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52 lines
1.9 KiB
GDScript3
52 lines
1.9 KiB
GDScript3
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# Calculates an angular acceleration to match an agent's orientation to that of
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# its target. Attempts to make the agent arrive with zero remaining angular
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# velocity.
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class_name GSAIMatchOrientation
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extends GSAISteeringBehavior
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# The target orientation for the behavior to try and match rotations to.
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var target: GSAIAgentLocation
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# The amount of distance in radians for the behavior to consider itself close
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# enough to be matching the target agent's rotation.
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var alignment_tolerance: float
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# The amount of distance in radians from the goal to start slowing down.
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var deceleration_radius: float
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# The amount of time to reach the target velocity
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var time_to_reach: float = 0.1
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# Whether to use the X and Z components instead of X and Y components when
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# determining angles. X and Z should be used in 3D.
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var use_z: bool
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func _init(agent: GSAISteeringAgent, _target: GSAIAgentLocation, _use_z := false).(agent) -> void:
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self.use_z = _use_z
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self.target = _target
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func _match_orientation(acceleration: GSAITargetAcceleration, desired_orientation: float) -> void:
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var rotation := wrapf(desired_orientation - agent.orientation, -PI, PI)
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var rotation_size := abs(rotation)
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if rotation_size <= alignment_tolerance:
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acceleration.set_zero()
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else:
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var desired_rotation := agent.angular_speed_max
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if rotation_size <= deceleration_radius:
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desired_rotation *= rotation_size / deceleration_radius
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desired_rotation *= rotation / rotation_size
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acceleration.angular = ((desired_rotation - agent.angular_velocity) / time_to_reach)
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var limited_acceleration := abs(acceleration.angular)
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if limited_acceleration > agent.angular_acceleration_max:
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acceleration.angular *= (agent.angular_acceleration_max / limited_acceleration)
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acceleration.linear = Vector3.ZERO
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func _calculate_steering(acceleration: GSAITargetAcceleration) -> void:
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_match_orientation(acceleration, target.orientation)
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