria-agent-return-home-smoke.cc"),
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run,
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new AetheriaRuntimeDaemonTickOptions
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{
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WorldPhysics = new AetheriaYmirWorldPhysics(),
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FrameId = frame,
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FixedDeltaSeconds = 0.1,
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SimulationTimeSeconds = frame * 0.1,
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BuildPublications = false
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});
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sawApproach |= tick.OperationResult.AppliedCommandIds.Any(id => id.Contains(":home-approach", StringComparison.Ordinal));
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travelCount += tick.OperationResult.AppliedCommandIds.Count(id => id.EndsWith(":home-travel", StringComparison.Ordinal));
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sawDock |= tick.OperationResult.AppliedCommandIds.Any(id => id.EndsWith(":home-dock", StringComparison.Ordinal));
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rejectedHomeCommands.AddRange(tick.OperationResult.RejectedCommandIds.Where(id => id.Contains(":home-", StringComparison.Ordinal)));
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if (sawDock)
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break;
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}
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var homeZone = run.Zones.Single(zone => zone.ZoneIndex == 2);
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var arrivedWorker = homeZone.Entities.Single(entity => entity.EntityId == "worker.return-home");
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var arrivedHome = homeZone.Entities.Single(entity => entity.EntityId == "station.home");
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Require(sawApproach, "idle worker must approach its route and home through shared movement commands");
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RequireEqual(2, travelCount, "idle worker must traverse the shortest route to its canonical home");
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Require(sawDock,
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$"idle worker must dock through the daemon docking command; worker={arrivedWorker.PositionX:0.###},{arrivedWorker.PositionZ:0.###} home={arrivedHome.PositionX:0.###},{arrivedHome.PositionZ:0.###} rejected={string.Join(",", rejectedHomeCommands)}");
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Require(arrivedHome.DockingBayAssignments.Contains(arrivedWorker.EntityIndex),
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"home docking parentage must be the authoritative completion fact");
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var settled = AetheriaRuntimeDaemonTickRunner.Tick(
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Path.Combine(Path.GetTempPath(), "aetheria-agent-return-home-settled-smoke.cc"),
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run,
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new AetheriaRuntimeDaemonTickOptions
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{
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WorldPhysics = new AetheriaYmirWorldPhysics(), FrameId = 41,
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FixedDeltaSeconds = 0.1, SimulationTimeSeconds = 4.1, BuildPublications = false
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});
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Require(!settled.OperationResult.AppliedCommandIds.Any(id => id.Contains(":home-", StringComparison.Ordinal)),
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"docked worker must not emit a perpetual homecoming repair loop");
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}
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private static void AgentClaimsAndCompletesExploreTaskThroughCommands()
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{
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var agent = Entity(0, 0, "workers");
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@ -95,7 +95,9 @@ namespace GameCult.Aetheria.State.Verse
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ReleaseInvalidAssignments(run);
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AssignQueuedTasks(run, frameId);
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return PlanAssignedTasks(run, frameId, catalog, simulationTimeSeconds);
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var commands = PlanAssignedTasks(run, frameId, catalog, simulationTimeSeconds).ToList();
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commands.AddRange(PlanIdleReturns(run, frameId));
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return commands;
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}
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public static void Reconcile(
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@ -335,6 +337,96 @@ namespace GameCult.Aetheria.State.Verse
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return commands;
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}
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private static IReadOnlyList<AetheriaRuntimeDaemonCommandDocument> PlanIdleReturns(
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AetheriaRuntimeRunCheckpointCommit run,
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long frameId)
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{
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var commands = new List<AetheriaRuntimeDaemonCommandDocument>();
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var locations = (run.Zones ?? Array.Empty<AetheriaRuntimeZoneSnapshotCommit>())
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.Where(zone => zone != null)
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.SelectMany(zone => (zone.Entities ?? Array.Empty<AetheriaRuntimeEntitySnapshotCommit>())
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.Where(entity => entity != null)
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.Select(entity => (Zone: zone, Entity: entity)))
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.ToArray();
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var byId = locations
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.Where(value => !string.IsNullOrWhiteSpace(value.Entity.EntityId))
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.ToDictionary(value => value.Entity.EntityId, StringComparer.Ordinal);
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foreach (var worker in locations
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.Where(value => value.Entity.IsActive)
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.Where(value => (value.Entity.AgentTaskCapabilities ?? Array.Empty<string>()).Count > 0)
