Relintai/godot-steering-ai-framework
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Reorganize project

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The GST namespace has been added to prevent class name conflicts, and
the project has been reorganized to make extensions and purpose easier.
This commit is contained in:
Francois Belair 2019-12-19 14:04:08 -05:00
parent 7520939bdd
commit fb538b72cb
35 changed files with 305 additions and 287 deletions
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0
mvp.md → docs/mvp.md
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0
techdetails.md → docs/techdetails.md
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0
default_env.tres → project/default_env.tres
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0
src/Steering/Demos/SeekFlee/Boundary.gd → project/demos/seek_and_flee/Boundary.gd
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12
src/Steering/Demos/SeekFlee/Coward.gd → project/demos/seek_and_flee/Coward.gd
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@ -6,21 +6,19 @@ AI agent that seeks to move away from the player's location as directly as possi
onready var radius: = ($CollisionShape2D.shape as CircleShape2D).radius
var agent: SteeringAgent
var player_agent: AgentLocation
var flee: Flee
var accel: = TargetAcceleration.new()
onready var agent: = GSTSteeringAgent.new()
onready var accel: = GSTTargetAcceleration.new()
onready var flee: = GSTFlee.new(agent, player_agent)
var player_agent: GSTAgentLocation
var velocity: = Vector2.ZERO
var speed: float
var color: Color
func _ready() -> void:
agent = SteeringAgent.new()
agent.max_linear_acceleration = speed/10
agent.max_linear_speed = speed
flee = Flee.new(agent, player_agent)
func _draw() -> void:

2
src/Steering/Demos/SeekFlee/Coward.tscn → project/demos/seek_and_flee/Coward.tscn
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@ -1,6 +1,6 @@
[gd_scene load_steps=3 format=2]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Coward.gd" type="Script" id=1]
[ext_resource path="res://demos/seek_and_flee/Coward.gd" type="Script" id=1]
[sub_resource type="CircleShape2D" id=1]

9
src/Steering/Demos/SeekFlee/Player.gd → project/demos/seek_and_flee/Player.gd
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@ -5,19 +5,18 @@ Class to control the player in basic left/right up/down movement.
onready var _radius: = ($CollisionShape2D.shape as CircleShape2D).radius
onready var agent: = GSTAgentLocation.new()
export var speed: = 150.0
var player_agent: = AgentLocation.new()
func _draw() -> void:
draw_circle(Vector2.ZERO, _radius, Color.red)
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"))
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:
@ -26,4 +25,4 @@ func _physics_process(delta: float) -> void:
return
move_and_slide(movement * speed)
player_agent.position = Vector3(global_position.x, global_position.y, 0)
agent.position = Vector3(global_position.x, global_position.y, 0)

26
src/Steering/Demos/SeekFlee/SeekFlee.tscn → project/demos/seek_and_flee/SeekFlee.tscn
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@ -1,11 +1,11 @@
[gd_scene load_steps=10 format=2]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Player.gd" type="Script" id=1]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Spawner.gd" type="Script" id=2]
[ext_resource path="res://src/Steering/Demos/SeekFlee/SeekFleeDemo.gd" type="Script" id=3]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Seeker.tscn" type="PackedScene" id=4]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Boundary.gd" type="Script" id=5]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Coward.tscn" type="PackedScene" id=6]
[ext_resource path="res://demos/seek_and_flee/Player.gd" type="Script" id=1]
[ext_resource path="res://demos/seek_and_flee/Spawner.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/Seeker.tscn" type="PackedScene" id=4]
[ext_resource path="res://demos/seek_and_flee/Boundary.gd" type="Script" id=5]
[ext_resource path="res://demos/seek_and_flee/Coward.tscn" type="PackedScene" id=6]
[sub_resource type="CircleShape2D" id=1]
radius = 30.0
@ -68,11 +68,13 @@ script = ExtResource( 5 )
[node name="CollisionShape2D" type="CollisionShape2D" parent="BottomBoundary"]
shape = SubResource( 3 )
[node name="SeekerSpawner" type="Node2D" parent="."]
script = ExtResource( 2 )
agent_scene = ExtResource( 4 )
[node name="Spawners" type="Node2D" parent="."]
[node name="FleeerSpawner" type="Node2D" parent="."]
[node name="SeekerSpawner" type="Node2D" parent="Spawners"]
script = ExtResource( 2 )
agent_scene = ExtResource( 6 )
agent_color = Color( 0.0980392, 0.886275, 0.517647, 1 )
Entity = ExtResource( 4 )
[node name="CowardSpawner" type="Node2D" parent="Spawners"]
script = ExtResource( 2 )
Entity = ExtResource( 6 )
entity_color = Color( 0, 1, 0.741176, 1 )

