Merge pull request #2 from GDQuest/features/mvp-impl

Features/mvp implementation

.gitignore

@@ -0,0 +1 @@
+.import/

docs/mvp.md

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

project/assets/sprites/large_circle.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/large_circle.png-31c2e25548cad683b9cdbdea4df32e13.stex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/sprites/large_circle.png"
+dest_files=[ "res://.import/large_circle.png-31c2e25548cad683b9cdbdea4df32e13.stex" ]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

project/assets/sprites/small_circle.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/small_circle.png-e9ef462acf0465fde3767e7b0877ff44.stex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/sprites/small_circle.png"
+dest_files=[ "res://.import/small_circle.png-e9ef462acf0465fde3767e7b0877ff44.stex" ]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

project/assets/sprites/triangle.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/triangle.png-fa05d9e46946b626c9973edf66af1138.stex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/sprites/triangle.png"
+dest_files=[ "res://.import/triangle.png-fa05d9e46946b626c9973edf66af1138.stex" ]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

project/assets/theme/fonts/default_font.tres

@@ -0,0 +1,11 @@
+[gd_resource type="DynamicFont" load_steps=2 format=2]
+
+[ext_resource path="res://assets/theme/fonts/montserrat/Montserrat-Medium.ttf" type="DynamicFontData" id=1]
+
+
+[resource]
+
+size = 20
+use_filter = true
+font_data = ExtResource( 1 )
+

project/assets/theme/fonts/default_font_bold.tres

@@ -0,0 +1,11 @@
+[gd_resource type="DynamicFont" load_steps=2 format=2]
+
+[ext_resource path="res://assets/theme/fonts/montserrat/Montserrat-Bold.ttf" type="DynamicFontData" id=1]
+
+
+[resource]
+
+size = 20
+use_filter = true
+font_data = ExtResource( 1 )
+

project/assets/theme/fonts/default_font_code.tres

@@ -0,0 +1,11 @@
+[gd_resource type="DynamicFont" load_steps=2 format=2]
+
+[ext_resource path="res://assets/theme/fonts/source_code_pro/SourceCodePro-Medium.otf" type="DynamicFontData" id=1]
+
+
+[resource]
+
+size = 20
+use_filter = true
+font_data = ExtResource( 1 )
+

project/assets/theme/fonts/font_title.tres

@@ -0,0 +1,11 @@
+[gd_resource type="DynamicFont" load_steps=2 format=2]
+
+[ext_resource path="res://assets/theme/fonts/montserrat/Montserrat-Black.ttf" type="DynamicFontData" id=1]
+
+
+[resource]
+
+size = 28
+use_filter = true
+font_data = ExtResource( 1 )
+

project/assets/theme/icons/chevron-right.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-chevron-right"><polyline points="9 18 15 12 9 6"></polyline></svg>

project/assets/theme/icons/chevron-right.svg.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/chevron-right.svg-f77dee7a088177a2ac1d467f4c7cd3e1.stex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/theme/icons/chevron-right.svg"
+dest_files=[ "res://.import/chevron-right.svg-f77dee7a088177a2ac1d467f4c7cd3e1.stex" ]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

project/assets/theme/icons/chevron-up.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-chevron-up"><polyline points="18 15 12 9 6 15"></polyline></svg>

project/assets/theme/icons/chevron-up.svg.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/chevron-up.svg-48b5b69265734774d0a7516dcc6f0863.stex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/theme/icons/chevron-up.svg"
+dest_files=[ "res://.import/chevron-up.svg-48b5b69265734774d0a7516dcc6f0863.stex" ]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

project/assets/theme/separator/line.tres

@@ -0,0 +1,7 @@
+[gd_resource type="StyleBoxLine" format=2]
+
+[resource]
+
+color = Color( 1, 1, 1, 0.196078 )
+thickness = 2
+

project/default_env.tres

@@ -0,0 +1,7 @@
+[gd_resource type="Environment" load_steps=2 format=2]
+
+[sub_resource type="ProceduralSky" id=1]
+
+[resource]
+background_mode = 2
+background_sky = SubResource( 1 )

project/demos/arrive/ArriveDemo.gd

@@ -0,0 +1,37 @@
+extends Node2D
+
+
+onready var target: = $Target
+onready var arriver: = $Arriver
+onready var gui: = $GUI
+
+
+func _ready() -> void:
+	gui.connect("align_tolerance_changed", self, "_on_GUI_align_tolerance_changed")
+	gui.connect("decel_radius_changed", self, "_on_GUI_decel_radius_changed")
+	gui.connect("max_speed_changed", self, "_on_GUI_max_speed_changed")
+	gui.connect("max_accel_changed", self, "_on_GUI_max_accel_changed")
+	gui.max_speed.text = str(arriver._agent.max_linear_speed)
+	gui.max_accel.text = str(arriver._agent.max_linear_acceleration)
+	gui.arrival_tolerance.text = str(arriver._arrive.arrival_tolerance)
+	gui.deceleration_radius.text = str(arriver._arrive.deceleration_radius)
+
+
+func draw(location: Vector2) -> void:
+	target.draw(location)
+
+
+func _on_GUI_align_tolerance_changed(value: int) -> void:
+	arriver._arrive.arrival_tolerance = value
+
+
+func _on_GUI_decel_radius_changed(value: int) -> void:
+	arriver._arrive.deceleration_radius = value
+
+
+func _on_GUI_max_speed_changed(value: int) -> void:
+	arriver._agent.max_linear_speed = value
+
+
+func _on_GUI_max_accel_changed(value: int) -> void:
+	arriver._agent.max_linear_acceleration = value

project/demos/arrive/ArriveDemo.tscn

@@ -0,0 +1,25 @@
+[gd_scene load_steps=6 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]
+[ext_resource path="res://demos/arrive/GUI.tscn" type="PackedScene" id=4]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 15.0
+
+[node name="ArriveDemo" 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 )
+
+[node name="GUI" parent="." instance=ExtResource( 4 )]
+margin_right = 227.0
+margin_bottom = 184.0

project/demos/arrive/Arriver.gd

@@ -0,0 +1,46 @@
+extends KinematicBody2D
+
+
+onready var collision_shape: = $CollisionShape2D
+
+var _radius: = 0.0
+var _agent: = GSTSteeringAgent.new()
+var _target: = GSTAgentLocation.new()
+var _arrive: = GSTArrive.new(_agent, _target)
+var _accel: = GSTTargetAcceleration.new()
+
+var _velocity: = Vector2()
+var _drag: = 1.0
+
+
+func _ready() -> void:
+	_radius = collision_shape.shape.radius
+	_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)

project/demos/arrive/GUI.gd

@@ -0,0 +1,47 @@
+extends MarginContainer
+
+
+signal max_speed_changed(value)
+signal max_accel_changed(value)
+signal align_tolerance_changed(value)
+signal decel_radius_changed(value)
+
+onready var max_speed: = $Controls/MaxSpeed/LineEdit
+onready var max_accel: = $Controls/MaxAccel/LineEdit
+onready var arrival_tolerance: = $Controls/ArrivalTolerance/LineEdit
+onready var deceleration_radius: = $Controls/DecelRadius/LineEdit
+
+
+func _ready() -> void:
+	max_speed.connect("text_changed", self, "_on_MaxSpeed_text_changed")
+	max_accel.connect("text_changed", self, "_on_MaxAccel_text_changed")
+	arrival_tolerance.connect("text_changed", self, "_on_ArrivalTolerance_text_changed")
+	deceleration_radius.connect("text_changed", self, "_on_DecelerationRadius_text_changed")
+
+
+func _unhandled_input(event: InputEvent) -> void:
+	if event is InputEventMouseButton:
+		max_speed.release_focus()
+		max_accel.release_focus()
+		arrival_tolerance.release_focus()
+		deceleration_radius.release_focus()
+
+
+func _on_MaxSpeed_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("max_speed_changed", int(float(new_text)))
+
+
+func _on_MaxAccel_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("max_accel_changed", int(float(new_text)))
+
+
+func _on_ArrivalTolerance_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("align_tolerance_changed", int(float(new_text)))
+
+
+func _on_DecelerationRadius_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("decel_radius_changed", int(float(new_text)))

project/demos/arrive/GUI.tscn

@@ -0,0 +1,108 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://demos/arrive/GUI.gd" type="Script" id=1]
+
+[node name="GUI" type="MarginContainer"]
+anchor_bottom = 1.0
+margin_right = 40.0
+custom_constants/margin_right = 20
+custom_constants/margin_top = 20
+custom_constants/margin_left = 20
+custom_constants/margin_bottom = 20
+script = ExtResource( 1 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Controls" type="VBoxContainer" parent="."]
+margin_left = 20.0
+margin_top = 20.0
+margin_right = 207.0
+margin_bottom = 580.0
+
+[node name="MaxSpeed" type="HBoxContainer" parent="Controls"]
+margin_right = 187.0
+margin_bottom = 24.0
+
+[node name="Label" type="Label" parent="Controls/MaxSpeed"]
+margin_top = 4.0
+margin_right = 125.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 125, 15 )
+text = "Max speed"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/MaxSpeed"]
+margin_left = 129.0
+margin_right = 187.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="MaxAccel" type="HBoxContainer" parent="Controls"]
+margin_top = 28.0
+margin_right = 187.0
+margin_bottom = 52.0
+
+[node name="Label" type="Label" parent="Controls/MaxAccel"]
+margin_top = 4.0
+margin_right = 125.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 125, 15 )
+text = "Max acceleration"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/MaxAccel"]
+margin_left = 129.0
+margin_right = 187.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="ArrivalTolerance" type="HBoxContainer" parent="Controls"]
+margin_top = 56.0
+margin_right = 187.0
+margin_bottom = 80.0
+
+[node name="Label" type="Label" parent="Controls/ArrivalTolerance"]
+margin_top = 4.0
+margin_right = 125.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 125, 15 )
+text = "Arrival tolerance"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/ArrivalTolerance"]
+margin_left = 129.0
+margin_right = 187.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="DecelRadius" type="HBoxContainer" parent="Controls"]
+margin_top = 84.0
+margin_right = 187.0
+margin_bottom = 108.0
+
+[node name="Label" type="Label" parent="Controls/DecelRadius"]
+margin_top = 4.0
+margin_right = 125.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 125, 15 )
+text = "Deceleration radius"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/DecelRadius"]
+margin_left = 129.0
+margin_right = 187.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="Help" type="VBoxContainer" parent="Controls"]
+margin_top = 112.0
+margin_right = 187.0
+margin_bottom = 144.0
+
+[node name="Controls" type="Label" parent="Controls/Help"]
+margin_right = 187.0
+margin_bottom = 14.0
+text = "Controls"
+
+[node name="Label" type="Label" parent="Controls/Help"]
+margin_top = 18.0
+margin_right = 187.0
+margin_bottom = 32.0
+text = "Mouse click"

