Add avoid collisions demo

project/demos/AvoidCollisions/AvoidCollisionsDemo.gd

@@ -0,0 +1,41 @@
+extends Node2D
+
+
+export(float, 0, 2000, 40) var max_linear_speed := 350.0 setget set_max_linear_speed
+export(float, 0, 100, 2) var max_linear_acceleration := 40.0 setget set_max_linear_accel
+export(float, 0, 500, 10) var proximity_radius := 140.0 setget set_proximity_radius
+export var draw_proximity := true setget set_draw_proximity
+
+onready var spawner := $Spawner
+
+
+func set_max_linear_speed(value: float) -> void:
+	max_linear_speed = value
+	if not is_inside_tree():
+		return
+	
+	spawner.set_max_linear_speed(value)
+
+
+func set_max_linear_accel(value: float) -> void:
+	max_linear_acceleration = value
+	if not is_inside_tree():
+		return
+	
+	spawner.set_max_linear_accel(value)
+
+
+func set_proximity_radius(value: float) -> void:
+	proximity_radius = value
+	if not is_inside_tree():
+		return
+	
+	spawner.set_proximity_radius(value)
+
+
+func set_draw_proximity(value: bool) -> void:
+	draw_proximity = value
+	if not is_inside_tree():
+		return
+	
+	spawner.set_draw_proximity(value)

project/demos/AvoidCollisions/AvoidCollisionsDemo.tscn

@@ -0,0 +1,42 @@
+[gd_scene load_steps=5 format=2]
+
+[ext_resource path="res://demos/AvoidCollisions/Spawner.gd" type="Script" id=1]
+[ext_resource path="res://demos/AvoidCollisions/AvoidCollisionsDemo.gd" type="Script" id=2]
+[ext_resource path="res://demos/AvoidCollisions/Avoider.tscn" type="PackedScene" id=3]
+[ext_resource path="res://assets/theme/gdquest.theme" type="Theme" id=4]
+
+[node name="AvoidCollisionsDemo" type="Node2D"]
+script = ExtResource( 2 )
+max_linear_speed = 360.0
+proximity_radius = 100.0
+
+[node name="Spawner" type="Node2D" parent="."]
+script = ExtResource( 1 )
+avoider_template = ExtResource( 3 )
+normal_color = Color( 0.94902, 0.0588235, 0.0588235, 1 )
+highlight_color = Color( 0.0901961, 0.929412, 0.929412, 1 )
+
+[node name="GUI" type="PanelContainer" parent="."]
+margin_right = 1024.0
+margin_bottom = 14.0
+theme = ExtResource( 4 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="MarginContainer" type="MarginContainer" parent="GUI"]
+margin_right = 1024.0
+margin_bottom = 116.0
+
+[node name="RichTextLabel" type="RichTextLabel" parent="GUI/MarginContainer"]
+margin_left = 16.0
+margin_top = 16.0
+margin_right = 1008.0
+margin_bottom = 100.0
+rect_min_size = Vector2( 0, 84 )
+bbcode_enabled = true
+bbcode_text = "Avoid Collisions Demo
+Watch each agent try to keep traveling in a particular direction, but prioritize avoiding collisions with other agents."
+text = "Avoid Collisions Demo
+Watch each agent try to keep traveling in a particular direction, but prioritize avoiding collisions with other agents."
+scroll_active = false

