mirror of
https://github.com/Relintai/godot-steering-ai-framework.git
synced 2024-11-14 04:57:19 +01:00
Fix unknown mangling issue from previous commit
For some reason, github's merge destroyed a lot of newlines, which broke GSTPath.
This commit is contained in:
parent
62ad172767
commit
9c87dcf7f0
@ -1,6 +1,7 @@
|
|||||||
# Represents a path made up of Vector3 waypoints, split into segments path
|
# Represents a path made up of Vector3 waypoints, split into path segments for use by path
|
||||||
# follow behaviors can use.
|
# following behaviors.
|
||||||
extends Reference class_name GSTPath
|
extends Reference
|
||||||
|
class_name GSTPath
|
||||||
|
|
||||||
|
|
||||||
# If `false`, the path loops.
|
# If `false`, the path loops.
|
||||||
@ -9,76 +10,93 @@ var open: bool
|
|||||||
var length: float
|
var length: float
|
||||||
|
|
||||||
var _segments: Array
|
var _segments: Array
|
||||||
var _nearest_point_on_segment: Vector3 var _nearest_point_on_path: Vector3
|
|
||||||
|
|
||||||
|
var _nearest_point_on_segment: Vector3
|
||||||
|
var _nearest_point_on_path: Vector3
|
||||||
|
|
||||||
func _init(waypoints: Array, open := false) -> void:
|
func _init(waypoints: Array, open := false) -> void:
|
||||||
self.open = open create_path(waypoints) _nearest_point_on_segment =
|
self.open = open
|
||||||
waypoints[0] _nearest_point_on_path = waypoints[0]
|
create_path(waypoints)
|
||||||
|
_nearest_point_on_segment = waypoints[0]
|
||||||
|
_nearest_point_on_path = waypoints[0]
|
||||||
|
|
||||||
|
|
||||||
# Creates a path from a list of waypoints.
|
# Creates a path from a list of waypoints.
|
||||||
func create_path(waypoints: Array) -> void:
|
func create_path(waypoints: Array) -> void:
|
||||||
if not waypoints or waypoints.size() < 2:
|
if not waypoints or waypoints.size() < 2:
|
||||||
printerr("Waypoints cannot be null and must contain at least two (2)
|
printerr("Waypoints cannot be null and must contain at least two (2) waypoints.")
|
||||||
waypoints.") return
|
return
|
||||||
|
|
||||||
_segments = [] length = 0 var current: Vector3 = waypoints.front() var
|
_segments = []
|
||||||
previous: Vector3
|
length = 0
|
||||||
|
var current: Vector3 = waypoints.front()
|
||||||
|
var previous: Vector3
|
||||||
|
|
||||||
for i in range(1, waypoints.size(), 1):
|
for i in range(1, waypoints.size(), 1):
|
||||||
previous = current if i < waypoints.size():
|
previous = current
|
||||||
current = waypoints[i] elif open:
|
if i < waypoints.size():
|
||||||
break else:
|
current = waypoints[i]
|
||||||
current = waypoints[0] var segment := GSTSegment.new(previous,
|
elif open:
|
||||||
current) length += segment.length segment.cumulative_length = length
|
break
|
||||||
|
else:
|
||||||
|
current = waypoints[0]
|
||||||
|
var segment := GSTSegment.new(previous, current)
|
||||||
|
length += segment.length
|
||||||
|
segment.cumulative_length = length
|
||||||
_segments.append(segment)
|
_segments.append(segment)
|
||||||
|
|
||||||
|
|
||||||
# Returns the distance from `agent_current_position` to the next waypoint.
|
# Returns the distance from `agent_current_position` to the next waypoint.
|
||||||
func calculate_distance(agent_current_position: Vector3) -> float:
|
func calculate_distance(agent_current_position: Vector3) -> float:
|
||||||
if _segments.size() == 0:
|
if _segments.size() == 0:
|
||||||
return 0.0 var smallest_distance_squared: float = INF var
|
return 0.0
|
||||||
nearest_segment: GSTSegment for i in range(_segments.size()):
|
var smallest_distance_squared: float = INF
|
||||||
var segment: GSTSegment = _segments[i] var distance_squared :=
|
var nearest_segment: GSTSegment
|
||||||
_calculate_point_segment_distance_squared(
|
for i in range(_segments.size()):
|
||||||
segment.begin, segment.end, agent_current_position
|
var segment: GSTSegment = _segments[i]
|
||||||
|
var distance_squared := _calculate_point_segment_distance_squared(
|
||||||
|
segment.begin,
|
||||||
|
segment.end,
|
||||||
|
agent_current_position
|
||||||
)
|
)
|
||||||
|
|
||||||
if distance_squared < smallest_distance_squared:
|
if distance_squared < smallest_distance_squared:
|
||||||
_nearest_point_on_path = _nearest_point_on_segment
|
_nearest_point_on_path = _nearest_point_on_segment
|
||||||
smallest_distance_squared = distance_squared nearest_segment =
|
smallest_distance_squared = distance_squared
|
||||||
segment
|
nearest_segment = segment
|
||||||
|
|
||||||
var length_on_path := (
|
var length_on_path := (
|
||||||
nearest_segment.cumulative_length -
|
nearest_segment.cumulative_length -
|
||||||
_nearest_point_on_path.distance_to(nearest_segment.end))
|
_nearest_point_on_path.distance_to(nearest_segment.end))
