Implement LookWhereYouGo, and demo for Pursue

This commit is contained in:
Francois Belair 2019-12-19 15:24:40 -05:00
parent fb538b72cb
commit f531e835fd
13 changed files with 350 additions and 17 deletions

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@ -8,6 +8,7 @@
- Arrive - Arrive
- Pursue/Evade - Pursue/Evade
- Face - Face
- LookWhereYouGo
- FollowPath - FollowPath
- Separation - Separation
- AvoidCollisions - AvoidCollisions

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@ -0,0 +1,68 @@
extends Node2D
"""
Wraps the ships' positions around the world border, and controls their rendering clones.
"""
onready var _ships: = [$Player, $Pursuer, $Seeker]
onready var ShipType: = preload("res://demos/pursue_vs_seek/Ship.gd")
var _clones: = {}
var _world_bounds: Vector2
func _ready() -> void:
_world_bounds = Vector2(
ProjectSettings["display/window/size/width"],
ProjectSettings["display/window/size/height"]
)
for i in range(_ships.size()):
var ship: Node2D = _ships[i]
var world_pos: = ship.position
for i in range(3):
var ship_clone: = ShipType.new($Player/CollisionPolygon2D.polygon)
ship_clone.position.x = world_pos.x if i == 1 else (world_pos.x - _world_bounds.x)
ship_clone.position.y = world_pos.y if i == 0 else (world_pos.y - _world_bounds.y)
ship_clone.rotation = ship.rotation
ship_clone.color = ship.color
ship_clone.tag = i
add_child(ship_clone)
_clones[ship_clone] = ship
func _physics_process(delta: float) -> void:
for clone in _clones.keys():
var original: Node2D = _clones[clone]
var world_pos: Vector2 = original.position
if world_pos.y < 0:
original.position.y = _world_bounds.y + world_pos.y
elif world_pos.y > _world_bounds.y:
original.position.y = (world_pos.y - _world_bounds.y)
if world_pos.x < 0:
original.position.x = _world_bounds.x + world_pos.x
elif world_pos.x > _world_bounds.x:
original.position.x = (world_pos.x - _world_bounds.x)
var tag: int = clone.tag
if tag != 2:
if world_pos.x < _world_bounds.x/2:
clone.position.x = world_pos.x + _world_bounds.x
else:
clone.position.x = world_pos.x - _world_bounds.x
else:
clone.position.x = world_pos.x
if tag != 0:
if world_pos.y < _world_bounds.y/2:
clone.position.y = world_pos.y + _world_bounds.y
else:
clone.position.y = world_pos.y - _world_bounds.y
else:
clone.position.y = world_pos.y
clone.rotation = original.rotation

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@ -0,0 +1,101 @@
extends "res://demos/pursue_vs_seek/Ship.gd"
"""
Controls the player ship's movements based on player input.
"""
onready var agent: = GSTSteeringAgent.new()
export var thruster_strength: = 150.0
export var side_thruster_strength: = 10.0
export var max_velocity: = 150.0
export var max_angular_velocity: = 2.0
export var angular_drag: = 5.0
export var linear_drag: = 100.0
var _linear_velocity: = Vector2()
var _angular_velocity: = 0.0
func _physics_process(delta: float) -> void:
var movement: = _get_movement()
_angular_velocity = _calculate_angular_velocity(
movement.x,
_angular_velocity,
side_thruster_strength,
max_angular_velocity,
angular_drag,
delta
)
rotation += (_angular_velocity * delta)
_linear_velocity = _calculate_linear_velocity(
movement.y,
_linear_velocity,
Vector2.UP.rotated(rotation),
linear_drag,
thruster_strength,
max_velocity,
delta
)
_linear_velocity = move_and_slide(_linear_velocity)
_update_agent(_linear_velocity, rotation)
update()
func _calculate_angular_velocity(
horizontal_movement: float,
current_velocity: float,
thruster_strength: float,
max_velocity: float,
ship_drag: float,
delta: float) -> float:
var velocity: = clamp(
current_velocity + thruster_strength * horizontal_movement * delta,
-max_velocity,
max_velocity
)
if velocity > 0:
velocity -= ship_drag * delta
elif velocity < 0:
velocity += ship_drag * delta
if abs(velocity) < 0.01:
velocity = 0
return velocity
func _calculate_linear_velocity(
vertical_movement: float,
current_velocity: Vector2,
facing_direction: Vector2,
ship_drag: float,
strength: float,
max_speed: float,
delta: float) -> Vector2:
var actual_strength: = 0.0
if vertical_movement > 0:
actual_strength = strength
elif vertical_movement < 0:
actual_strength = -strength/1.5
var velocity: = current_velocity + facing_direction * actual_strength * delta
velocity -= current_velocity.normalized() * (ship_drag * delta)
return velocity.clamped(max_speed)
func _get_movement() -> Vector2:
return Vector2( Input.get_action_strength("sf_right") - Input.get_action_strength("sf_left"),
Input.get_action_strength("sf_up") - Input.get_action_strength("sf_down"))
func _update_agent(velocity: Vector2, orientation: float) -> void:
agent.position = Vector3(global_position.x, global_position.y, 0)
agent.linear_velocity = Vector3(velocity.x, velocity.y, 0)
agent.orientation = orientation

