48 lines
1.4 KiB
GDScript3
48 lines
1.4 KiB
GDScript3
|
# Blends multiple steering behaviors into one, and returns a weighted
|
||
|
|
# acceleration from their calculations.
|
||
|
|
#
|
||
|
|
# Stores the behaviors internally as dictionaries of the form
|
||
|
|
# {
|
||
|
|
# behavior : GSAISteeringBehavior,
|
||
|
|
# weight : float
|
||
|
|
# }
|
||
|
|
class_name GSAIBlend
|
||
|
|
extends GSAISteeringBehavior
|
||
|
|
|
||
|
|
var _behaviors := []
|
||
|
|
var _accel := GSAITargetAcceleration.new()
|
||
|
|
|
||
|
|
|
||
|
|
func _init(agent: GSAISteeringAgent).(agent) -> void:
|
||
|
|
pass
|
||
|
|
|
||
|
|
|
||
|
|
# Appends a behavior to the internal array along with its `weight`.
|
||
|
|
func add(behavior: GSAISteeringBehavior, weight: float) -> void:
|
||
|
|
behavior.agent = agent
|
||
|
|
_behaviors.append({behavior = behavior, weight = weight})
|
||
|
|
|
||
|
|
|
||
|
|
# Returns the behavior at the specified `index`, or an empty `Dictionary` if
|
||
|
|
# none was found.
|
||
|
|
func get_behavior_at(index: int) -> Dictionary:
|
||
|
|
if _behaviors.size() > index:
|
||
|
|
return _behaviors[index]
|
||
|
|
printerr("Tried to get index " + str(index) + " in array of size " + str(_behaviors.size()))
|
||
|
|
return {}
|
||
|
|
|
||
|
|
|
||
|
|
func _calculate_steering(blended_accel: GSAITargetAcceleration) -> void:
|
||
|
|
blended_accel.set_zero()
|
||
|
|
|
||
|
|
for i in range(_behaviors.size()):
|
||
|
|
var bw: Dictionary = _behaviors[i]
|
||
|
|
bw.behavior.calculate_steering(_accel)
|
||
|
|
|
||
|
|
blended_accel.add_scaled_accel(_accel, bw.weight)
|
||
|
|
|
||
|
|
blended_accel.linear = GSAIUtils.clampedv3(blended_accel.linear, agent.linear_acceleration_max)
|
||
|
|
blended_accel.angular = clamp(
|
||
|
|
blended_accel.angular, -agent.angular_acceleration_max, agent.angular_acceleration_max
|
||
|
|
)
|