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()

project/demos/face/FaceDemo.gd

@@ -0,0 +1,34 @@
+extends Node2D
+
+
+onready var player: = $Player
+onready var gui: = $GUI
+onready var turret: = $Turret
+
+
+func _ready() -> void:
+	gui.connect("align_tolerance_changed", self, "_on_GUI_align_tolerance_changed")
+	gui.connect("decel_radius_changed", self, "_on_GUI_decel_radius_changed")
+	gui.connect("max_accel_changed", self, "_on_GUI_max_accel_changed")
+	gui.connect("max_speed_changed", self, "_on_GUI_max_speed_changed")
+	turret.setup()
+	gui.align_tolerance.text = str(int(rad2deg(turret._face.alignment_tolerance)))
+	gui.decel_radius.text = str(int(rad2deg(turret._face.deceleration_radius)))
+	gui.max_speed.text = str(int(rad2deg(turret._agent.max_angular_speed)))
+	gui.max_accel.text = str(int(rad2deg(turret._agent.max_angular_acceleration)))
+
+
+func _on_GUI_align_tolerance_changed(value: int) -> void:
+	turret._face.alignment_tolerance = deg2rad(value)
+
+
+func _on_GUI_decel_radius_changed(value: int) -> void:
+	turret._face.deceleration_radius = deg2rad(value)
+
+
+func _on_GUI_max_accel_changed(value: int) -> void:
+	turret._agent.max_angular_acceleration = deg2rad(value)
+
+
+func _on_GUI_max_speed_changed(value: int) -> void:
+	turret._agent.max_angular_speed = deg2rad(value)

project/demos/face/FaceDemo.tscn

@@ -0,0 +1,36 @@
+[gd_scene load_steps=7 format=2]
+
+[ext_resource path="res://demos/face/Turret.gd" type="Script" id=1]
+[ext_resource path="res://demos/face/FaceDemo.gd" type="Script" id=2]
+[ext_resource path="res://demos/face/Player.gd" type="Script" id=3]
+[ext_resource path="res://demos/face/GUI.tscn" type="PackedScene" id=4]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 20.0
+
+[sub_resource type="CircleShape2D" id=2]
+radius = 30.0
+
+[node name="FaceDemo" type="Node2D"]
+script = ExtResource( 2 )
+__meta__ = {
+"_editor_description_": "A demo showing the usage of the Face steering behavior."
+}
+
+[node name="Player" type="KinematicBody2D" parent="."]
+position = Vector2( 512, 450 )
+script = ExtResource( 3 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="Player"]
+shape = SubResource( 1 )
+
+[node name="Turret" type="KinematicBody2D" parent="."]
+position = Vector2( 512, 150 )
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="Turret"]
+shape = SubResource( 2 )
+
+[node name="GUI" parent="." instance=ExtResource( 4 )]
+margin_right = 232.0
+margin_bottom = 204.0

project/demos/face/GUI.gd

@@ -0,0 +1,47 @@
+extends MarginContainer
+
+
+signal max_speed_changed(value)
+signal max_accel_changed(value)
+signal align_tolerance_changed(value)
+signal decel_radius_changed(value)
+
+onready var max_speed: = $Controls/MaxSpeed/LineEdit
+onready var max_accel: = $Controls/MaxAccel/LineEdit
+onready var align_tolerance: = $Controls/AlignmentTolerance/LineEdit
+onready var decel_radius: = $Controls/DecelerationRadius/LineEdit
+
+
+func _ready() -> void:
+	max_speed.connect("text_changed", self, "_on_MaxSpeed_text_changed")
+	max_accel.connect("text_changed", self, "_on_MaxAccel_text_changed")
+	align_tolerance.connect("text_changed", self, "_on_AlignTolerance_text_changed")
+	decel_radius.connect("text_changed", self, "_on_DecelRadius_text_changed")
+
+
+func _unhandled_input(event: InputEvent) -> void:
+	if event is InputEventMouseButton:
+		max_speed.release_focus()
+		max_accel.release_focus()
+		align_tolerance.release_focus()
+		decel_radius.release_focus()
+
+
+func _on_MaxSpeed_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("max_speed_changed", int(float(new_text)))
+
+
+func _on_MaxAccel_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("max_accel_changed", int(float(new_text)))
+
+
+func _on_AlignTolerance_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("align_tolerance_changed", int(float(new_text)))
+
+
+func _on_DecelRadius_text_changed(new_text: String) -> void:
+	if new_text.is_valid_integer():
+		emit_signal("decel_radius_changed", int(float(new_text)))

project/demos/face/GUI.tscn

@@ -0,0 +1,153 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://demos/face/GUI.gd" type="Script" id=1]
+
+[node name="GUI" type="MarginContainer"]
+anchor_bottom = 1.0
+margin_right = 40.0
+custom_constants/margin_right = 20
+custom_constants/margin_top = 20
+custom_constants/margin_left = 20
+custom_constants/margin_bottom = 20
+script = ExtResource( 1 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Controls" type="VBoxContainer" parent="."]
+margin_left = 20.0
+margin_top = 20.0
+margin_right = 212.0
+margin_bottom = 580.0
+
+[node name="MaxSpeed" type="HBoxContainer" parent="Controls"]
+margin_right = 192.0
+margin_bottom = 24.0
+
+[node name="Label" type="Label" parent="Controls/MaxSpeed"]
+margin_top = 4.0
+margin_right = 130.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 130, 15 )
+text = "Max speed"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/MaxSpeed"]
+margin_left = 134.0
+margin_right = 192.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="MaxAccel" type="HBoxContainer" parent="Controls"]
+margin_top = 28.0
+margin_right = 192.0
+margin_bottom = 52.0
+
+[node name="Label" type="Label" parent="Controls/MaxAccel"]
+margin_top = 4.0
+margin_right = 130.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 130, 15 )
+text = "Max acceleration"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/MaxAccel"]
+margin_left = 134.0
+margin_right = 192.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="AlignmentTolerance" type="HBoxContainer" parent="Controls"]
+margin_top = 56.0
+margin_right = 192.0
+margin_bottom = 80.0
+
+[node name="Label" type="Label" parent="Controls/AlignmentTolerance"]
+margin_top = 4.0
+margin_right = 130.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 130, 15 )
+text = "Alignment tolerance"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/AlignmentTolerance"]
+margin_left = 134.0
+margin_right = 192.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="DecelerationRadius" type="HBoxContainer" parent="Controls"]
+margin_top = 84.0
+margin_right = 192.0
+margin_bottom = 108.0
+
+[node name="Label" type="Label" parent="Controls/DecelerationRadius"]
+margin_top = 4.0
+margin_right = 130.0
+margin_bottom = 19.0
+rect_min_size = Vector2( 130, 15 )
+text = "Deceleration radius"
+
+[node name="LineEdit" type="LineEdit" parent="Controls/DecelerationRadius"]
+margin_left = 134.0
+margin_right = 192.0
+margin_bottom = 24.0
+focus_mode = 1
+
+[node name="Help" type="VBoxContainer" parent="Controls"]
+margin_top = 112.0
+margin_right = 192.0
+margin_bottom = 164.0
+
+[node name="Controls" type="Label" parent="Controls/Help"]
+margin_right = 192.0
+margin_bottom = 14.0
+text = "Controls"
+
+[node name="GridContainer" type="GridContainer" parent="Controls/Help"]
+margin_top = 18.0
+margin_right = 192.0
+margin_bottom = 52.0
+columns = 3
+
+[node name="Sep" type="Control" parent="Controls/Help/GridContainer"]
+margin_right = 15.0
+margin_bottom = 15.0
+rect_min_size = Vector2( 15, 15 )
+
+[node name="W" type="Label" parent="Controls/Help/GridContainer"]
+margin_left = 19.0
+margin_right = 34.0
+margin_bottom = 15.0
+rect_min_size = Vector2( 15, 15 )
+text = "W"
+align = 1
+
+[node name="Sep2" type="Control" parent="Controls/Help/GridContainer"]
+margin_left = 38.0
+margin_right = 53.0
+margin_bottom = 15.0
+rect_min_size = Vector2( 15, 15 )
+
+[node name="A" type="Label" parent="Controls/Help/GridContainer"]
+margin_top = 19.0
+margin_right = 15.0
+margin_bottom = 34.0
+rect_min_size = Vector2( 15, 15 )
+text = "A"
+align = 1
+
+[node name="S" type="Label" parent="Controls/Help/GridContainer"]
+margin_left = 19.0
+margin_top = 19.0
+margin_right = 34.0
+margin_bottom = 34.0
+rect_min_size = Vector2( 15, 15 )
+text = "S"
+align = 1
+
+[node name="D" type="Label" parent="Controls/Help/GridContainer"]
+margin_left = 38.0
+margin_top = 19.0
+margin_right = 53.0
+margin_bottom = 34.0
+rect_min_size = Vector2( 15, 15 )
+text = "D"
+align = 1