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@ -0,0 +1,42 @@
[gd_scene load_steps=4 format=2]
[ext_resource path="res://demos/pursue_vs_seek/Pursuer.gd" type="Script" id=1]
[ext_resource path="res://demos/pursue_vs_seek/BoundaryManager.gd" type="Script" id=2]
[ext_resource path="res://demos/pursue_vs_seek/Player.gd" type="Script" id=3]
[node name="PursueVSSeek" type="Node2D"]
__meta__ = {
"_editor_description_": "Toy demo to demonstrate the use of the Pursue contrasted to the more naive Seek steering behavior."
}
[node name="BoundaryManager" type="Node2D" parent="."]
script = ExtResource( 2 )
[node name="Player" type="KinematicBody2D" parent="BoundaryManager"]
position = Vector2( 49.2031, 556.936 )
rotation = 1.5708
collision_mask = 2
script = ExtResource( 3 )
color = Color( 1, 0, 0, 1 )
[node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="BoundaryManager/Player"]
polygon = PoolVector2Array( 0, -30, -25, 25, 25, 25 )
[node name="Pursuer" type="KinematicBody2D" parent="BoundaryManager"]
position = Vector2( 868.495, 87.9043 )
collision_layer = 2
script = ExtResource( 1 )
color = Color( 0.811765, 0.909804, 0.113725, 1 )
[node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="BoundaryManager/Pursuer"]
polygon = PoolVector2Array( 0, -30, -25, 25, 25, 25 )
[node name="Seeker" type="KinematicBody2D" parent="BoundaryManager"]
position = Vector2( 821.24, 87.9043 )
collision_layer = 2
script = ExtResource( 1 )
color = Color( 0.113725, 0.909804, 0.219608, 1 )
use_seek = true
[node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="BoundaryManager/Seeker"]
polygon = PoolVector2Array( 0, -30, -25, 25, 25, 25 )

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@ -0,0 +1,68 @@
extends "res://demos/pursue_vs_seek/Ship.gd"
"""
Represents a ship that chases after the player.
"""
onready var agent: = GSTSteeringAgent.new()
onready var accel: = GSTTargetAcceleration.new()
onready var player_agent: GSTSteeringAgent = owner.find_node("Player", true, false).agent
export var use_seek: bool = false
var _orient_behavior: GSTSteeringBehavior
var _behavior: GSTSteeringBehavior
var _linear_velocity: = Vector2()
var _angular_velocity: = 0.0
var _angular_drag: = 1.0
func _ready() -> void:
_setup()
func _setup() -> void:
if use_seek:
_behavior = GSTSeek.new(agent, player_agent)
else:
_behavior = GSTPursue.new(agent, player_agent, 2)
_orient_behavior = GSTLookWhereYouGo.new(agent)
_orient_behavior.alignment_tolerance = 0.001
_orient_behavior.deceleration_radius = PI/2
agent.max_angular_acceleration = 2
agent.max_angular_speed = 5
agent.max_linear_acceleration = 120
agent.max_linear_speed = 200
_update_agent()
func _physics_process(delta: float) -> void:
accel = _orient_behavior.calculate_steering(accel)
_angular_velocity += accel.angular
if _angular_velocity < 0:
_angular_velocity += _angular_drag * delta
elif _angular_velocity > 0:
_angular_velocity -= _angular_drag * delta
rotation = rotation + _angular_velocity * delta
accel = _behavior.calculate_steering(accel)
_linear_velocity = (
_linear_velocity + Vector2(accel.linear.x, accel.linear.y) * delta).clamped(agent.max_linear_speed)
_linear_velocity -= _linear_velocity * 1 * delta
_linear_velocity = move_and_slide(_linear_velocity)
_update_agent()
func _update_agent() -> void:
agent.position.x = global_position.x
agent.position.y = global_position.y
agent.orientation = rotation
agent.linear_velocity.x = _linear_velocity.x
agent.linear_velocity.y = _linear_velocity.y
agent.angular_velocity = _angular_velocity

