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/GSTRadiusProximity.gd

@@ -6,15 +6,23 @@ 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 current_frame: = _scene_tree.get_frame() if _scene_tree else -_last_frame
+	if current_frame != _last_frame:
+		_last_frame = current_frame
+		
 		var owner_position: = agent.position
 		
 		for i in range(agent_count):
@@ -27,7 +35,17 @@ func find_neighbors(callback: FuncRef) -> int:
 	
 				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
+	
 	return neighbor_count