project/demos/face/Player.gd

@@ -0,0 +1,32 @@
+extends KinematicBody2D
+
+
+onready var collision_shape: = $CollisionShape2D
+onready var agent: = GSTAgentLocation.new()
+
+export var speed: = 125.0
+
+var _radius: = 0.0
+
+
+func _ready() -> void:
+	_radius = collision_shape.shape.radius
+
+
+func _draw() -> void:
+	draw_circle(Vector2.ZERO, _radius, Color.red)
+
+
+func _physics_process(delta: float) -> void:
+	var movement: = _get_movement()
+	move_and_slide(movement * speed)
+	_update_agent()
+
+
+func _get_movement() -> Vector2:
+	return Vector2(	Input.get_action_strength("sf_right") - Input.get_action_strength("sf_left"),
+					Input.get_action_strength("sf_down")  - Input.get_action_strength("sf_up"))
+
+
+func _update_agent() -> void:
+	agent.position = Vector3(global_position.x, global_position.y, 0)

project/demos/face/Turret.gd

@@ -0,0 +1,59 @@
+extends KinematicBody2D
+
+
+onready var collision_shape: = $CollisionShape2D
+
+var _radius: = 0.0
+var _cannon: Rect2
+
+var _agent: = GSTSteeringAgent.new()
+var _accel: = GSTTargetAcceleration.new()
+
+var _angular_velocity: = 0.0
+var _angular_drag: = 1.0
+var _face: GSTFace
+
+
+func _ready() -> void:
+	_radius = collision_shape.shape.radius
+	_cannon = Rect2(Vector2(-5, 0), Vector2(10, -_radius*2))
+
+
+func _draw() -> void:
+	draw_rect(_cannon, Color.blue)
+	draw_circle(Vector2.ZERO, _radius, Color.teal)
+
+
+func _physics_process(delta: float) -> void:
+	if not _face:
+		return
+	
+	_accel = _face.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 += _angular_velocity * delta
+	
+	_update_agent()
+
+
+func setup() -> void:
+	_face = GSTFace.new(_agent, owner.player.agent)
+	
+	_face.alignment_tolerance = 0.1
+	_face.deceleration_radius = PI/2
+	
+	_agent.max_angular_acceleration = 0.5
+	_agent.max_angular_speed = 5
+	_agent.position = Vector3(global_position.x, global_position.y, 0)
+	
+	_update_agent()
+
+
+func _update_agent() -> void:
+	_agent.angular_velocity = _angular_velocity
+	_agent.orientation = rotation

project/demos/follow_path/FollowPathDemo.tscn

@@ -0,0 +1,3 @@
+[gd_scene format=2]
+
+[node name="FollowPathDemo" type="Node2D"]

project/demos/group_behaviors/GroupBehaviorsDemo.tscn

@@ -0,0 +1,11 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://demos/group_behaviors/Member.tscn" type="PackedScene" id=1]
+[ext_resource path="res://demos/group_behaviors/Spawner.gd" type="Script" id=2]
+
+[node name="GroupBehaviorsDemo" type="Node2D"]
+
+[node name="Spawner" type="Node2D" parent="."]
+position = Vector2( 397, 207 )
+script = ExtResource( 2 )
+member = ExtResource( 1 )

project/demos/group_behaviors/Member.gd

@@ -0,0 +1,51 @@
+extends KinematicBody2D
+
+
+var agent: = GSTSteeringAgent.new()
+var separation: GSTSeparation
+var cohesion: GSTCohesion
+var proximity: GSTRadiusProximity
+var blend: = GSTBlend.new(agent)
+var acceleration: = GSTTargetAcceleration.new()
+
+var _radius: float
+var _color: = Color.red
+var _velocity: = Vector2()
+
+onready var shape: = $CollisionShape2D
+
+
+func _ready() -> void:
+	_radius = shape.shape.radius
+	_color = Color(rand_range(0.5, 1), rand_range(0.25, 1), rand_range(0, 1))
+	agent.max_linear_acceleration = 7
+	agent.max_linear_speed = 70
+	
+	proximity = GSTRadiusProximity.new(agent, [], 140)
+	separation = GSTSeparation.new(agent, proximity)
+	separation.decay_coefficient = 2000
+	cohesion = GSTCohesion.new(agent, proximity)
+	blend.add(separation, 1.5)
+	blend.add(cohesion, 0.3)
+
+
+func _draw() -> void:
+	draw_circle(Vector2.ZERO, _radius, _color)
+
+
+func _process(delta: float) -> void:
+	update_agent()
+	if blend:
+		acceleration = blend.calculate_steering(acceleration)
+		_velocity = (_velocity + Vector2(acceleration.linear.x, acceleration.linear.y)).clamped(agent.max_linear_speed)
+		move_and_slide(_velocity)
+
+
+func set_neighbors(neighbor: Array) -> void:
+	proximity.agents = neighbor
+
+
+func update_agent() -> void:
+	var current_position: = global_position
+	agent.position.x = current_position.x
+	agent.position.y = current_position.y

project/demos/group_behaviors/Member.tscn

@@ -0,0 +1,12 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://demos/group_behaviors/Member.gd" type="Script" id=1]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 15.0
+
+[node name="Member" type="KinematicBody2D"]
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="."]
+shape = SubResource( 1 )

project/demos/group_behaviors/Spawner.gd

@@ -0,0 +1,18 @@
+extends Node2D
+
+
+export var member: PackedScene
+
+
+func _ready() -> void:
+	var followers: = []
+	for i in range(19):
+		var follower: = member.instance()
+		add_child(follower)
+		follower.position += Vector2(rand_range(-60, 60), rand_range(-60, 60))
+		followers.append(follower)
+	var agents: = []
+	for i in followers:
+		agents.append(i.agent)
+	for i in followers:
+		i.proximity.agents = agents

project/demos/pursue_vs_seek/BoundaryManager.gd

@@ -0,0 +1,67 @@
+extends Node2D
+# Wraps the ships' positions around the world border, and controls their rendering clones.
+
+
+onready var ShipType: = preload("res://demos/pursue_vs_seek/Ship.gd")
+onready var ships: = [$Player, $Pursuer, $Seeker]
+
+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()
+			
+			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.tag = i
+			ship_clone.name = ship.name + "Clone"
+			
+			add_child(ship_clone)
+			ship_clone.generate_sprite(ship.get_node("Sprite"))
+			_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

project/demos/pursue_vs_seek/GUI.gd

@@ -0,0 +1,38 @@
+extends PanelContainer
+
+
+signal linear_speed_changed(value)
+signal linear_accel_changed(value)
+signal angular_speed_changed(value)
+signal angular_accel_changed(value)
+signal decel_radius_changed(value)
+signal predict_time_changed(value)
+
+
+onready var linear_speed: = $GUI/Controls/LinSpeedBox/MaxLinSpeed
+onready var lin_speed_label: = $GUI/Controls/LinSpeedBox/Label
+onready var linear_accel: = $GUI/Controls/LinAccelBox/MaxLinAccel
+onready var lin_accel_label: = $GUI/Controls/LinAccelBox/Label
+onready var predict_time: = $GUI/Controls/PredictTime/PredictTime
+onready var predict_time_label: = $GUI/Controls/PredictTime/Label
+
+
+func _ready() -> void:
+	linear_speed.connect("value_changed", self, "_on_Slider_linear_speed_changed")
+	linear_accel.connect("value_changed", self, "_on_Slider_linear_accel_changed")
+	predict_time.connect("value_changed", self, "_on_Slider_predict_time_changed")
+
+
+func _on_Slider_linear_speed_changed(value: float) -> void:
+	lin_speed_label.text = "Max linear speed (" + str(value) + ")"
+	emit_signal("linear_speed_changed", value)
+
+
+func _on_Slider_linear_accel_changed(value: float) -> void:
+	lin_accel_label.text = "Max linear accel (" + str(value) + ")"
+	emit_signal("linear_accel_changed", value)
+
+
+func _on_Slider_predict_time_changed(value: float) -> void:
+	predict_time_label.text = "Predict time (" + str(value) + " sec)"
+	emit_signal("predict_time_changed", value)