37
project/demos/seek_and_flee/SeekFleeDemo.gd Normal file
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@ -0,0 +1,37 @@
extends Node2D
"""
Access helper class for children to access window boundaries.
"""
onready var player: KinematicBody2D = $Player
onready var spawners: Node2D = $Spawners
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()
for spawner in spawners.get_children():
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.speed = rng.randf_range(spawner.min_speed, spawner.max_speed)
entity.color = spawner.entity_color
spawner.add_child(entity)

12
src/Steering/Demos/SeekFlee/Seeker.gd → project/demos/seek_and_flee/Seeker.gd
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@ -6,21 +6,19 @@ AI agent that uses the Seek behavior to hone in on the player's location as dire
onready var radius: = ($CollisionShape2D.shape as CircleShape2D).radius
var agent: SteeringAgent
var player_agent: AgentLocation
var seek: Seek
var accel: = TargetAcceleration.new()
onready var agent: = GSTSteeringAgent.new()
onready var accel: = GSTTargetAcceleration.new()
onready var seek: = GSTSeek.new(agent, player_agent)
var player_agent: GSTAgentLocation
var velocity: = Vector2.ZERO
var speed: float
var color: Color
func _ready() -> void:
agent = SteeringAgent.new()
agent.max_linear_acceleration = speed/10
agent.max_linear_speed = speed
seek = Seek.new(agent, player_agent)
func _draw() -> void:

2
src/Steering/Demos/SeekFlee/Seeker.tscn → project/demos/seek_and_flee/Seeker.tscn
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@ -1,6 +1,6 @@
[gd_scene load_steps=3 format=2]
[ext_resource path="res://src/Steering/Demos/SeekFlee/Seeker.gd" type="Script" id=1]
[ext_resource path="res://demos/seek_and_flee/Seeker.gd" type="Script" id=1]
[sub_resource type="CircleShape2D" id=1]

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project/demos/seek_and_flee/Spawner.gd Normal file
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@ -0,0 +1,11 @@
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 min_speed: = 50.0
export var max_speed: = 125.0

