Add Cohesion behavior and RadiusProximity caching

project/project.godot

@@ -20,10 +20,20 @@ _global_script_classes=[ {
 "path": "res://src/behaviors/GSTArrive.gd"
 }, {
 "base": "GSTSteeringBehavior",
+"class": "GSTAvoidCollisions",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTAvoidCollisions.gd"
+}, {
+"base": "GSTSteeringBehavior",
 "class": "GSTBlend",
 "language": "GDScript",
 "path": "res://src/behaviors/GSTBlend.gd"
 }, {
+"base": "GSTSteeringBehavior",
+"class": "GSTCohesion",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTCohesion.gd"
+}, {
 "base": "GSTPursue",
 "class": "GSTEvade",
 "language": "GDScript",
@@ -39,6 +49,11 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTFlee.gd"
 }, {
+"base": "GSTArrive",
+"class": "GSTFollowPath",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTFollowPath.gd"
+}, {
 "base": "GSTProximity",
 "class": "GSTInfiniteProximity",
 "language": "GDScript",
@@ -54,6 +69,11 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTMatchOrientation.gd"
 }, {
+"base": "Reference",
+"class": "GSTPath",
+"language": "GDScript",
+"path": "res://src/GSTPath.gd"
+}, {
 "base": "GSTSteeringBehavior",
 "class": "GSTPriority",
 "language": "GDScript",
@@ -107,13 +127,17 @@ _global_script_classes=[ {
 _global_script_class_icons={
 "GSTAgentLocation": "",
 "GSTArrive": "",
+"GSTAvoidCollisions": "",
 "GSTBlend": "",
+"GSTCohesion": "",
 "GSTEvade": "",
 "GSTFace": "",
 "GSTFlee": "",
+"GSTFollowPath": "",
 "GSTInfiniteProximity": "",
 "GSTLookWhereYouGo": "",
 "GSTMatchOrientation": "",
+"GSTPath": "",
 "GSTPriority": "",
 "GSTProximity": "",
 "GSTPursue": "",

project/src/GSTSteeringAgent.gd

@@ -11,3 +11,4 @@ var max_angular_acceleration: = 0.0
 var linear_velocity: = Vector3.ZERO
 var angular_velocity: = 0.0
 var bounding_radius: = 0.0
+var tagged: = false

project/src/behaviors/GSTCohesion.gd

@@ -0,0 +1,27 @@
+extends GSTSteeringBehavior
+class_name GSTCohesion
+# Group behavior that produces linear acceleration that attempts to move the agent towards the
+# center of mass of the agents in the area defined by the defined Proximity.
+
+
+var center_of_mass: Vector3
+var proximity: GSTProximity
+
+
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent) -> void:
+	self.proximity = proximity
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	acceleration.set_zero()
+	center_of_mass = Vector3.ZERO
+	var neighbor_count = proximity.find_neighbors(funcref(self, "_report_neighbor"))
+	if neighbor_count > 0:
+		center_of_mass *= 1.0 / neighbor_count
+		acceleration.linear = (center_of_mass - agent.position).normalized() * agent.max_linear_acceleration
+	return acceleration
+
+
+func _report_neighbor(neighbor: GSTSteeringAgent) -> bool:
+	center_of_mass += neighbor.position
+	return true

project/src/proximities/GSTProximity.gd

@@ -1,16 +1,16 @@
-extends Reference
+extends Reference
-class_name GSTProximity
+class_name GSTProximity
-# Defines an area that is used by group behaviors to find and process the owner's neighbors.
+# Defines an area that is used by group behaviors to find and process the owner's neighbors.
-
+
-
+
-var agent: GSTSteeringAgent
+var agent: GSTSteeringAgent
-var agents: = []
+var agents: = []
-
+
-
+
-func _init(agent: GSTSteeringAgent, agents: Array) -> void:
+func _init(agent: GSTSteeringAgent, agents: Array) -> void:
-    self.agent = agent
+	self.agent = agent
-    self.agents = agents
+	self.agents = agents
-
+
-
+
-func find_neighbors(callback: FuncRef) -> int:
+func find_neighbors(callback: FuncRef) -> int:
-    return 0
+	return 0

project/src/proximities/GSTRadiusProximity.gd

@@ -6,28 +6,46 @@ class_name GSTRadiusProximity
 
 var radius: = 0.0
 
+var _last_frame: = 0
+var _scene_tree: SceneTree
+
 
 func _init(agent: GSTSteeringAgent, agents: Array, radius: float).(agent, agents) -> void:
 	self.radius = radius
+	_scene_tree = Engine.get_main_loop()
 
 
 func find_neighbors(callback: FuncRef) -> int:
 	var agent_count: = agents.size()
 	var neighbor_count: = 0
-
-	var owner_position: = agent.position
 	
-	for i in range(agent_count):
+	var current_frame: = _scene_tree.get_frame() if _scene_tree else -_last_frame
-		var current_agent: = agents[i] as GSTSteeringAgent
+	if current_frame != _last_frame:
-
+		_last_frame = current_frame
-		if current_agent != agent:
+		
-			var distance_squared: = owner_position.distance_squared_to(current_agent.position)
+		var owner_position: = agent.position
-
+		
-			var range_to: = radius + current_agent.bounding_radius
+		for i in range(agent_count):
-
+			var current_agent: = agents[i] as GSTSteeringAgent
-			if distance_squared < range_to * range_to:
+	
+			if current_agent != agent:
+				var distance_squared: = owner_position.distance_squared_to(current_agent.position)
+	
+				var range_to: = radius + current_agent.bounding_radius
+	
+				if distance_squared < range_to * range_to:
+					if callback.call_func(current_agent) == true:
+						current_agent.tagged = true
+						neighbor_count += 1
+						continue
+			
+			current_agent.tagged = false
+	else:
+		for i in range(agent_count):
+			var current_agent = agents[i] as GSTSteeringAgent
+			
+			if current_agent != agent and current_agent.tagged:
 				if callback.call_func(current_agent) == true:
 					neighbor_count += 1
-					continue
 	
 	return neighbor_count