project/demos/pursue_vs_seek/GUI.tscn

@@ -0,0 +1,139 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://demos/pursue_vs_seek/GUI.gd" type="Script" id=1]
+[ext_resource path="res://assets/theme/gdquest.theme" type="Theme" id=2]
+
+[node name="PanelContainer" type="PanelContainer"]
+anchor_bottom = 1.0
+margin_right = 364.0
+theme = ExtResource( 2 )
+script = ExtResource( 1 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="GUI" type="MarginContainer" parent="."]
+margin_right = 364.0
+margin_bottom = 600.0
+custom_constants/margin_right = 20
+custom_constants/margin_top = 20
+custom_constants/margin_left = 20
+custom_constants/margin_bottom = 20
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Controls" type="VBoxContainer" parent="GUI"]
+margin_left = 20.0
+margin_top = 20.0
+margin_right = 344.0
+margin_bottom = 580.0
+
+[node name="LinSpeedBox" type="VBoxContainer" parent="GUI/Controls"]
+margin_right = 324.0
+margin_bottom = 50.0
+
+[node name="Label" type="Label" parent="GUI/Controls/LinSpeedBox"]
+margin_right = 324.0
+margin_bottom = 26.0
+text = "Max linear speed (2000)"
+
+[node name="MaxLinSpeed" type="HSlider" parent="GUI/Controls/LinSpeedBox"]
+margin_top = 34.0
+margin_right = 324.0
+margin_bottom = 50.0
+max_value = 500.0
+
+[node name="LinAccelBox" type="VBoxContainer" parent="GUI/Controls"]
+margin_top = 58.0
+margin_right = 324.0
+margin_bottom = 108.0
+
+[node name="Label" type="Label" parent="GUI/Controls/LinAccelBox"]
+margin_right = 324.0
+margin_bottom = 26.0
+text = "Max linear accel (2000)"
+
+[node name="MaxLinAccel" type="HSlider" parent="GUI/Controls/LinAccelBox"]
+margin_top = 34.0
+margin_right = 324.0
+margin_bottom = 50.0
+step = 0.5
+
+[node name="PredictTime" type="VBoxContainer" parent="GUI/Controls"]
+margin_top = 116.0
+margin_right = 324.0
+margin_bottom = 166.0
+
+[node name="Label" type="Label" parent="GUI/Controls/PredictTime"]
+margin_right = 324.0
+margin_bottom = 26.0
+text = "Predict time (2000)"
+
+[node name="PredictTime" type="HSlider" parent="GUI/Controls/PredictTime"]
+margin_top = 34.0
+margin_right = 324.0
+margin_bottom = 50.0
+max_value = 5.0
+step = 0.1
+
+[node name="Help" type="VBoxContainer" parent="GUI/Controls"]
+margin_top = 174.0
+margin_right = 324.0
+margin_bottom = 264.0
+
+[node name="Controls" type="Label" parent="GUI/Controls/Help"]
+margin_right = 324.0
+margin_bottom = 26.0
+text = "Controls"
+
+[node name="GridContainer" type="GridContainer" parent="GUI/Controls/Help"]
+margin_top = 34.0
+margin_right = 324.0
+margin_bottom = 90.0
+columns = 3
+
+[node name="Sep" type="Control" parent="GUI/Controls/Help/GridContainer"]
+margin_right = 15.0
+margin_bottom = 26.0
+rect_min_size = Vector2( 15, 15 )
+
+[node name="W" type="Label" parent="GUI/Controls/Help/GridContainer"]
+margin_left = 19.0
+margin_right = 42.0
+margin_bottom = 26.0
+rect_min_size = Vector2( 15, 15 )
+text = "W"
+align = 1
+
+[node name="Sep2" type="Control" parent="GUI/Controls/Help/GridContainer"]
+margin_left = 46.0
+margin_right = 63.0
+margin_bottom = 26.0
+rect_min_size = Vector2( 15, 15 )
+
+[node name="A" type="Label" parent="GUI/Controls/Help/GridContainer"]
+margin_top = 30.0
+margin_right = 15.0
+margin_bottom = 56.0
+rect_min_size = Vector2( 15, 15 )
+text = "A"
+align = 1
+
+[node name="S" type="Label" parent="GUI/Controls/Help/GridContainer"]
+margin_left = 19.0
+margin_top = 30.0
+margin_right = 42.0
+margin_bottom = 56.0
+rect_min_size = Vector2( 15, 15 )
+text = "S"
+align = 1
+
+[node name="D" type="Label" parent="GUI/Controls/Help/GridContainer"]
+margin_left = 46.0
+margin_top = 30.0
+margin_right = 63.0
+margin_bottom = 56.0
+rect_min_size = Vector2( 15, 15 )
+text = "D"
+align = 1

project/demos/pursue_vs_seek/Player.gd

@@ -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)
+
+
+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.x = global_position.x
+	agent.position.y = global_position.y
+	agent.linear_velocity.x = velocity.x
+	agent.linear_velocity.y = velocity.y
+	agent.angular_velocity = _angular_velocity
+	agent.orientation = orientation

project/demos/pursue_vs_seek/PursueVSSeekDemo.gd

@@ -0,0 +1,34 @@
+extends Node2D
+
+
+onready var gui: = $GUI
+onready var pursuer: = $BoundaryManager/Pursuer
+onready var seeker: = $BoundaryManager/Seeker
+
+export var start_linear_speed: = 200.0
+export var start_linear_accel: = 25.0
+export var start_predict_time: = 0.3
+
+
+func _ready() -> void:
+	gui.connect("linear_accel_changed", self, "_on_GUI_linear_accel_changed")
+	gui.connect("linear_speed_changed", self, "_on_GUI_linear_speed_changed")
+	gui.connect("predict_time_changed", self, "_on_GUI_predict_time_changed")
+	yield(get_tree(), "idle_frame")
+	gui.linear_speed.value = start_linear_speed
+	gui.linear_accel.value = start_linear_accel
+	gui.predict_time.value = start_predict_time
+
+
+func _on_GUI_linear_accel_changed(value: int) -> void:
+	pursuer.agent.max_linear_acceleration = float(value)
+	seeker.agent.max_linear_acceleration = float(value)
+
+
+func _on_GUI_linear_speed_changed(value: int) -> void:
+	pursuer.agent.max_linear_speed = float(value)
+	seeker.agent.max_linear_speed = float(value)
+
+
+func _on_GUI_predict_time_changed(value: int) -> void:
+	pursuer._behavior.max_predict_time = float(value)

project/demos/pursue_vs_seek/PursueVSSeekDemo.tscn

@@ -0,0 +1,61 @@
+[gd_scene load_steps=7 format=2]
+
+[ext_resource path="res://demos/pursue_vs_seek/Pursuer.gd" type="Script" id=1]
+[ext_resource path="res://demos/pursue_vs_seek/Player.gd" type="Script" id=2]
+[ext_resource path="res://demos/pursue_vs_seek/BoundaryManager.gd" type="Script" id=3]
+[ext_resource path="res://demos/pursue_vs_seek/PursueVSSeekDemo.gd" type="Script" id=4]
+[ext_resource path="res://demos/pursue_vs_seek/GUI.tscn" type="PackedScene" id=5]
+[ext_resource path="res://assets/sprites/triangle.png" type="Texture" id=6]
+
+[node name="PursueVSSeekDemo" type="Node2D"]
+script = ExtResource( 4 )
+__meta__ = {
+"_editor_description_": "Toy demo to demonstrate the use of the Pursue contrasted to the more naive Seek steering behavior."
+}
+start_linear_speed = 150.0
+start_linear_accel = 75.0
+start_predict_time = 2.0
+
+[node name="BoundaryManager" type="Node2D" parent="."]
+script = ExtResource( 3 )
+
+[node name="Player" type="KinematicBody2D" parent="BoundaryManager"]
+position = Vector2( 49.2031, 556.936 )
+rotation = 1.5708
+collision_mask = 2
+script = ExtResource( 2 )
+
+[node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="BoundaryManager/Player"]
+polygon = PoolVector2Array( 0, -32, -24, 32, 24, 32 )
+
+[node name="Sprite" type="Sprite" parent="BoundaryManager/Player"]
+modulate = Color( 0.968627, 0.188235, 0.0352941, 1 )
+texture = ExtResource( 6 )
+
+[node name="Pursuer" type="KinematicBody2D" parent="BoundaryManager"]
+position = Vector2( 868.495, 87.9043 )
+collision_layer = 2
+script = ExtResource( 1 )
+
+[node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="BoundaryManager/Pursuer"]
+polygon = PoolVector2Array( 0, -32, -24, 32, 24, 32 )
+
+[node name="Sprite" type="Sprite" parent="BoundaryManager/Pursuer"]
+modulate = Color( 0.756863, 0.952941, 0.054902, 1 )
+texture = ExtResource( 6 )
+
+[node name="Seeker" type="KinematicBody2D" parent="BoundaryManager"]
+position = Vector2( 821.24, 87.9043 )
+collision_layer = 2
+script = ExtResource( 1 )
+use_seek = true
+
+[node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="BoundaryManager/Seeker"]
+polygon = PoolVector2Array( 0, -32, -24, 32, 24, 32 )
+
+[node name="Sprite" type="Sprite" parent="BoundaryManager/Seeker"]
+modulate = Color( 0.278431, 0.815686, 0.14902, 1 )
+texture = ExtResource( 6 )
+
+[node name="GUI" parent="." instance=ExtResource( 5 )]
+margin_right = 309.0

project/demos/pursue_vs_seek/Pursuer.gd

@@ -0,0 +1,66 @@
+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 = 75
+	agent.max_linear_speed = 125
+	_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 += Vector2(accel.linear.x, accel.linear.y) * delta
+	_linear_velocity -= _linear_velocity.normalized() * 10 * delta
+	_linear_velocity = _linear_velocity.clamped(agent.max_linear_speed)
+	_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

project/demos/pursue_vs_seek/Ship.gd

@@ -0,0 +1,13 @@
+extends KinematicBody2D
+# Represents a basic ship
+
+
+var tag: int = 0
+
+
+func generate_sprite(sprite: Sprite) -> void:
+	var new_sprite = Sprite.new()
+	new_sprite.texture = sprite.texture
+	new_sprite.modulate = sprite.modulate
+	new_sprite.name = "Sprite"
+	add_child(new_sprite)

project/demos/seek_and_flee/Boundary.gd

@@ -0,0 +1,14 @@
+extends StaticBody2D
+# Draws the bounding box of the static body wall.
+
+
+var rect: Rect2
+
+
+func _ready() -> void:
+	var extents: = ($CollisionShape2D.shape as RectangleShape2D).extents
+	rect = Rect2(-extents, extents*2)
+
+
+func _draw() -> void:
+	draw_rect(rect, Color.yellowgreen)

project/demos/seek_and_flee/GUI.gd

@@ -0,0 +1,48 @@
+extends PanelContainer
+
+
+enum BehaviorMode { SEEK, FLEE }
+
+signal mode_changed(behavior_mode)
+signal accel_changed(value)
+signal speed_changed(value)
+
+onready var seek: = $MarginContainer/BehaviorControls/Seek
+onready var flee: = $MarginContainer/BehaviorControls/Flee
+onready var max_accel: = $MarginContainer/BehaviorControls/MaxAccelValue
+onready var max_speed: = $MarginContainer/BehaviorControls/MaxSpeedValue
+onready var max_accel_label: = $MarginContainer/BehaviorControls/MaxAccel
+onready var max_speed_label: = $MarginContainer/BehaviorControls/MaxSpeed
+
+
+func _ready() -> void:
+	seek.connect("pressed", self, "_on_Seek_pressed")
+	flee.connect("pressed", self, "_on_Flee_pressed")
+	max_accel.connect("value_changed", self, "_on_Accel_changed")
+	max_speed.connect("value_changed", self, "_on_Speed_changed")
+	max_accel_label.text = "Max accel (" + str(max_accel.value) + ")"
+	max_speed_label.text = "Max speed (" + str(max_speed.value) + ")"
+
+
+func _on_Seek_pressed() -> void:
+	flee.pressed = false
+	flee.button_mask = BUTTON_MASK_LEFT
+	seek.button_mask = 0
+	emit_signal("mode_changed", BehaviorMode.SEEK)
+
+
+func _on_Flee_pressed() -> void:
+	seek.pressed = false
+	seek.button_mask = BUTTON_MASK_LEFT
+	flee.button_mask = 0
+	emit_signal("mode_changed", BehaviorMode.FLEE)
+
+
+func _on_Accel_changed(value: float) -> void:
+	max_accel_label.text = "Max accel (" + str(value) + ")"
+	emit_signal("accel_changed", value)
+
+
+func _on_Speed_changed(value: float) -> void:
+	max_speed_label.text = "Max speed (" + str(value) + ")"
+	emit_signal("speed_changed", value)