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icon.png → project/icon.png
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project.godot → project/project.godot
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@ -10,77 +10,83 @@ config_version=4
_global_script_classes=[ {
"base": "Reference",
"class": "AgentLocation",
"class": "GSTAgentLocation",
"language": "GDScript",
"path": "res://src/Steering/AgentLocation.gd"
"path": "res://src/GSTAgentLocation.gd"
}, {
"base": "SteeringBehavior",
"class": "Arrive",
"base": "GSTSteeringBehavior",
"class": "GSTArrive",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/Arrive.gd"
"path": "res://src/behaviors/GSTArrive.gd"
}, {
"base": "Pursue",
"class": "Evade",
"base": "GSTPursue",
"class": "GSTEvade",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/Evade.gd"
"path": "res://src/behaviors/GSTEvade.gd"
}, {
"base": "MatchOrientation",
"class": "Face",
"base": "GSTMatchOrientation",
"class": "GSTFace",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/Face.gd"
"path": "res://src/behaviors/GSTFace.gd"
}, {
"base": "Seek",
"class": "Flee",
"base": "GSTSeek",
"class": "GSTFlee",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/Flee.gd"
"path": "res://src/behaviors/GSTFlee.gd"
}, {
"base": "SteeringBehavior",
"class": "MatchOrientation",
"base": "GSTSteeringBehavior",
"class": "GSTMatchOrientation",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/MatchOrientation.gd"
"path": "res://src/behaviors/GSTMatchOrientation.gd"
}, {
"base": "SteeringBehavior",
"class": "Pursue",
"base": "GSTSteeringBehavior",
"class": "GSTPursue",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/Pursue.gd"
"path": "res://src/behaviors/GSTPursue.gd"
}, {
"base": "SteeringBehavior",
"class": "Seek",
"base": "GSTSteeringBehavior",
"class": "GSTSeek",
"language": "GDScript",
"path": "res://src/Steering/Behaviors/Seek.gd"
"path": "res://src/behaviors/GSTSeek.gd"
}, {
"base": "AgentLocation",
"class": "SteeringAgent",
"base": "GSTAgentLocation",
"class": "GSTSteeringAgent",
"language": "GDScript",
"path": "res://src/Steering/SteeringAgent.gd"
"path": "res://src/GSTSteeringAgent.gd"
}, {
"base": "Reference",
"class": "SteeringBehavior",
"class": "GSTSteeringBehavior",
"language": "GDScript",
"path": "res://src/Steering/SteeringBehavior.gd"
"path": "res://src/GSTSteeringBehavior.gd"
}, {
"base": "Reference",
"class": "TargetAcceleration",
"class": "GSTTargetAcceleration",
"language": "GDScript",
"path": "res://src/Steering/TargetAcceleration.gd"
"path": "res://src/GSTTargetAcceleration.gd"
}, {
"base": "Reference",
"class": "Utils",
"language": "GDScript",
"path": "res://src/Utils.gd"
} ]
_global_script_class_icons={
"AgentLocation": "",
"Arrive": "",
"Evade": "",
"Face": "",
"Flee": "",
"MatchOrientation": "",
"Pursue": "",
"Seek": "",
"SteeringAgent": "",
"SteeringBehavior": "",
"TargetAcceleration": ""
"GSTAgentLocation": "",
"GSTArrive": "",
"GSTEvade": "",
"GSTFace": "",
"GSTFlee": "",
"GSTMatchOrientation": "",
"GSTPursue": "",
"GSTSeek": "",
"GSTSteeringAgent": "",
"GSTSteeringBehavior": "",
"GSTTargetAcceleration": "",
"Utils": ""
}
[application]
config/name="godot-steering-toolkit"
config/name="SteeringToolkit"
config/icon="res://icon.png"
[input]

2
src/Steering/AgentLocation.gd → project/src/GSTAgentLocation.gd
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@ -1,5 +1,5 @@
extends Reference
class_name AgentLocation
class_name GSTAgentLocation
"""
Data type to represent an agent with a location and an orientation
"""

4
src/Steering/SteeringAgent.gd → project/src/GSTSteeringAgent.gd
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@ -1,5 +1,5 @@
extends AgentLocation
class_name SteeringAgent
extends GSTAgentLocation
class_name GSTSteeringAgent
"""
Extended agent data type that adds velocity and speed data.
"""

26
project/src/GSTSteeringBehavior.gd Normal file
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@ -0,0 +1,26 @@
extends Reference
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

5
src/Steering/TargetAcceleration.gd → project/src/GSTTargetAcceleration.gd
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@ -1,5 +1,5 @@
extends Reference
class_name TargetAcceleration
class_name GSTTargetAcceleration
"""
A linear and angular amount of acceleration.
"""
@ -9,9 +9,8 @@ var linear: = Vector3.ZERO
var angular: = 0.0
func set_zero() -> TargetAcceleration:
func set_zero() -> void:
linear.x = 0.0
linear.y = 0.0
linear.z = 0.0
angular = 0.0
return self

9
project/src/Utils.gd Normal file
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@ -0,0 +1,9 @@
class_name Utils
static func clmapedv3(vector: Vector3, limit: float) -> Vector3:
var len2: = vector.length_squared()
var limit2: = limit * limit
if len2 > limit2:
vector *= sqrt(limit2 / len2)
return vector

