Clean up and improve group behaviors' code

The first pass was somewhat obtuse and lacked a common class that
differentiated them from behaviors that didn't use Proximities.

project/project.godot

@@ -19,7 +19,7 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTArrive.gd"
 }, {
-"base": "GSTSteeringBehavior",
+"base": "GSTGroupBehavior",
 "class": "GSTAvoidCollisions",
 "language": "GDScript",
 "path": "res://src/behaviors/GSTAvoidCollisions.gd"
@@ -29,7 +29,7 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTBlend.gd"
 }, {
-"base": "GSTSteeringBehavior",
+"base": "GSTGroupBehavior",
 "class": "GSTCohesion",
 "language": "GDScript",
 "path": "res://src/behaviors/GSTCohesion.gd"
@@ -54,6 +54,11 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTFollowPath.gd"
 }, {
+"base": "GSTSteeringBehavior",
+"class": "GSTGroupBehavior",
+"language": "GDScript",
+"path": "res://src/GSTGroupBehavior.gd"
+}, {
 "base": "GSTProximity",
 "class": "GSTInfiniteProximity",
 "language": "GDScript",
@@ -99,7 +104,7 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTSeek.gd"
 }, {
-"base": "GSTSteeringBehavior",
+"base": "GSTGroupBehavior",
 "class": "GSTSeparation",
 "language": "GDScript",
 "path": "res://src/behaviors/GSTSeparation.gd"
@@ -120,9 +125,9 @@ _global_script_classes=[ {
 "path": "res://src/GSTTargetAcceleration.gd"
 }, {
 "base": "Reference",
-"class": "Utils",
+"class": "GSTUtils",
 "language": "GDScript",
-"path": "res://src/Utils.gd"
+"path": "res://src/GSTUtils.gd"
 } ]
 _global_script_class_icons={
 "GSTAgentLocation": "",
@@ -134,6 +139,7 @@ _global_script_class_icons={
 "GSTFace": "",
 "GSTFlee": "",
 "GSTFollowPath": "",
+"GSTGroupBehavior": "",
 "GSTInfiniteProximity": "",
 "GSTLookWhereYouGo": "",
 "GSTMatchOrientation": "",
@@ -147,7 +153,7 @@ _global_script_class_icons={
 "GSTSteeringAgent": "",
 "GSTSteeringBehavior": "",
 "GSTTargetAcceleration": "",
-"Utils": ""
+"GSTUtils": ""
 }
 
 [application]

project/src/GSTGroupBehavior.gd

@@ -0,0 +1,16 @@
+extends GSTSteeringBehavior
+class_name GSTGroupBehavior
+# Extended behavior that features a Proximity group for group-based behaviors.
+
+
+var proximity: GSTProximity
+
+var _callback: = funcref(self, "report_neighbor")
+
+
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent) -> void:
+	self.proximity = proximity
+
+
+func report_neighbor(neighbor: GSTSteeringAgent) -> bool:
+	return false

project/src/GSTPath.gd

@@ -1,60 +1,69 @@
 extends Reference
 class_name GSTPath
+# Represents a path made up of Vector3 waypoints, split into path segments for use by path
+# following algorithms.
+
+# # Keeping it updated requires calling `create_path` to update the path.
 
 
-var segments: Array
+var open: bool
-var is_open: bool
 var path_length: float
 
-var nearest_point_on_segment: Vector3
+var _segments: Array
-var nearest_point_on_path: Vector3
+
+var _nearest_point_on_segment: Vector3
+var _nearest_point_on_path: Vector3
 
 
 func _init(waypoints: Array, is_open: = false) -> void:
 	self.is_open = is_open
-	_create_path(waypoints)
+	create_path(waypoints)
-	nearest_point_on_segment = waypoints[0]
+	_nearest_point_on_segment = waypoints[0]
-	nearest_point_on_path = waypoints[0]
+	_nearest_point_on_path = waypoints[0]
 
 
-func get_start_point() -> Vector3:
+func create_path(waypoints: Array) -> void:
-	return segments.front().begin
+	if not waypoints or waypoints.size() < 2:
+		printerr("Waypoints cannot be null and must contain at least two (2) waypoints.")
 	
+	_segments = []
+	path_length = 0
+	var current: Vector3 = _segments[0]
+	var previous: Vector3
 	
-func get_end_point() -> Vector3:
+	for i in range(1, waypoints.size(), 1):
-	return segments.back().end
+		previous = current
-
+		if i < waypoints.size():
-
+			current = waypoints[i]
-func calculate_point_segment_distance_squared(a: Vector3, b: Vector3, c: Vector3) -> float:
+		elif open:
-	nearest_point_on_segment = a
+			break
-	var ab: = b - a
+		else:
-	var ab_length_squared: = ab.length_squared()
+			current = waypoints[0]
-	if ab_length_squared != 0:
+		var segment: = GSTSegment.new(previous, current)
-		var t = (c - a).dot(ab) / ab_length_squared
+		path_length += segment.length
-		nearest_point_on_segment += ab * clamp(t, 0, 1)
+		segment.cumulative_length = path_length
-	
+		_segments.append(segment)
-	return nearest_point_on_segment.distance_squared_to(c)
 
 
 func calculate_distance(agent_current_position: Vector3, path_parameter: Dictionary) -> float:
 	var smallest_distance_squared: float = INF
 	var nearest_segment: GSTSegment
-	for i in range(segments.size()):
+	for i in range(_segments.size()):
-		var segment: GSTSegment = segments[i]
+		var segment: GSTSegment = _segments[i]
-		var distance_squared: = calculate_point_segment_distance_squared(
+		var distance_squared: = _calculate_point_segment_distance_squared(
 				segment.begin,
 				segment.end,
 				agent_current_position)
 		