project/demos/seek_and_flee/GUI.tscn

@@ -0,0 +1,142 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://assets/theme/gdquest.theme" type="Theme" id=1]
+[ext_resource path="res://demos/seek_and_flee/GUI.gd" type="Script" id=3]
+
+[node name="GUI" type="PanelContainer"]
+anchor_bottom = 1.0
+margin_right = 118.0
+theme = ExtResource( 1 )
+script = ExtResource( 3 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="MarginContainer" type="MarginContainer" parent="."]
+margin_right = 218.0
+margin_bottom = 600.0
+custom_constants/margin_right = 20
+custom_constants/margin_top = 20
+custom_constants/margin_left = 20
+custom_constants/margin_bottom = 20
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="BehaviorControls" type="VBoxContainer" parent="MarginContainer"]
+margin_left = 20.0
+margin_top = 20.0
+margin_right = 198.0
+margin_bottom = 580.0
+
+[node name="Seek" type="CheckBox" parent="MarginContainer/BehaviorControls"]
+margin_right = 178.0
+margin_bottom = 26.0
+focus_mode = 0
+pressed = true
+enabled_focus_mode = 0
+text = "Seek"
+
+[node name="Flee" type="CheckBox" parent="MarginContainer/BehaviorControls"]
+margin_top = 34.0
+margin_right = 178.0
+margin_bottom = 60.0
+focus_mode = 0
+enabled_focus_mode = 0
+text = "Flee"
+
+[node name="MaxAccel" type="Label" parent="MarginContainer/BehaviorControls"]
+margin_top = 68.0
+margin_right = 178.0
+margin_bottom = 94.0
+text = "Max accel (2000)"
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="MaxAccelValue" type="HSlider" parent="MarginContainer/BehaviorControls"]
+margin_top = 102.0
+margin_right = 178.0
+margin_bottom = 118.0
+max_value = 250.0
+step = 0.5
+value = 20.0
+
+[node name="MaxSpeed" type="Label" parent="MarginContainer/BehaviorControls"]
+margin_top = 126.0
+margin_right = 178.0
+margin_bottom = 152.0
+text = "Max speed (2000)"
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="MaxSpeedValue" type="HSlider" parent="MarginContainer/BehaviorControls"]
+margin_top = 160.0
+margin_right = 178.0
+margin_bottom = 176.0
+max_value = 450.0
+value = 100.0
+
+[node name="Help" type="VBoxContainer" parent="MarginContainer/BehaviorControls"]
+margin_top = 184.0
+margin_right = 178.0
+margin_bottom = 274.0
+
+[node name="Controls" type="Label" parent="MarginContainer/BehaviorControls/Help"]
+margin_right = 178.0
+margin_bottom = 26.0
+text = "Controls"
+
+[node name="GridContainer" type="GridContainer" parent="MarginContainer/BehaviorControls/Help"]
+margin_left = 57.0
+margin_top = 34.0
+margin_right = 120.0
+margin_bottom = 90.0
+size_flags_horizontal = 4
+columns = 3
+
+[node name="Sep" type="Control" parent="MarginContainer/BehaviorControls/Help/GridContainer"]
+margin_right = 15.0
+margin_bottom = 26.0
+rect_min_size = Vector2( 15, 15 )
+
+[node name="W" type="Label" parent="MarginContainer/BehaviorControls/Help/GridContainer"]
+margin_left = 19.0
+margin_right = 42.0
+margin_bottom = 26.0
+rect_min_size = Vector2( 15, 15 )
+text = "W"
+align = 1
+
+[node name="Sep2" type="Control" parent="MarginContainer/BehaviorControls/Help/GridContainer"]
+margin_left = 46.0
+margin_right = 63.0
+margin_bottom = 26.0
+rect_min_size = Vector2( 15, 15 )
+
+[node name="A" type="Label" parent="MarginContainer/BehaviorControls/Help/GridContainer"]
+margin_top = 30.0
+margin_right = 15.0
+margin_bottom = 56.0
+rect_min_size = Vector2( 15, 15 )
+text = "A"
+align = 1
+
+[node name="S" type="Label" parent="MarginContainer/BehaviorControls/Help/GridContainer"]
+margin_left = 19.0
+margin_top = 30.0
+margin_right = 42.0
+margin_bottom = 56.0
+rect_min_size = Vector2( 15, 15 )
+text = "S"
+align = 1
+
+[node name="D" type="Label" parent="MarginContainer/BehaviorControls/Help/GridContainer"]
+margin_left = 46.0
+margin_top = 30.0
+margin_right = 63.0
+margin_bottom = 56.0
+rect_min_size = Vector2( 15, 15 )
+text = "D"
+align = 1

project/demos/seek_and_flee/Player.gd

@@ -0,0 +1,21 @@
+extends KinematicBody2D
+# Class to control the player in basic left/right up/down movement.
+
+
+onready var agent: = GSTAgentLocation.new()
+
+export var speed: = 150.0
+
+
+func _get_movement() -> Vector2:
+	return Vector2(	Input.get_action_strength("sf_right") - Input.get_action_strength("sf_left"),
+					Input.get_action_strength("sf_down")  - Input.get_action_strength("sf_up"))
+
+
+func _physics_process(delta: float) -> void:
+	var movement: = _get_movement()
+	if movement.length_squared() < 0.01:
+		return
+	
+	move_and_slide(movement * speed)
+	agent.position = Vector3(global_position.x, global_position.y, 0)

project/demos/seek_and_flee/SeekFleeDemo.gd

@@ -0,0 +1,42 @@
+extends Node2D
+# Access helper class for children to access window boundaries.
+
+
+onready var player: KinematicBody2D = $Player
+onready var spawner: Node2D = $Spawner
+onready var gui: = $GUI
+
+var camera_boundaries: Rect2
+
+
+func _init() -> void:
+	camera_boundaries = Rect2(
+		Vector2.ZERO,
+		Vector2(
+			ProjectSettings["display/window/size/width"],
+			ProjectSettings["display/window/size/height"]
+			)
+		)
+
+
+func _ready() -> void:
+	var rng: = RandomNumberGenerator.new()
+	rng.randomize()
+	
+	gui.max_accel.value = spawner.max_accel
+	gui.max_speed.value = spawner.max_speed
+	
+	for i in range(spawner.entity_count):
+		var new_pos: = Vector2(
+				rng.randf_range(-camera_boundaries.size.x/2, camera_boundaries.size.x/2),
+				rng.randf_range(-camera_boundaries.size.y/2, camera_boundaries.size.y/2)
+		)
+		var entity: KinematicBody2D = spawner.Entity.instance()
+		entity.global_position = new_pos
+		entity.player_agent = player.agent
+		entity.start_speed = spawner.max_speed
+		entity.start_accel = spawner.max_accel
+		gui.connect("mode_changed", entity, "_on_GUI_mode_changed")
+		gui.connect("accel_changed", entity, "_on_GUI_accel_changed")
+		gui.connect("speed_changed", entity, "_on_GUI_speed_changed")
+		spawner.add_child(entity)

project/demos/seek_and_flee/SeekFleeDemo.tscn

@@ -0,0 +1,86 @@
+[gd_scene load_steps=11 format=2]
+
+[ext_resource path="res://demos/seek_and_flee/Boundary.gd" type="Script" id=1]
+[ext_resource path="res://demos/seek_and_flee/Player.gd" type="Script" id=2]
+[ext_resource path="res://demos/seek_and_flee/SeekFleeDemo.gd" type="Script" id=3]
+[ext_resource path="res://demos/seek_and_flee/Spawner.gd" type="Script" id=4]
+[ext_resource path="res://demos/seek_and_flee/GUI.tscn" type="PackedScene" id=5]
+[ext_resource path="res://demos/seek_and_flee/Seeker.tscn" type="PackedScene" id=6]
+[ext_resource path="res://assets/sprites/large_circle.png" type="Texture" id=7]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 32.0
+
+[sub_resource type="RectangleShape2D" id=2]
+extents = Vector2( 10, 300 )
+
+[sub_resource type="RectangleShape2D" id=3]
+extents = Vector2( 512, 10 )
+
+[node name="SeekFleeDemo" type="Node2D"]
+script = ExtResource( 3 )
+__meta__ = {
+"_editor_description_": "A toy demo to demonstrate the usage for the Seek and Flee steering behaviors."
+}
+
+[node name="Camera2D" type="Camera2D" parent="."]
+current = true
+
+[node name="Player" type="KinematicBody2D" parent="."]
+collision_mask = 2
+script = ExtResource( 2 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="Player"]
+shape = SubResource( 1 )
+
+[node name="Sprite" type="Sprite" parent="Player"]
+modulate = Color( 0.952941, 0.290196, 0.0588235, 1 )
+texture = ExtResource( 7 )
+
+[node name="LeftBoundary" type="StaticBody2D" parent="."]
+position = Vector2( -512, 0 )
+collision_layer = 2
+collision_mask = 5
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="LeftBoundary"]
+shape = SubResource( 2 )
+
+[node name="RightBoundary" type="StaticBody2D" parent="."]
+position = Vector2( 512, 0 )
+collision_layer = 2
+collision_mask = 5
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="RightBoundary"]
+shape = SubResource( 2 )
+
+[node name="TopBoundary" type="StaticBody2D" parent="."]
+position = Vector2( 0, -300 )
+collision_layer = 2
+collision_mask = 5
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="TopBoundary"]
+shape = SubResource( 3 )
+
+[node name="BottomBoundary" type="StaticBody2D" parent="."]
+position = Vector2( 0, 300 )
+collision_layer = 2
+collision_mask = 5
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="BottomBoundary"]
+shape = SubResource( 3 )
+
+[node name="Spawner" type="Node2D" parent="."]
+script = ExtResource( 4 )
+Entity = ExtResource( 6 )
+max_speed = 150.0
+
+[node name="GUI" parent="." instance=ExtResource( 5 )]
+anchor_bottom = 0.0
+margin_left = -512.0
+margin_top = -300.0
+margin_right = -294.0
+margin_bottom = 14.0