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.Where(value => string.IsNullOrWhiteSpace(value.Entity.AssignedAgentTaskId))
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.Where(value => !string.IsNullOrWhiteSpace(value.Entity.HomeEntityId)))
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{
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if (!byId.TryGetValue(worker.Entity.HomeEntityId, out var home) || !home.Entity.IsActive)
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continue;
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if (worker.Zone.ZoneIndex != home.Zone.ZoneIndex)
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{
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var route = FindZoneRoute(run, worker.Zone.ZoneIndex, home.Zone.ZoneIndex);
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if (route.Count < 2)
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continue;
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var settings = AetheriaRuntimeDaemonRenderSettings.AetheriaDefault;
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var exit = AetheriaRuntimeDaemonRenderQueries.QueryWormholeExits(
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run,
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worker.Zone,
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AetheriaRuntimeDaemonRenderQueries.ResolveZoneRenderRadius(worker.Zone, 1200),
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settings.WormholeDistanceRatio)
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.First(candidate => candidate.TargetZoneIndex == route[1]);
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var dx = exit.PositionX - worker.Entity.PositionX;
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var dz = exit.PositionZ - worker.Entity.PositionZ;
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if (Math.Sqrt(dx * dx + dz * dz) > AetheriaRuntimeDaemonOperationContext.DefaultWormholeExitRadius * 0.8)
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commands.Add(IdleMovement(worker.Zone.ZoneIndex, worker.Entity, frameId, dx, dz, "home-approach-wormhole"));
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else
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commands.Add(IdleCommand(worker.Zone.ZoneIndex, worker.Entity, frameId,
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AetheriaRuntimeDaemonCommandKinds.EnterWormhole, "home-travel", command => command.TargetZoneIndex = route[1]));
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continue;
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}
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if ((home.Entity.DockingBayAssignments ?? Array.Empty<int>()).Contains(worker.Entity.EntityIndex))
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continue;
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var homeDx = home.Entity.PositionX - worker.Entity.PositionX;
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var homeDz = home.Entity.PositionZ - worker.Entity.PositionZ;
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var dockingContactDistance = InteractionRadius(home.Entity) + InteractionRadius(worker.Entity);
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if (Math.Sqrt(homeDx * homeDx + homeDz * homeDz) > dockingContactDistance + 0.5)
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commands.Add(IdleMovement(worker.Zone.ZoneIndex, worker.Entity, frameId, homeDx, homeDz, "home-approach"));
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else
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commands.Add(IdleCommand(worker.Zone.ZoneIndex, worker.Entity, frameId,
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AetheriaRuntimeDaemonCommandKinds.Dock, "home-dock",
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command => command.TargetEntityKey = EntityKey(run, home.Zone.ZoneIndex, home.Entity.EntityIndex)));
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}
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return commands;
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}
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private static AetheriaRuntimeDaemonCommandDocument IdleMovement(
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int zoneIndex,
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AetheriaRuntimeEntitySnapshotCommit entity,
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long frameId,
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double dx,
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double dz,
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string phase)
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{
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var length = Math.Sqrt(dx * dx + dz * dz);
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return IdleCommand(zoneIndex, entity, frameId, AetheriaRuntimeDaemonCommandKinds.SetMoveVector, phase, command =>
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{
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command.DirectionX = length <= 0.0001 ? 0 : dx / length;
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command.DirectionY = length <= 0.0001 ? 0 : dz / length;
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command.ScalarValue = length <= 0.0001 ? 0 : 1;
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});
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}
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private static AetheriaRuntimeDaemonCommandDocument IdleCommand(
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int zoneIndex,
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AetheriaRuntimeEntitySnapshotCommit entity,
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long frameId,
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AetheriaRuntimeDaemonCommandKinds kind,
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string phase,
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Action<AetheriaRuntimeDaemonCommandDocument> configure)
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{
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var command = AetheriaRuntimeDaemonCommandDocument.Create(
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kind, RuntimeId, "daemon-agent-scheduler", frameId, $"zone.{zoneIndex}.entity.{entity.EntityIndex}");
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command.CommandId = string.Join(":", RuntimeId, entity.EntityId, frameId.ToString(CultureInfo.InvariantCulture), phase);
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configure(command);
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return command;
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}
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private static (AetheriaRuntimeZoneSnapshotCommit? Zone, AetheriaRuntimeEntitySnapshotCommit? Entity) FindAssignedEntity(
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AetheriaRuntimeRunCheckpointCommit run,
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AetheriaRuntimeAgentTaskCommit task)
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