42
project/src/behaviors/GSTArrive.gd Normal file
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@ -0,0 +1,42 @@
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 = Utils.clampedv3(desired_velocity, agent.max_linear_acceleration)
acceleration.angular = 0
return acceleration
func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
return _arrive(acceleration, target.position)

11
src/Steering/Behaviors/Evade.gd → project/src/behaviors/GSTEvade.gd
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@ -1,5 +1,5 @@
extends Pursue
class_name Evade
extends GSTPursue
class_name GSTEvade
"""
Calculates acceleration to take an agent away from where a target agent will be.
@ -7,9 +7,12 @@ The `max_predict_time` variable represents how far ahead to calculate the inters
"""
func _init(agent: SteeringAgent, target: SteeringAgent, max_predict_time: = 1.0).(agent, target, max_predict_time):
func _init(
agent: GSTSteeringAgent,
target: GSTSteeringAgent,
max_predict_time: = 1.0).(agent, target, max_predict_time):
pass
func get_max_linear_acceleration() -> float:
func _get_modified_acceleration() -> float:
return -agent.max_linear_acceleration

26
project/src/behaviors/GSTFace.gd Normal file
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@ -0,0 +1,26 @@
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)

17
project/src/behaviors/GSTFlee.gd Normal file
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@ -0,0 +1,17 @@
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

24
src/Steering/Behaviors/MatchOrientation.gd → project/src/behaviors/GSTMatchOrientation.gd
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@ -1,37 +1,37 @@
extends SteeringBehavior
class_name MatchOrientation
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: AgentLocation
var target: GSTAgentLocation
var alignment_tolerance: float
var deceleration_radius: float
var time_to_target: float = 0.1
var time_to_reach: float = 0.1
func _init(agent: SteeringAgent, target: AgentLocation).(agent) -> void:
func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent) -> void:
self.target = target
func _match_orientation(acceleration: TargetAcceleration, target_orientation: float) -> TargetAcceleration:
var rotation: = wrapf(target_orientation - agent.orientation, -PI, PI)
func _match_orientation(acceleration: GSTTargetAcceleration, desired_orientation: float) -> GSTTargetAcceleration:
var rotation: = wrapf(desired_orientation - agent.orientation, -PI, PI)
var rotation_size: = -rotation if rotation < 0 else rotation
if rotation_size <= alignment_tolerance:
return acceleration.set_zero()
var target_rotation: = agent.max_angular_speed
var desired_rotation: = agent.max_angular_speed
if rotation_size <= deceleration_radius:
target_rotation *= rotation_size / deceleration_radius
desired_rotation *= rotation_size / deceleration_radius
target_rotation *= rotation / rotation_size
desired_rotation *= rotation / rotation_size
acceleration.angular = (target_rotation - agent.angular_velocity) / time_to_target
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:
@ -42,5 +42,5 @@ func _match_orientation(acceleration: TargetAcceleration, target_orientation: fl
return acceleration
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
return _match_orientation(acceleration, target.orientation)

26
src/Steering/Behaviors/Pursue.gd → project/src/behaviors/GSTPursue.gd
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@ -1,5 +1,5 @@
extends SteeringBehavior
class_name Pursue
extends GSTSteeringBehavior
class_name GSTPursue
"""
Calculates acceleration to take an agent to intersect with where a target agent will be.
@ -7,20 +7,19 @@ The `max_predict_time` variable represents how far ahead to calculate the inters
"""
var target: SteeringAgent
var target: GSTSteeringAgent
var max_predict_time: float
func _init(agent: SteeringAgent, target: SteeringAgent, max_predict_time: = 1.0).(agent) -> void:
func _init(
agent: GSTSteeringAgent,
target: GSTSteeringAgent,
max_predict_time: = 1.0).(agent) -> void:
self.target = target
self.max_predict_time = max_predict_time
func get_max_linear_acceleration() -> float:
return agent.max_linear_acceleration
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
var target_position: = target.position
var distance_squared: = (target_position - agent.position).length_squared()
@ -32,9 +31,14 @@ func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcc
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 *= agent.max_linear_acceleration
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