project/demos/seek_and_flee/Seeker.gd

@@ -0,0 +1,52 @@
+extends KinematicBody2D
+# AI agent that uses the Seek behavior to hone in on the player's location as directly as possible.
+
+
+onready var agent: = GSTSteeringAgent.new()
+onready var accel: = GSTTargetAcceleration.new()
+onready var seek: = GSTSeek.new(agent, player_agent)
+onready var flee: = GSTFlee.new(agent, player_agent)
+onready var _active_behavior: = seek
+
+var player_agent: GSTAgentLocation
+var velocity: = Vector2.ZERO
+var start_speed: float
+var start_accel: float
+
+
+func _ready() -> void:
+	agent.max_linear_acceleration = start_accel
+	agent.max_linear_speed = start_speed
+
+
+func _physics_process(delta: float) -> void:
+	if not player_agent:
+		return
+	
+	_update_agent()
+	accel = _active_behavior.calculate_steering(accel)
+	
+	velocity = (velocity + Vector2(accel.linear.x, accel.linear.y)).clamped(agent.max_linear_speed)
+	velocity = move_and_slide(velocity)
+
+
+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
+
+
+func _on_GUI_mode_changed(mode: int) -> void:
+	if mode == 0:
+		_active_behavior = seek
+	else:
+		_active_behavior = flee
+
+
+func _on_GUI_accel_changed(value: float) -> void:
+	agent.max_linear_acceleration = value
+
+
+func _on_GUI_speed_changed(value: float) -> void:
+	agent.max_linear_speed = value

project/demos/seek_and_flee/Seeker.tscn

@@ -0,0 +1,19 @@
+[gd_scene load_steps=4 format=2]
+
+[ext_resource path="res://demos/seek_and_flee/Seeker.gd" type="Script" id=1]
+[ext_resource path="res://assets/sprites/small_circle.png" type="Texture" id=2]
+
+[sub_resource type="CircleShape2D" id=1]
+radius = 16.0
+
+[node name="Seeker" type="KinematicBody2D"]
+collision_layer = 4
+collision_mask = 2
+script = ExtResource( 1 )
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="."]
+shape = SubResource( 1 )
+
+[node name="Sprite" type="Sprite" parent="."]
+modulate = Color( 0.113725, 0.635294, 0.94902, 1 )
+texture = ExtResource( 2 )

project/demos/seek_and_flee/Spawner.gd

@@ -0,0 +1,9 @@
+extends Node2D
+# Holds data to instantiate and configure a number of agent entities.
+
+
+export(PackedScene) var Entity: PackedScene
+export var entity_count: = 10
+export var entity_color: = Color.blue
+export var max_speed: = 100.0
+export var max_accel: = 20.0

project/icon.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/icon.png-487276ed1e3a0c39cad0279d744ee560.stex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://icon.png"
+dest_files=[ "res://.import/icon.png-487276ed1e3a0c39cad0279d744ee560.stex" ]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

project/project.godot

@@ -0,0 +1,193 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=4
+
+_global_script_classes=[ {
+"base": "Reference",
+"class": "GSTAgentLocation",
+"language": "GDScript",
+"path": "res://src/GSTAgentLocation.gd"
+}, {
+"base": "GSTSteeringBehavior",
+"class": "GSTArrive",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTArrive.gd"
+}, {
+"base": "GSTGroupBehavior",
+"class": "GSTAvoidCollisions",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTAvoidCollisions.gd"
+}, {
+"base": "GSTSteeringBehavior",
+"class": "GSTBlend",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTBlend.gd"
+}, {
+"base": "GSTGroupBehavior",
+"class": "GSTCohesion",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTCohesion.gd"
+}, {
+"base": "GSTPursue",
+"class": "GSTEvade",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTEvade.gd"
+}, {
+"base": "GSTMatchOrientation",
+"class": "GSTFace",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTFace.gd"
+}, {
+"base": "GSTSeek",
+"class": "GSTFlee",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTFlee.gd"
+}, {
+"base": "GSTArrive",
+"class": "GSTFollowPath",
+"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",
+"path": "res://src/proximities/GSTInfiniteProximity.gd"
+}, {
+"base": "GSTMatchOrientation",
+"class": "GSTLookWhereYouGo",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTLookWhereYouGo.gd"
+}, {
+"base": "GSTSteeringBehavior",
+"class": "GSTMatchOrientation",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTMatchOrientation.gd"
+}, {
+"base": "Reference",
+"class": "GSTPath",
+"language": "GDScript",
+"path": "res://src/GSTPath.gd"
+}, {
+"base": "GSTSteeringBehavior",
+"class": "GSTPriority",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTPriority.gd"
+}, {
+"base": "Reference",
+"class": "GSTProximity",
+"language": "GDScript",
+"path": "res://src/proximities/GSTProximity.gd"
+}, {
+"base": "GSTSteeringBehavior",
+"class": "GSTPursue",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTPursue.gd"
+}, {
+"base": "GSTProximity",
+"class": "GSTRadiusProximity",
+"language": "GDScript",
+"path": "res://src/proximities/GSTRadiusProximity.gd"
+}, {
+"base": "GSTSteeringBehavior",
+"class": "GSTSeek",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTSeek.gd"
+}, {
+"base": "GSTGroupBehavior",
+"class": "GSTSeparation",
+"language": "GDScript",
+"path": "res://src/behaviors/GSTSeparation.gd"
+}, {
+"base": "GSTAgentLocation",
+"class": "GSTSteeringAgent",
+"language": "GDScript",
+"path": "res://src/GSTSteeringAgent.gd"
+}, {
+"base": "Reference",
+"class": "GSTSteeringBehavior",
+"language": "GDScript",
+"path": "res://src/GSTSteeringBehavior.gd"
+}, {
+"base": "Reference",
+"class": "GSTTargetAcceleration",
+"language": "GDScript",
+"path": "res://src/GSTTargetAcceleration.gd"
+}, {
+"base": "Reference",
+"class": "GSTUtils",
+"language": "GDScript",
+"path": "res://src/GSTUtils.gd"
+} ]
+_global_script_class_icons={
+"GSTAgentLocation": "",
+"GSTArrive": "",
+"GSTAvoidCollisions": "",
+"GSTBlend": "",
+"GSTCohesion": "",
+"GSTEvade": "",
+"GSTFace": "",
+"GSTFlee": "",
+"GSTFollowPath": "",
+"GSTGroupBehavior": "",
+"GSTInfiniteProximity": "",
+"GSTLookWhereYouGo": "",
+"GSTMatchOrientation": "",
+"GSTPath": "",
+"GSTPriority": "",
+"GSTProximity": "",
+"GSTPursue": "",
+"GSTRadiusProximity": "",
+"GSTSeek": "",
+"GSTSeparation": "",
+"GSTSteeringAgent": "",
+"GSTSteeringBehavior": "",
+"GSTTargetAcceleration": "",
+"GSTUtils": ""
+}
+
+[application]
+
+config/name="SteeringToolkit"
+config/icon="res://icon.png"
+
+[input]
+
+sf_left={
+"deadzone": 0.5,
+"events": [ Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"alt":false,"shift":false,"control":false,"meta":false,"command":false,"pressed":false,"scancode":65,"unicode":0,"echo":false,"script":null)
+, Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":0,"axis_value":-1.0,"script":null)
+ ]
+}
+sf_right={
+"deadzone": 0.5,
+"events": [ Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"alt":false,"shift":false,"control":false,"meta":false,"command":false,"pressed":false,"scancode":68,"unicode":0,"echo":false,"script":null)
+, Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":0,"axis_value":1.0,"script":null)
+ ]
+}
+sf_up={
+"deadzone": 0.5,
+"events": [ Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"alt":false,"shift":false,"control":false,"meta":false,"command":false,"pressed":false,"scancode":87,"unicode":0,"echo":false,"script":null)
+, Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":1,"axis_value":-1.0,"script":null)
+ ]
+}
+sf_down={
+"deadzone": 0.5,
+"events": [ Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"alt":false,"shift":false,"control":false,"meta":false,"command":false,"pressed":false,"scancode":83,"unicode":0,"echo":false,"script":null)
+, Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":1,"axis_value":1.0,"script":null)
+ ]
+}
+
+[rendering]
+
+environment/default_environment="res://default_env.tres"

project/src/GSTAgentLocation.gd

@@ -0,0 +1,6 @@
+class_name GSTAgentLocation
+# Data type to represent an agent with a location and an orientation
+
+
+var position: = Vector3.ZERO
+var orientation: = 0.0