 		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 = segment
 			path_parameter.segment_index = i
 	
 	var length_on_path: = (
 		nearest_segment.cumulative_length - 
-		nearest_point_on_path.distance_to(nearest_segment.end))
+		_nearest_point_on_path.distance_to(nearest_segment.end))
 	
 	path_parameter.distance = length_on_path
 	
@@ -62,7 +71,7 @@ func calculate_distance(agent_current_position: Vector3, path_parameter: Diction
 
 
 func calculate_target_position(param: Dictionary, target_distance: float) -> Vector3:
-	if is_open:
+	if open:
 		target_distance = clamp(target_distance, 0, path_length)
 	else:
 		if target_distance < 0:
@@ -71,8 +80,8 @@ func calculate_target_position(param: Dictionary, target_distance: float) -> Vec
 			target_distance = fmod(target_distance, path_length)
 	
 	var desired_segment: GSTSegment
-	for i in range(segments.size()):
+	for i in range(_segments.size()):
-		var segment: GSTSegment = segments[i]
+		var segment: GSTSegment = _segments[i]
 		if segment.cumulative_length >= target_distance:
 			desired_segment = segment
 			break
@@ -84,27 +93,23 @@ func calculate_target_position(param: Dictionary, target_distance: float) -> Vec
 		(distance / desired_segment.length) + desired_segment.end)
 
 
-func _create_path(waypoints: Array) -> void:
+func get_start_point() -> Vector3:
-	if not waypoints or waypoints.size() < 2:
+	return _segments.front().begin
-		printerr("Waypoints cannot be null and must contain at least two (2) waypoints.")
 
-	segments = []
-	path_length = 0
-	var current: Vector3 = segments[0]
-	var previous: Vector3
 
-	for i in range(1, waypoints.size(), 1):
+func get_end_point() -> Vector3:
-		previous = current
+	return _segments.back().end
-		if i < waypoints.size():
+
-			current = waypoints[i]
+
-		elif is_open:
+func _calculate_point_segment_distance_squared(start: Vector3, end: Vector3, position: Vector3) -> float:
-			break
+	_nearest_point_on_segment = start
-		else:
+	var start_end: = end - start
-			current = waypoints[0]
+	var start_end_length_squared: = start_end.length_squared()
-		var segment: = GSTSegment.new(previous, current)
+	if start_end_length_squared != 0:
-		path_length += segment.length
+		var t = (position - start).dot(start_end) / start_end_length_squared
-		segment.cumulative_length = path_length
+		_nearest_point_on_segment += start_end * clamp(t, 0, 1)
-		segments.append(segment)
+	
+	return _nearest_point_on_segment.distance_squared_to(position)
 
 
 class GSTSegment:

project/src/GSTSteeringAgent.gd

@@ -1,6 +1,6 @@
 extends GSTAgentLocation
 class_name GSTSteeringAgent
-# Extended agent data type that adds velocity and speed data.
+# Extended agent data type that adds velocity, speed, and size data
 
 
 var zero_linear_speed_threshold: = 0.01

project/src/GSTUtils.gd

@@ -1,4 +1,4 @@
-class_name Utils
+class_name GSTUtils
 # Useful math and utility functions to complement Godot's own.
 
 

project/src/behaviors/GSTArrive.gd

@@ -30,7 +30,7 @@ func _arrive(acceleration: GSTTargetAcceleration, target_position: Vector3) -> G
 		
 		desired_velocity = (desired_velocity - agent.linear_velocity) * 1.0 / time_to_reach
 		
-		acceleration.linear = Utils.clampedv3(desired_velocity, agent.max_linear_acceleration)
+		acceleration.linear = GSTUtils.clampedv3(desired_velocity, agent.max_linear_acceleration)
 		acceleration.angular = 0
 	
 	return acceleration

project/src/behaviors/GSTAvoidCollisions.gd

@@ -1,9 +1,8 @@
-extends GSTSteeringBehavior
+extends GSTGroupBehavior
 class_name GSTAvoidCollisions
 # Behavior that steers the agent to avoid obstacles lying in its path, approximated by a sphere.
 
