From b32446217d939204cddf335402a21d406273dbee Mon Sep 17 00:00:00 2001
From: Francois Belair <razoric480@gmail.com>
Date: Fri, 20 Dec 2019 21:32:02 -0500
Subject: [PATCH] Implement demo for Arrive behavior

---
 project/demos/arrive/Arrive.tscn   | 20 ++++++++++++++
 project/demos/arrive/ArriveDemo.gd |  8 ++++++
 project/demos/arrive/Arriver.gd    | 44 ++++++++++++++++++++++++++++++
 project/demos/arrive/Target.gd     | 14 ++++++++++
 project/demos/face/Turret.gd       |  1 -
 project/project.godot              | 12 ++++++++
 6 files changed, 98 insertions(+), 1 deletion(-)
 create mode 100644 project/demos/arrive/Arrive.tscn
 create mode 100644 project/demos/arrive/ArriveDemo.gd
 create mode 100644 project/demos/arrive/Arriver.gd
 create mode 100644 project/demos/arrive/Target.gd

diff --git a/project/demos/arrive/Arrive.tscn b/project/demos/arrive/Arrive.tscn
new file mode 100644
index 0000000..1b5d194
--- /dev/null
+++ b/project/demos/arrive/Arrive.tscn
@@ -0,0 +1,20 @@
+[gd_scene load_steps=5 format=2]
+
+[ext_resource path="res://demos/arrive/Arriver.gd" type="Script" id=1]
+[ext_resource path="res://demos/arrive/ArriveDemo.gd" type="Script" id=2]
+[ext_resource path="res://demos/arrive/Target.gd" type="Script" id=3]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 15.0
+
+[node name="Arrive" type="Node2D"]
+script = ExtResource( 2 )
+
+[node name="Arriver" type="KinematicBody2D" parent="."]
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="Arriver"]
+shape = SubResource( 1 )
+
+[node name="Target" type="Node2D" parent="."]
+script = ExtResource( 3 )
diff --git a/project/demos/arrive/ArriveDemo.gd b/project/demos/arrive/ArriveDemo.gd
new file mode 100644
index 0000000..ab3fe71
--- /dev/null
+++ b/project/demos/arrive/ArriveDemo.gd
@@ -0,0 +1,8 @@
+extends Node2D
+
+
+onready var _target: = $Target
+
+
+func draw(location: Vector2) -> void:
+	_target.draw(location)
diff --git a/project/demos/arrive/Arriver.gd b/project/demos/arrive/Arriver.gd
new file mode 100644
index 0000000..b38fee7
--- /dev/null
+++ b/project/demos/arrive/Arriver.gd
@@ -0,0 +1,44 @@
+extends KinematicBody2D
+
+
+onready var _radius: float = ($CollisionShape2D.shape as CircleShape2D).radius
+
+onready var _agent: = GSTSteeringAgent.new()
+onready var _target: = GSTAgentLocation.new()
+onready var _arrive: = GSTArrive.new(_agent, _target)
+onready var _accel: = GSTTargetAcceleration.new()
+
+var _velocity: = Vector2()
+var _drag: = 1.0
+
+
+func _ready() -> void:
+	_agent.max_linear_acceleration = 10
+	_agent.max_linear_speed = 200
+	_arrive.arrival_tolerance = 25
+	_arrive.deceleration_radius = 225
+
+
+func _draw() -> void:
+	draw_circle(Vector2.ZERO, _radius, Color.red)
+
+
+func _unhandled_input(event: InputEvent) -> void:
+	if event is InputEventMouseButton:
+		var mb: InputEventMouseButton = event
+		if mb.button_index == BUTTON_LEFT and mb.pressed:
+			_target.position = Vector3(mb.position.x, mb.position.y, 0)
+			owner.draw(Vector2(_target.position.x, _target.position.y))
+
+
+func _physics_process(delta: float) -> void:
+	_accel = _arrive.calculate_steering(_accel)
+	_velocity += Vector2(_accel.linear.x, _accel.linear.y)
+	_velocity -= _velocity * _drag * delta
+	_velocity = move_and_slide(_velocity)
+	_update_agent()
+
+
+func _update_agent() -> void:
+	_agent.position = Vector3(global_position.x, global_position.y, 0)
+	_agent.linear_velocity = Vector3(_velocity.x, _velocity.y, 0)
diff --git a/project/demos/arrive/Target.gd b/project/demos/arrive/Target.gd
new file mode 100644
index 0000000..831df6c
--- /dev/null
+++ b/project/demos/arrive/Target.gd
@@ -0,0 +1,14 @@
+extends Node2D
+
+
+var target: = Vector2.ZERO
+
+
+func _draw() -> void:
+	draw_circle(target, 20, Color(1, 1, 0, 0.25))
+	draw_circle(target, 5, Color.yellow)
+
+
+func draw(location: Vector2) -> void:
+	target = location
+	update()
diff --git a/project/demos/face/Turret.gd b/project/demos/face/Turret.gd
index 5c3760d..9306eae 100644
--- a/project/demos/face/Turret.gd
+++ b/project/demos/face/Turret.gd
@@ -6,7 +6,6 @@ onready var _cannon: = Rect2(Vector2(-5, 0), Vector2(10, -_radius*2))
 onready var _agent: = GSTSteeringAgent.new()
 onready var _accel: = GSTTargetAcceleration.new()
 
-
 var _angular_velocity: = 0.0
 var _angular_drag: = 1.0
 var _face: GSTFace
diff --git a/project/project.godot b/project/project.godot
index 8531524..45baf3a 100644
--- a/project/project.godot
+++ b/project/project.godot
@@ -19,6 +19,11 @@ _global_script_classes=[ {
 "language": "GDScript",
 "path": "res://src/behaviors/GSTArrive.gd"
 }, {
+"base": "GSTSteeringBehavior",
+"class": "GSTBlend",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTBlend.gd"
+}, {
 "base": "GSTPursue",
 "class": "GSTEvade",
 "language": "GDScript",
@@ -45,6 +50,11 @@ _global_script_classes=[ {
 "path": "res://src/behaviors/GSTMatchOrientation.gd"
 }, {
 "base": "GSTSteeringBehavior",
+"class": "GSTPriority",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTPriority.gd"
+}, {
+"base": "GSTSteeringBehavior",
 "class": "GSTPursue",
 "language": "GDScript",
 "path": "res://src/behaviors/GSTPursue.gd"
@@ -77,11 +87,13 @@ _global_script_classes=[ {
 _global_script_class_icons={
 "GSTAgentLocation": "",
 "GSTArrive": "",
+"GSTBlend": "",
 "GSTEvade": "",
 "GSTFace": "",
 "GSTFlee": "",
 "GSTLookWhereYouGo": "",
 "GSTMatchOrientation": "",
+"GSTPriority": "",
 "GSTPursue": "",
 "GSTSeek": "",
 "GSTSteeringAgent": "",