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

@@ -0,0 +1,125 @@
+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 open: bool
+var path_length: float
+
+var _segments: Array
+
+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)
+	_nearest_point_on_segment = waypoints[0]
+	_nearest_point_on_path = waypoints[0]
+
+
+func create_path(waypoints: Array) -> void:
+	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
+	
+	for i in range(1, waypoints.size(), 1):
+		previous = current
+		if i < waypoints.size():
+			current = waypoints[i]
+		elif open:
+			break
+		else:
+			current = waypoints[0]
+		var segment: = GSTSegment.new(previous, current)
+		path_length += segment.length
+		segment.cumulative_length = path_length
+		_segments.append(segment)
+
+
+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()):
+		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:
+			_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))
+	
+	path_parameter.distance = length_on_path
+	
+	return length_on_path
+
+
+func calculate_target_position(param: Dictionary, target_distance: float) -> Vector3:
+	if open:
+		target_distance = clamp(target_distance, 0, path_length)
+	else:
+		if target_distance < 0:
+			target_distance = path_length + fmod(target_distance, path_length)
+		elif target_distance > path_length:
+			target_distance = fmod(target_distance, path_length)
+	
+	var desired_segment: GSTSegment
+	for i in range(_segments.size()):
+		var segment: GSTSegment = _segments[i]
+		if segment.cumulative_length >= target_distance:
+			desired_segment = segment
+			break
+	
+	var distance: = desired_segment.cumulative_length - target_distance
+	
+	return (
+		(desired_segment.begin - desired_segment.end) *
+		(distance / desired_segment.length) + desired_segment.end)
+
+
+func get_start_point() -> Vector3:
+	return _segments.front().begin
+
+
+func get_end_point() -> Vector3:
+	return _segments.back().end
+
+
+func _calculate_point_segment_distance_squared(start: Vector3, end: Vector3, position: Vector3) -> float:
+	_nearest_point_on_segment = start
+	var start_end: = end - start
+	var start_end_length_squared: = start_end.length_squared()
+	if start_end_length_squared != 0:
+		var t = (position - start).dot(start_end) / start_end_length_squared
+		_nearest_point_on_segment += start_end * clamp(t, 0, 1)
+	
+	return _nearest_point_on_segment.distance_squared_to(position)
+
+
+class GSTSegment:
+	var begin: Vector3
+	var end: Vector3
+	var length: float
+	var cumulative_length: float
+	
+	
+	func _init(begin: Vector3, end: Vector3) -> void:
+		self.begin = begin
+		self.end = end
+		length = begin.distance_to(end)

project/src/GSTSteeringAgent.gd

@@ -0,0 +1,14 @@
+extends GSTAgentLocation
+class_name GSTSteeringAgent
+# Extended agent data type that adds velocity, speed, and size data
+
+
+var zero_linear_speed_threshold: = 0.01
+var max_linear_speed: = 0.0
+var max_linear_acceleration: = 0.0
+var max_angular_speed: = 0.0
+var max_angular_acceleration: = 0.0
+var linear_velocity: = Vector3.ZERO
+var angular_velocity: = 0.0
+var bounding_radius: = 0.0
+var tagged: = false

project/src/GSTSteeringBehavior.gd

@@ -0,0 +1,23 @@
+class_name GSTSteeringBehavior
+# Base class to calculate how an AI agent steers itself.
+
+
+var enabled: = true
+var agent: GSTSteeringAgent
+
+
+func _init(agent: GSTSteeringAgent) -> void:
+	self.agent = agent
+
+
+func calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	if enabled:
+		return _calculate_steering(acceleration)
+	else:
+		acceleration.set_zero()
+		return acceleration
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	acceleration.set_zero()
+	return acceleration

project/src/GSTTargetAcceleration.gd

@@ -0,0 +1,26 @@
+class_name GSTTargetAcceleration
+# A linear and angular amount of acceleration.
+
+
+var linear: = Vector3.ZERO
+var angular: = 0.0
+
+
+func set_zero() -> void:
+	linear.x = 0.0
+	linear.y = 0.0
+	linear.z = 0.0
+	angular = 0.0
+
+
+func add_scaled_accel(accel: GSTTargetAcceleration, scalar: float) -> void:
+	linear += accel.linear * scalar
+	angular += accel.angular * scalar
+
+
+func get_magnitude_squared() -> float:
+	return linear.length_squared() + angular * angular
+
+
+func get_magnitude() -> float:
+	return sqrt(get_magnitude_squared())

project/src/GSTUtils.gd

@@ -0,0 +1,10 @@
+class_name GSTUtils
+# Useful math and utility functions to complement Godot's own.
+
+
+static func clampedv3(vector: Vector3, limit: float) -> Vector3:
+	var length_squared: = vector.length_squared()
+	var limit_squared: = limit * limit
+	if length_squared > limit_squared:
+		vector *= sqrt(limit_squared / length_squared)
+	return vector

project/src/behaviors/GSTArrive.gd

@@ -0,0 +1,40 @@
+extends GSTSteeringBehavior
+class_name GSTArrive
+# Calculates acceleration to take an agent to its target's location.
+# The calculation will attempt to arrive with zero remaining velocity.
+
+
+var target: GSTAgentLocation
+var arrival_tolerance: float
+var deceleration_radius: float
+var time_to_reach: = 0.1
+
+
+func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent) -> void:
+	self.target = target
+
+
+func _arrive(acceleration: GSTTargetAcceleration, target_position: Vector3) -> GSTTargetAcceleration:
+	var to_target: = target_position - agent.position
+	var distance: = to_target.length()
+	
+	if distance <= arrival_tolerance:
+		acceleration.set_zero()
+	else:
+		var desired_speed: = agent.max_linear_speed
+		
+		if distance <= deceleration_radius:
+			desired_speed *= distance / deceleration_radius
+		
+		var desired_velocity: = to_target * desired_speed/distance
+		
+		desired_velocity = (desired_velocity - agent.linear_velocity) * 1.0 / time_to_reach
+		
+		acceleration.linear = GSTUtils.clampedv3(desired_velocity, agent.max_linear_acceleration)
+		acceleration.angular = 0
+	
+	return acceleration
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	return _arrive(acceleration, target.position)

project/src/behaviors/GSTAvoidCollisions.gd

@@ -0,0 +1,65 @@
+extends GSTGroupBehavior
+class_name GSTAvoidCollisions
+# Behavior that steers the agent to avoid obstacles lying in its path, approximated by a sphere.
+
+
+var first_neighbor: GSTSteeringAgent
+var shortest_time: float
+var first_minimum_separation: float
+var first_distance: float
+var first_relative_position: Vector3
+var first_relative_velocity: Vector3
+
+
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
+	pass
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	shortest_time = INF
+	first_neighbor = null
+	first_minimum_separation = 0
+	first_distance = 0
+	
+	var neighbor_count: = proximity.find_neighbors(_callback)
+	
+	if neighbor_count == 0 or not first_neighbor:
+		acceleration.set_zero()
+	else:
+		if(
+				first_minimum_separation <= 0 or 
+				first_distance < agent.bounding_radius + first_neighbor.bounding_radius):
+			acceleration.linear = first_neighbor.position - agent.position
+		else:
+			acceleration.linear = first_relative_position + (first_relative_velocity * shortest_time)
+			acceleration.linear = acceleration.linear.normalized() * -agent.max_linear_acceleration
+			acceleration.angular = 0
+	
+	return acceleration
+
+
+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()
+	
+	if relative_speed_squared == 0:
+		return false
+	else:
+		var time_to_collision = -relative_position.dot(relative_velocity) / relative_speed_squared
+		
+		if time_to_collision <= 0 or time_to_collision >= shortest_time:
+			return false
+		else:
+			var distance = relative_position.length()
+			var minimum_separation: float = distance - sqrt(relative_speed_squared) * time_to_collision
+			if minimum_separation > agent.bounding_radius + neighbor.bounding_radius:
+				return false
+			else:
+				shortest_time = time_to_collision
+				first_neighbor = neighbor
+				first_minimum_separation = minimum_separation
+				first_distance = distance
+				first_relative_position = relative_position
+				first_relative_velocity = relative_velocity
+				return true

project/src/behaviors/GSTBlend.gd

@@ -0,0 +1,44 @@
+extends GSTSteeringBehavior
+class_name GSTBlend
+# 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,
+# then added to a total acceleration.
+
+# # Each behavior is stored internally as a `Dictionary` with a `behavior` key with a value of type
+# `GSTSteeringBehavior` and a `weight` key with a value of type float.
+
+
+var _behaviors: = []
+var _accel: = GSTTargetAcceleration.new()
+
+
+func _init(agent: GSTSteeringAgent).(agent) -> void:
+	pass
+
+
+func add(behavior: GSTSteeringBehavior, weight: float) -> void:
+	behavior.agent = agent
+	_behaviors.append({behavior = behavior, weight = weight})
+
+
+func get_behavior_at(index: int) -> Dictionary:
+	if _behaviors.size() > index:
+		return _behaviors[index]
+	printerr("Tried to get index " + str(index) + " in array of size " + str(_behaviors.size()))
+	return {}
+
+
+func _calculate_steering(blended_accel: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	blended_accel.set_zero()
+	
+	for i in range(_behaviors.size()):
+		var bw: Dictionary = _behaviors[i]
+		bw.behavior.calculate_steering(_accel)
+		
+		blended_accel.add_scaled_accel(_accel, bw.weight)
+	
+	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

@@ -0,0 +1,26 @@
+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
+
+
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
+	pass
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	acceleration.set_zero()
+	center_of_mass = Vector3.ZERO
+	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:
+	center_of_mass += neighbor.position
+	return true

project/src/behaviors/GSTEvade.gd

@@ -0,0 +1,16 @@
+extends GSTPursue
+class_name GSTEvade
+# 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.
+
+
+func _init(
+		agent: GSTSteeringAgent,
+		target: GSTSteeringAgent,
+		max_predict_time: = 1.0).(agent, target, max_predict_time):
+	pass
+
+
+func _get_modified_acceleration() -> float:
+	return -agent.max_linear_acceleration

project/src/behaviors/GSTFace.gd

@@ -0,0 +1,24 @@
+extends GSTMatchOrientation
+class_name GSTFace
+# Calculates angular acceleration to rotate a target to face its target's position.
+# The acceleration will attempt to arrive with zero remaining angular velocity.
+
+
+func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent, target) -> void:
+	pass
+
+
+func _face(acceleration: GSTTargetAcceleration, target_position: Vector3) -> GSTTargetAcceleration:
+	var to_target: = target_position - agent.position
+	var distance_squared: = to_target.length_squared()
+	
+	if distance_squared < agent.zero_linear_speed_threshold:
+		acceleration.set_zero()
+		return acceleration
+	else:
+		var orientation = atan2(to_target.x, -to_target.y)
+		return _match_orientation(acceleration, orientation)
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	return _face(acceleration, target.position)

project/src/behaviors/GSTFlee.gd

@@ -0,0 +1,15 @@
+extends GSTSeek
+class_name GSTFlee
+# Calculates acceleration to take an agent directly away from a target agent.
+
+
+func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent, target) -> void:
+	pass
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	acceleration.linear = (
+			(agent.position - target.position).normalized() * agent.max_linear_acceleration)
+	acceleration.angular = 0
+	
+	return acceleration