|
||||||
|
|
||||||
return length_on_path
|
return length_on_path
|
||||||
|
|
||||||
|
|
||||||
# Calculates a target position from the path's starting point based on the `target_distance`.
|
# Calculates a target position from the path's starting point based on the `target_distance`.
|
||||||
func calculate_target_position(target_distance: float) -> Vector3:
|
func calculate_target_position(target_distance: float) -> Vector3:
|
||||||
if open:
|
if open:
|
||||||
target_distance = clamp(target_distance, 0, length) else:
|
target_distance = clamp(target_distance, 0, length)
|
||||||
|
else:
|
||||||
if target_distance < 0:
|
if target_distance < 0:
|
||||||
target_distance = length + fmod(target_distance, length) elif
|
target_distance = length + fmod(target_distance, length)
|
||||||
target_distance > length:
|
elif target_distance > length:
|
||||||
target_distance = fmod(target_distance, length)
|
target_distance = fmod(target_distance, length)
|
||||||
|
|
||||||
var desired_segment: GSTSegment for i in range(_segments.size()):
|
var desired_segment: GSTSegment
|
||||||
var segment: GSTSegment = _segments[i] if segment.cumulative_length >=
|
for i in range(_segments.size()):
|
||||||
target_distance:
|
var segment: GSTSegment = _segments[i]
|
||||||
desired_segment = segment break
|
if segment.cumulative_length >= target_distance:
|
||||||
|
desired_segment = segment
|
||||||
|
break
|
||||||
|
|
||||||
if not desired_segment:
|
if not desired_segment:
|
||||||
desired_segment = _segments.back()
|
desired_segment = _segments.back()
|
||||||
|
|
||||||
var distance := desired_segment.cumulative_length - target_distance
|
var distance := desired_segment.cumulative_length - target_distance
|
||||||
|
|
||||||
return (
|
return (
|
||||||
(desired_segment.begin - desired_segment.end) * (distance /
|
(desired_segment.begin - desired_segment.end) *
|
||||||
desired_segment.length) + desired_segment.end)
|
(distance / desired_segment.length) + desired_segment.end)
|
||||||
|
|
||||||
|
|
||||||
# Returns the position of the first point on the path.
|
# Returns the position of the first point on the path.
|
||||||
@ -91,20 +109,25 @@ func get_end_point() -> Vector3:
|
|||||||
return _segments.back().end
|
return _segments.back().end
|
||||||
|
|
||||||
|
|
||||||
func _calculate_point_segment_distance_squared(start: Vector3, end: Vector3,
|
func _calculate_point_segment_distance_squared(start: Vector3, end: Vector3, position: Vector3) -> float:
|
||||||
position: Vector3) -> float:
|
_nearest_point_on_segment = start
|
||||||
_nearest_point_on_segment = start var start_end := end - start var
|
var start_end := end - start
|
||||||
start_end_length_squared := start_end.length_squared() if
|
var start_end_length_squared := start_end.length_squared()
|
||||||
start_end_length_squared != 0:
|
if start_end_length_squared != 0:
|
||||||
var t = (position - start).dot(start_end) / start_end_length_squared
|
var t = (position - start).dot(start_end) / start_end_length_squared
|
||||||
_nearest_point_on_segment += start_end * clamp(t, 0, 1)
|
_nearest_point_on_segment += start_end * clamp(t, 0, 1)
|
||||||
|
|
||||||
return _nearest_point_on_segment.distance_squared_to(position)
|
return _nearest_point_on_segment.distance_squared_to(position)
|
||||||
|
|
||||||
|
|
||||||
class GSTSegment:
|
class GSTSegment:
|
||||||
var begin: Vector3 var end: Vector3 var length: float var cumulative_length:
|
var begin: Vector3
|
||||||
float
|
var end: Vector3
|
||||||
|
var length: float
|
||||||
|
var cumulative_length: float
|
||||||
|
|
||||||
|
|
||||||
func _init(begin: Vector3, end: Vector3) -> void:
|
func _init(begin: Vector3, end: Vector3) -> void:
|
||||||
self.begin = begin self.end = end length = begin.distance_to(end)
|
self.begin = begin
|
||||||
|
self.end = end
|
||||||
|
length = begin.distance_to(end)
|
||||||
|
Loading…
Reference in New Issue
Block a user