 
-var proximity: GSTProximity
 var first_neighbor: GSTSteeringAgent
 var shortest_time: float
 var first_minimum_separation: float
@@ -12,8 +11,8 @@ var first_relative_position: Vector3
 var first_relative_velocity: Vector3
 
 
-func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent) -> void:
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
-	self.proximity = proximity
+	pass
 
 
 func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
@@ -22,7 +21,7 @@ func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAccele
 	first_minimum_separation = 0
 	first_distance = 0
 	
-	var neighbor_count: = proximity.find_neighbors(funcref(self, "_report_neighbor"))
+	var neighbor_count: = proximity.find_neighbors(_callback)
 	
 	if neighbor_count == 0 or not first_neighbor:
 		acceleration.set_zero()
@@ -39,7 +38,7 @@ func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAccele
 	return acceleration
 
 
-func _report_neighbor(neighbor: GSTSteeringAgent) -> bool:
+func report_neighbor(neighbor: GSTSteeringAgent) -> bool:
 	var relative_position: = neighbor.position - agent.position
 	var relative_velocity: = neighbor.linear_velocity - agent.linear_velocity
 	var relative_speed_squared: = relative_velocity.length_squared()

project/src/behaviors/GSTBlend.gd

@@ -38,7 +38,7 @@ func _calculate_steering(blended_accel: GSTTargetAcceleration) -> GSTTargetAccel
 		
 		blended_accel.add_scaled_accel(_accel, bw.weight)
 	
-	blended_accel.linear = Utils.clampedv3(blended_accel.linear, agent.max_linear_acceleration)
+	blended_accel.linear = GSTUtils.clampedv3(blended_accel.linear, agent.max_linear_acceleration)
 	blended_accel.angular = min(blended_accel.angular, agent.max_angular_acceleration)
 	
 	return blended_accel

project/src/behaviors/GSTCohesion.gd

@@ -1,27 +1,26 @@
-extends GSTSteeringBehavior
+extends GSTGroupBehavior
 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:
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
-	self.proximity = proximity
+	pass
 
 
 func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
 	acceleration.set_zero()
 	center_of_mass = Vector3.ZERO
-	var neighbor_count = proximity.find_neighbors(funcref(self, "_report_neighbor"))
+	var neighbor_count = proximity.find_neighbors(_callback)
 	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:
+func report_neighbor(neighbor: GSTSteeringAgent) -> bool:
 	center_of_mass += neighbor.position
 	return true

project/src/behaviors/GSTSeparation.gd

@@ -1,4 +1,4 @@
-extends GSTSteeringBehavior
+extends GSTGroupBehavior
 class_name GSTSeparation
 # Group behavior that produces acceleration repelling from the other neighbors that are in the
 # immediate area defined by the given `GSTProximity`.
@@ -11,21 +11,20 @@ class_name GSTSeparation
 var decay_coefficient: = 1.0
 
 var acceleration: GSTTargetAcceleration
-var proximity: GSTProximity
 
 
-func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent) -> void:
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
-	self.proximity = proximity
+	pass
 
 
 func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
 	acceleration.set_zero()
 	self.acceleration = acceleration
-	proximity.find_neighbors(funcref(self, "_report_neighbor"))
+	proximity.find_neighbors(_callback)
 	return acceleration
 
 
-func _report_neighbor(neighbor: GSTSteeringAgent) -> bool:
+func report_neighbor(neighbor: GSTSteeringAgent) -> bool:
 	var to_agent: = agent.position - neighbor.position
 
 	var distance_squared: = to_agent.length_squared()

project/src/proximities/GSTInfiniteProximity.gd

@@ -1,6 +1,6 @@
 extends GSTProximity
 class_name GSTInfiniteProximity
-# Specifies any agent that is in the specified list as being neighbors with the owner agent.
+# Determines any agent that is in the specified list as being neighbors with the owner agent.
 
 
 func _init(agent: GSTSteeringAgent, agents: Array).(agent, agents) -> void:

project/src/proximities/GSTProximity.gd

@@ -1,6 +1,7 @@
 extends Reference
 class_name GSTProximity
-# Defines an area that is used by group behaviors to find and process the owner's neighbors.
+# Defines a way to determine any agent that is in the specified list as being neighbors with the
+# owner agent.
 
 
 var agent: GSTSteeringAgent

project/src/proximities/GSTRadiusProximity.gd

@@ -1,7 +1,7 @@
 extends GSTProximity
 class_name GSTRadiusProximity
-# Specifies any agent that is in the specified list as being neighbors with the owner agent if they
+# Determines any agent that is in the specified list as being neighbors with the owner agent if
-# lie within the specified radius.
+# they lie within the specified radius.
 
 
 var radius: = 0.0
@@ -34,7 +34,7 @@ func find_neighbors(callback: FuncRef) -> int:
 				var range_to: = radius + current_agent.bounding_radius
 	
 				if distance_squared < range_to * range_to:
-					if callback.call_func(current_agent) == true:
+					if callback.call_func(current_agent):
 						current_agent.tagged = true
 						neighbor_count += 1
 						continue
@@ -45,7 +45,7 @@ func find_neighbors(callback: FuncRef) -> int:
 			var current_agent = agents[i] as GSTSteeringAgent
 			
 			if current_agent != agent and current_agent.tagged:
-				if callback.call_func(current_agent) == true:
+				if callback.call_func(current_agent):
 					neighbor_count += 1
 	
 	return neighbor_count