project/demos/AvoidCollisions/Avoider.gd

@@ -0,0 +1,95 @@
+extends KinematicBody2D
+
+
+onready var collision := $CollisionShape2D
+onready var agent := GSTSteeringAgent.new()
+onready var proximity := GSTRadiusProximity.new(agent, [], 140)
+onready var avoid := GSTAvoidCollisions.new(agent, proximity)
+onready var target := GSTAgentLocation.new()
+onready var seek := GSTSeek.new(agent, target)
+onready var priority := GSTPriority.new(agent, 0.0001)
+onready var sprite := $Sprite
+
+var draw_proximity: bool
+
+var _boundary_right: float
+var _boundary_bottom: float
+var _radius: float
+var _accel := GSTTargetAcceleration.new()
+var _velocity := Vector2.ZERO
+var _direction := Vector2()
+var _drag: = 0.1
+
+
+func _draw() -> void:
+	if draw_proximity:
+		draw_circle(Vector2.ZERO, proximity.radius, Color(0, 1, 0, 0.1))
+
+
+func _physics_process(delta: float) -> void:
+	_update_agent()
+	_accel = priority.calculate_steering(_accel)
+	_velocity += Vector2(_accel.linear.x, _accel.linear.y)
+	_velocity = _velocity.linear_interpolate(Vector2.ZERO, _drag)
+	_velocity = _velocity.clamped(agent.max_linear_speed)
+	_velocity = move_and_slide(_velocity)
+
+
+func setup(
+			max_linear_speed: float,
+			max_linear_accel: float,
+			proximity_radius: float,
+			boundary_right: float,
+			boundary_bottom: float,
+			draw_proximity: bool,
+			rng: RandomNumberGenerator
+	) -> void:
+	rng.randomize()
+	_direction = Vector2(rand_range(-1, 1), rand_range(-1, 1)).normalized()
+	_update_agent()
+	agent.max_linear_speed = max_linear_speed
+	agent.max_linear_acceleration = max_linear_accel
+	proximity.radius = proximity_radius
+	_boundary_bottom = boundary_bottom
+	_boundary_right = boundary_right
+	_radius = collision.shape.radius
+	agent.bounding_radius = _radius
+	
+	self.draw_proximity = draw_proximity
+	
+	priority.add(avoid)
+	priority.add(seek)
+
+
+func set_proximity_agents(agents: Array) -> void:
+	proximity.agents = agents
+
+
+func set_random_nonoverlapping_position(others: Array, min_distance_from_boundary: float) -> void:
+	var rng := RandomNumberGenerator.new()
+	rng.randomize()
+	var max_tries := max(100, others.size() * others.size())
+	while max_tries >= 0:
+		max_tries -= 1
+		global_position.x = rng.randf_range(
+				min_distance_from_boundary, _boundary_right-min_distance_from_boundary
+		)
+		global_position.y = rng.randf_range(
+				min_distance_from_boundary, _boundary_bottom-min_distance_from_boundary
+		)
+		var done := true
+		for i in range(others.size()):
+			var other: Node2D = others[i]
+			if other.global_position.distance_to(position) <= _radius*2 + min_distance_from_boundary:
+				done = false
+		if done:
+			break
+
+
+func _update_agent() -> void:
+	agent.position.x = global_position.x
+	agent.position.y = global_position.y
+	agent.linear_velocity.x = _velocity.x
+	agent.linear_velocity.y = _velocity.y
+	target.position.x = agent.position.x + _direction.x*_radius
+	target.position.y = agent.position.y + _direction.y*_radius

project/demos/AvoidCollisions/Avoider.tscn

@@ -0,0 +1,17 @@
+[gd_scene load_steps=4 format=2]
+
+[ext_resource path="res://assets/sprites/small_circle.png" type="Texture" id=1]
+[ext_resource path="res://demos/AvoidCollisions/Avoider.gd" type="Script" id=2]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 16.0
+
+[node name="Avoider" type="KinematicBody2D"]
+script = ExtResource( 2 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="."]
+shape = SubResource( 1 )
+
+[node name="Sprite" type="Sprite" parent="."]
+modulate = Color( 0.94902, 0.211765, 0.0901961, 1 )
+texture = ExtResource( 1 )

project/demos/AvoidCollisions/Spawner.gd

@@ -0,0 +1,65 @@
+extends Node2D
+
+
+export var avoider_template: PackedScene
+export var normal_color := Color()
+export var highlight_color := Color()
+
+var boundaries: Vector2
+
+
+func _ready() -> void:
+	boundaries = Vector2(ProjectSettings["display/window/size/width"],
+			ProjectSettings["display/window/size/height"])
+	var rng: = RandomNumberGenerator.new()
+	var avoiders := []
+	var avoider_agents := []
+	for i in range(60):
+		var avoider := avoider_template.instance()
+		add_child(avoider)
+		avoider.setup(
+				owner.max_linear_speed,
+				owner.max_linear_acceleration,
+				owner.proximity_radius,
+				boundaries.x,
+				boundaries.y,
+				true if i == 0 and owner.draw_proximity else false,
+				rng
+		)
+		avoider_agents.append(avoider.agent)
+		avoider.set_random_nonoverlapping_position(avoiders, 16)
+		avoider.sprite.modulate = normal_color if i != 0 or not owner.draw_proximity else highlight_color
+		avoiders.append(avoider)
+	for child in get_children():
+		child.set_proximity_agents(avoider_agents)
+
+
+func _physics_process(delta: float) -> void:
+	for child in get_children():
+		child.global_position = child.global_position.posmodv(boundaries)
+
+
+func set_max_linear_speed(value: float) -> void:
+	for child in get_children():
+		child.agent.max_linear_speed = value
+
+
+func set_max_linear_accel(value: float) -> void:
+	for child in get_children():
+		child.agent.max_linear_acceleration = value
+
+
+func set_proximity_radius(value: float) -> void:
+	for child in get_children():
+		child.proximity.radius = value
+	get_child(0).update()
+
+
+func set_draw_proximity(value: bool) -> void:
+	var child := get_child(0)
+	child.draw_proximity = value
+	if not value:
+		child.sprite.modulate = normal_color
+	else:
+		child.sprite.modulate = highlight_color
+	child.update()

project/project.godot

@@ -161,6 +161,10 @@ _global_script_class_icons={
 config/name="SteeringToolkit"
 config/icon="res://icon.png"
 