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@ -0,0 +1,29 @@
extends KinematicBody2D
"""
Draws a notched triangle based on the vertices of the ship's polygon collider.
"""
export var color: = Color()
var tag: int = 0
var _vertices: PoolVector2Array
var _colors: PoolColorArray
func _init(verts: = PoolVector2Array()) -> void:
_vertices = verts
func _ready() -> void:
if not _vertices:
_vertices = $CollisionPolygon2D.polygon
var centroid: = (_vertices[0] + _vertices[1] + _vertices[2])/3
_vertices.insert(2, centroid)
for i in range(_vertices.size()):
_colors.append(color)
func _draw() -> void:
draw_polygon(_vertices, _colors)

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@ -34,6 +34,11 @@ _global_script_classes=[ {
"language": "GDScript", "language": "GDScript",
"path": "res://src/behaviors/GSTFlee.gd" "path": "res://src/behaviors/GSTFlee.gd"
}, { }, {
"base": "GSTMatchOrientation",
"class": "GSTLookWhereYouGo",
"language": "GDScript",
"path": "res://src/behaviors/GSTLookWhereYouGo.gd"
}, {
"base": "GSTSteeringBehavior", "base": "GSTSteeringBehavior",
"class": "GSTMatchOrientation", "class": "GSTMatchOrientation",
"language": "GDScript", "language": "GDScript",
@ -75,6 +80,7 @@ _global_script_class_icons={
"GSTEvade": "", "GSTEvade": "",
"GSTFace": "", "GSTFace": "",
"GSTFlee": "", "GSTFlee": "",
"GSTLookWhereYouGo": "",
"GSTMatchOrientation": "", "GSTMatchOrientation": "",
"GSTPursue": "", "GSTPursue": "",
"GSTSeek": "", "GSTSeek": "",

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@ -1,4 +1,3 @@
extends Reference
class_name GSTAgentLocation class_name GSTAgentLocation
""" """
Data type to represent an agent with a location and an orientation Data type to represent an agent with a location and an orientation

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@ -1,4 +1,3 @@
extends Reference
class_name GSTSteeringBehavior class_name GSTSteeringBehavior
""" """
Base class to calculate how an AI agent steers itself. Base class to calculate how an AI agent steers itself.

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@ -1,4 +1,3 @@
extends Reference
class_name GSTTargetAcceleration class_name GSTTargetAcceleration
""" """
A linear and angular amount of acceleration. A linear and angular amount of acceleration.

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@ -1,4 +1,7 @@
class_name Utils class_name Utils
"""
Useful math and utility functions to complement Godot's own.
"""
static func clmapedv3(vector: Vector3, limit: float) -> Vector3: static func clmapedv3(vector: Vector3, limit: float) -> Vector3:

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@ -0,0 +1,18 @@
extends GSTMatchOrientation
class_name GSTLookWhereYouGo
"""
Calculates an angular acceleration to match an agent's orientation to its direction of travel.
"""
func _init(agent: GSTSteeringAgent).(agent, null) -> void:
pass
func _calculate_steering(accel: GSTTargetAcceleration) -> GSTTargetAcceleration:
if agent.linear_velocity.length_squared() < agent.zero_linear_speed_threshold:
accel.set_zero()
return accel
else:
var orientation: = atan2(agent.linear_velocity.x, -agent.linear_velocity.y)
return _match_orientation(accel, orientation)

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@ -22,22 +22,22 @@ func _match_orientation(acceleration: GSTTargetAcceleration, desired_orientation
var rotation_size: = -rotation if rotation < 0 else rotation var rotation_size: = -rotation if rotation < 0 else rotation
if rotation_size <= alignment_tolerance: if rotation_size <= alignment_tolerance:
return acceleration.set_zero() acceleration.set_zero()
else:
var desired_rotation: = agent.max_angular_speed
var desired_rotation: = agent.max_angular_speed if rotation_size <= deceleration_radius:
desired_rotation *= rotation_size / deceleration_radius
if rotation_size <= deceleration_radius: desired_rotation *= rotation / rotation_size
desired_rotation *= rotation_size / deceleration_radius
desired_rotation *= rotation / rotation_size acceleration.angular = (desired_rotation - agent.angular_velocity) / time_to_reach
acceleration.angular = (desired_rotation - agent.angular_velocity) / time_to_reach var limited_acceleration: = -acceleration.angular if acceleration.angular < 0 else acceleration.angular
if limited_acceleration > agent.max_angular_acceleration:
acceleration.angular *= agent.max_angular_acceleration / limited_acceleration
var limited_acceleration: = -acceleration.angular if acceleration.angular < 0 else acceleration.angular acceleration.linear = Vector3.ZERO
if limited_acceleration > agent.max_angular_acceleration:
acceleration.angular *= agent.max_angular_acceleration / limited_acceleration
acceleration.linear = Vector3.ZERO
return acceleration return acceleration