project/src/behaviors/GSTFollowPath.gd

@@ -0,0 +1,47 @@
+extends GSTArrive
+class_name GSTFollowPath
+# Produces a linear acceleration that moves the agent along the specified path.
+
+
+var path: GSTPath
+var path_offset: = 0.0
+
+var path_param: = {}
+
+var arrive_enabled: = true
+var prediction_time: = 0.0
+
+
+func _init(
+		agent: GSTSteeringAgent, 
+		path: GSTPath, 
+		path_offset: = 0.0, 
+		prediction_time: = 0.0).(agent, null) -> void:
+	self.path = path
+	self.path_offset = path_offset
+	self.prediction_time = prediction_time
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	var location: = (
+			agent.position if prediction_time == 0
+			else agent.position + (agent.linear_velocity * prediction_time))
+	
+	var distance: = path.calculate_distance(location, path_param)
+	var target_distance: = distance + path_offset
+	
+	var target_position: = path.calculate_target_position(path_param, target_distance)
+	
+	if arrive_enabled and path.is_open:
+		if path_offset >= 0:
+			if target_distance > path.length - deceleration_radius:
+				return _arrive(acceleration, target_position)
+		else:
+			if target_distance < deceleration_radius:
+				return _arrive(acceleration, target_position)
+	
+	acceleration.linear = (target_position - agent.position).normalized()
+	acceleration.linear *= agent.max_linear_acceleration
+	acceleration.angular = 0
+	
+	return acceleration

project/src/behaviors/GSTLookWhereYouGo.gd

@@ -0,0 +1,16 @@
+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)

project/src/behaviors/GSTMatchOrientation.gd

@@ -0,0 +1,44 @@
+extends GSTSteeringBehavior
+class_name GSTMatchOrientation
+# 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.
+
+
+var target: GSTAgentLocation
+var alignment_tolerance: float
+var deceleration_radius: float
+var time_to_reach: float = 0.1
+
+
+func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent) -> void:
+	self.target = target
+
+
+func _match_orientation(acceleration: GSTTargetAcceleration, desired_orientation: float) -> GSTTargetAcceleration:
+	var rotation: = wrapf(desired_orientation - agent.orientation, -PI, PI)
+
+	var rotation_size: = abs(rotation)
+
+	if rotation_size <= alignment_tolerance:
+		acceleration.set_zero()
+	else:
+		var desired_rotation: = agent.max_angular_speed
+	
+		if rotation_size <= deceleration_radius:
+			desired_rotation *= rotation_size / deceleration_radius
+		
+		desired_rotation *= rotation / rotation_size
+	
+		acceleration.angular = (desired_rotation - agent.angular_velocity) / time_to_reach
+	
+		var limited_acceleration: = abs(acceleration.angular)
+		if limited_acceleration > agent.max_angular_acceleration:
+			acceleration.angular *= agent.max_angular_acceleration / limited_acceleration
+	
+	acceleration.linear = Vector3.ZERO
+	
+	return acceleration
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	return _match_orientation(acceleration, target.orientation)

project/src/behaviors/GSTPriority.gd

@@ -0,0 +1,46 @@
+extends GSTSteeringBehavior
+class_name GSTPriority
+# Contains multiple steering behaviors and returns only the result of the first that has a non-zero
+ # acceleration.
+
+
+var _behaviors: = []
+
+var last_selected_index: int
+var threshold_for_zero: float
+
+
+func _init(agent: GSTSteeringAgent, threshold_for_zero: = 0.001).(agent) -> void:
+	self.threshold_for_zero = threshold_for_zero
+
+
+func add(behavior: GSTSteeringBehavior) -> void:
+	_behaviors.append(behavior)
+
+
+func get_behavior_at(index: int) -> GSTSteeringBehavior:
+	if _behaviors.size() > index:
+		return _behaviors[index]
+	printerr("Tried to get index " + str(index) + " in array of size " + str(_behaviors.size()))
+	return null
+
+
+func _calculate_steering(accel: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	var threshold_squared: = threshold_for_zero * threshold_for_zero
+	
+	last_selected_index = -1
+	
+	var size: = _behaviors.size()
+	
+	if size > 0:
+		for i in range(size):
+			last_selected_index = i
+			var behavior: GSTSteeringBehavior = _behaviors[i]
+			behavior.calculate_steering(accel)
+			
+			if accel.get_magnitude_squared() > threshold_squared:
+				break
+	else:
+		accel.set_zero()
+	
+	return accel

project/src/behaviors/GSTPursue.gd

@@ -0,0 +1,42 @@
+extends GSTSteeringBehavior
+class_name GSTPursue
+# 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.
+
+
+var target: GSTSteeringAgent
+var max_predict_time: float
+
+
+func _init(
+		agent: GSTSteeringAgent,
+		target: GSTSteeringAgent,
+		max_predict_time: = 1.0).(agent) -> void:
+	self.target = target
+	self.max_predict_time = max_predict_time
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	var target_position: = target.position
+	var distance_squared: = (target_position - agent.position).length_squared()
+	
+	var speed_squared: = agent.linear_velocity.length_squared()
+	var predict_time: = max_predict_time
+	
+	if speed_squared > 0:
+		var predict_time_squared: = distance_squared / speed_squared
+		if predict_time_squared < max_predict_time * max_predict_time:
+			predict_time = sqrt(predict_time_squared)
+	
+	acceleration.linear = ((
+			target_position + (target.linear_velocity * predict_time))-agent.position).normalized()
+	acceleration.linear *= _get_modified_acceleration()
+	
+	acceleration.angular = 0
+	
+	return acceleration
+
+
+func _get_modified_acceleration() -> float:
+	return agent.max_linear_acceleration

project/src/behaviors/GSTSeek.gd

@@ -0,0 +1,18 @@
+extends GSTSteeringBehavior
+class_name GSTSeek
+# Calculates acceleration to take an agent to a target agent's position as directly as possible
+
+
+var target: GSTAgentLocation
+
+
+func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent) -> void:
+	self.target = target
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	acceleration.linear = (
+			(target.position - agent.position).normalized() * agent.max_linear_acceleration)
+	acceleration.angular = 0
+	
+	return acceleration

project/src/behaviors/GSTSeparation.gd

@@ -0,0 +1,39 @@
+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`.
+
+# # The produced acceleration is an average of all agents under consideration, multiplied by a
+# # strength decreasing by the inverse square law in relation to distance, and accumulated.
+# # In effect, all neighbors produce a single repelling force.
+
+
+var decay_coefficient: = 1.0
+
+var acceleration: GSTTargetAcceleration
+
+
+func _init(agent: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
+	pass
+
+
+func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
+	acceleration.set_zero()
+	self.acceleration = acceleration
+	proximity.find_neighbors(_callback)
+	return acceleration
+
+
+func report_neighbor(neighbor: GSTSteeringAgent) -> bool:
+	var to_agent: = agent.position - neighbor.position
+
+	var distance_squared: = to_agent.length_squared()
+	var max_acceleration: = agent.max_linear_acceleration
+
+	var strength: = decay_coefficient / distance_squared
+	if strength > max_acceleration:
+		strength = max_acceleration
+	
+	acceleration.linear += to_agent * (strength / sqrt(distance_squared))
+
+	return true

project/src/proximities/GSTInfiniteProximity.gd

@@ -0,0 +1,20 @@
+extends GSTProximity
+class_name GSTInfiniteProximity
+# 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:
+	pass
+
+
+func find_neighbors(callback: FuncRef) -> int:
+	var neighbor_count: = 0
+	var agent_count: = agents.size()
+	for i in range(agent_count):
+		var current_agent: = agents[i] as GSTSteeringAgent
+
+		if current_agent != agent:
+			if callback.call_func(current_agent):
+				neighbor_count += 1
+	
+	return neighbor_count

project/src/proximities/GSTProximity.gd

@@ -0,0 +1,17 @@
+extends Reference
+class_name GSTProximity
+# Defines a way to determine any agent that is in the specified list as being neighbors with the
+# owner agent.
+
+
+var agent: GSTSteeringAgent
+var agents: = []
+
+
+func _init(agent: GSTSteeringAgent, agents: Array) -> void:
+	self.agent = agent
+	self.agents = agents
+
+
+func find_neighbors(callback: FuncRef) -> int:
+	return 0

project/src/proximities/GSTRadiusProximity.gd

@@ -0,0 +1,51 @@
+extends GSTProximity
+class_name GSTRadiusProximity
+# Determines any agent that is in the specified list as being neighbors with the owner agent if
+# they lie within the specified radius.
+
+
+var radius: = 0.0
+
+var _last_frame: = 0
+var _scene_tree: SceneTree
+
+
+func _init(agent: GSTSteeringAgent, agents: Array, radius: float).(agent, agents) -> void:
+	self.radius = radius
+	_scene_tree = Engine.get_main_loop()
+
+
+func find_neighbors(callback: FuncRef) -> int:
+	var agent_count: = agents.size()
+	var neighbor_count: = 0
+	
+	var current_frame: = _scene_tree.get_frame() if _scene_tree else -_last_frame
+	if current_frame != _last_frame:
+		_last_frame = current_frame
+		
+		var owner_position: = agent.position
+		
+		for i in range(agent_count):
+			var current_agent: = agents[i] as GSTSteeringAgent
+	
+			if current_agent != agent:
+				var distance_squared: = owner_position.distance_squared_to(current_agent.position)
+	
+				var range_to: = radius + current_agent.bounding_radius
+	
+				if distance_squared < range_to * range_to:
+					if callback.call_func(current_agent):
+						current_agent.tagged = true
+						neighbor_count += 1
+						continue
+			
+			current_agent.tagged = false
+	else:
+		for i in range(agent_count):
+			var current_agent = agents[i] as GSTSteeringAgent
+			
+			if current_agent != agent and current_agent.tagged:
+				if callback.call_func(current_agent):
+					neighbor_count += 1
+	
+	return neighbor_count