+[display]
+
+window/size/always_on_top=true
+
 [input]
 
 sf_left={

project/src/Behaviors/GSTArrive.gd

@@ -1,5 +1,5 @@
-extends GSTSteeringBehavior
 class_name GSTArrive
+extends GSTSteeringBehavior
 # Calculates acceleration to take an agent to its target's location.
 # The calculation will attempt to arrive with zero remaining velocity.
 

project/src/Behaviors/GSTAvoidCollisions.gd

@@ -1,6 +1,6 @@
-extends GSTGroupBehavior
 class_name GSTAvoidCollisions
-# Behavior that steers the agent to avoid obstacles lying in its path, approximated by a sphere.
+extends GSTGroupBehavior
+# Behavior that steers the agent to avoid obstacles lying in its path as approximated by a sphere.
 
 
 var first_neighbor: GSTSteeringAgent

project/src/Behaviors/GSTBlend.gd

@@ -1,5 +1,5 @@
-extends GSTSteeringBehavior
 class_name GSTBlend
+extends GSTSteeringBehavior
 # Blends multiple steering behaviors into one, and returns acceleration combining all of them.
 
 # # Each behavior is associated with a weight - a modifier by which the result will be multiplied by,

project/src/Behaviors/GSTCohesion.gd

@@ -1,5 +1,5 @@
-extends GSTGroupBehavior
 class_name GSTCohesion
+extends GSTGroupBehavior
 # 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.
 

project/src/Behaviors/GSTEvade.gd

@@ -1,5 +1,5 @@
-extends GSTPursue
 class_name GSTEvade
+extends GSTPursue
 # Calculates acceleration to take an agent away from where a target agent will be.
 
 # # The `max_predict_time` variable represents how far ahead to calculate the intersection point.

project/src/Behaviors/GSTFace.gd

@@ -1,5 +1,5 @@
-extends GSTMatchOrientation
 class_name GSTFace
+extends GSTMatchOrientation
 # Calculates angular acceleration to rotate a target to face its target's position.
 # The acceleration will attempt to arrive with zero remaining angular velocity.
 

project/src/Behaviors/GSTFlee.gd

@@ -1,5 +1,5 @@
-extends GSTSeek
 class_name GSTFlee
+extends GSTSeek
 # Calculates acceleration to take an agent directly away from a target agent.
 
 

project/src/Behaviors/GSTFollowPath.gd

@@ -1,5 +1,5 @@
-extends GSTArrive
 class_name GSTFollowPath
+extends GSTArrive
 # Produces a linear acceleration that moves the agent along the specified path.
 
 

project/src/Behaviors/GSTLookWhereYouGo.gd

@@ -1,5 +1,5 @@
-extends GSTMatchOrientation
 class_name GSTLookWhereYouGo
+extends GSTMatchOrientation
 # Calculates an angular acceleration to match an agent's orientation to its direction of travel.
 
 

project/src/Behaviors/GSTMatchOrientation.gd

@@ -1,5 +1,5 @@
-extends GSTSteeringBehavior
 class_name GSTMatchOrientation
+extends GSTSteeringBehavior
 # Calculates an angular acceleration to match an agent's orientation to its target's.
 # The calculation will attempt to arrive with zero remaining angular velocity.
 

project/src/Behaviors/GSTPriority.gd

@@ -1,5 +1,5 @@
-extends GSTSteeringBehavior
 class_name GSTPriority
+extends GSTSteeringBehavior
 # Contains multiple steering behaviors and returns only the result of the first that has a non-zero
  # acceleration.
 

project/src/Behaviors/GSTPursue.gd

@@ -1,5 +1,5 @@
-extends GSTSteeringBehavior
 class_name GSTPursue
+extends GSTSteeringBehavior
 # Calculates acceleration to take an agent to intersect with where a target agent will be.
 
 # # The `max_predict_time` variable represents how far ahead to calculate the intersection point.

project/src/Behaviors/GSTSeek.gd

@@ -1,5 +1,5 @@
-extends GSTSteeringBehavior
 class_name GSTSeek
+extends GSTSteeringBehavior
 # Calculates acceleration to take an agent to a target agent's position as directly as possible
 
 

project/src/Behaviors/GSTSeparation.gd

@@ -1,5 +1,5 @@
-extends GSTGroupBehavior
 class_name GSTSeparation
+extends GSTGroupBehavior
 # Group behavior that produces acceleration repelling from the other neighbors that are in the
 # immediate area defined by the given `GSTProximity`.