20
project/src/behaviors/GSTSeek.gd Normal file
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@ -0,0 +1,20 @@
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

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

50
src/Steering/Behaviors/Arrive.gd
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@ -1,50 +0,0 @@
extends SteeringBehavior
class_name Arrive
"""
Calculates acceleration to take an agent to its target's location.
The calculation will attempt to arrive with zero remaining velocity.
"""
var target: AgentLocation
var arrival_tolerance: float
var deceleration_radius: float
var time_to_target: = 0.1
func _init(agent: SteeringAgent, target: AgentLocation).(agent) -> void:
self.target = target
func _arrive(acceleration: TargetAcceleration, target_position: Vector3) -> TargetAcceleration:
var to_target: = target_position - agent.position
var distance: = to_target.length()
if distance <= arrival_tolerance:
return acceleration.set_zero()
var target_speed: = agent.max_linear_speed
if distance <= deceleration_radius:
target_speed *= distance / deceleration_radius
var target_velocity: = to_target * target_speed/distance
target_velocity = (target_velocity - agent.linear_velocity) * 1.0 / time_to_target
acceleration.linear = limit_length(target_velocity, agent.max_linear_acceleration)
acceleration.angular = 0
return acceleration
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
return _arrive(acceleration, target.position)
static func limit_length(vector: Vector3, limit: float) -> Vector3:
var len2: = vector.length_squared()
var limit2: = limit * limit
if len2 > limit2:
vector *= sqrt(limit2 / len2)
return vector

26
src/Steering/Behaviors/Face.gd
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@ -1,26 +0,0 @@
extends MatchOrientation
class_name Face
"""
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: SteeringAgent, target: AgentLocation).(agent, target) -> void:
pass
func _face(acceleration: TargetAcceleration, target_position: Vector3) -> TargetAcceleration:
var to_target: = target_position - agent.position
var distance_squared: = to_target.length_squared()
if distance_squared < agent.zero_linear_speed_threshold:
return acceleration.set_zero()
var orientation = Vector3.UP.angle_to(to_target)
return _match_orientation(acceleration, orientation)
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
return _face(acceleration, target.position)

16
src/Steering/Behaviors/Flee.gd
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@ -1,16 +0,0 @@
extends Seek
class_name Flee
"""
Calculates acceleration to take an agent directly away from a target agent.
"""
func _init(agent: SteeringAgent, target: AgentLocation).(agent, target) -> void:
pass
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
acceleration.linear = (agent.position - target.position).normalized() * agent.max_linear_acceleration
acceleration.angular = 0
return acceleration

19
src/Steering/Behaviors/Seek.gd
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extends SteeringBehavior
class_name Seek
"""
Calculates acceleration to take an agent to a target agent's position as directly as possible
"""
var target: AgentLocation
func _init(agent: SteeringAgent, target: AgentLocation).(agent) -> void:
self.target = target
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
acceleration.linear = (target.position - agent.position).normalized() * agent.max_linear_acceleration
acceleration.angular = 0
return acceleration

14
src/Steering/Demos/SeekFlee/SeekFleeDemo.gd
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@ -1,14 +0,0 @@
extends Node2D
"""
Access helper class for children to access window boundaries.
"""
var camera_boundaries: Rect2
func _init() -> void:
camera_boundaries = Rect2(
Vector2.ZERO,
Vector2(ProjectSettings["display/window/size/width"], ProjectSettings["display/window/size/height"])
)

30
src/Steering/Demos/SeekFlee/Spawner.gd
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extends Node2D
"""
Instantiates and configures a number of agent scenes within the level boundaries.
"""
onready var player_agent: AgentLocation = owner.get_node("Player").player_agent
export(PackedScene) var agent_scene: PackedScene
export var agent_count: = 10
export var min_speed: = 50.0
export var max_speed: = 125.0
export var agent_color: = Color.blue
func _ready() -> void:
var boundaries: Rect2 = owner.camera_boundaries
randomize()
for i in range(agent_count):
var new_pos: = Vector2(
rand_range(-boundaries.size.x/2, boundaries.size.x/2),
rand_range(-boundaries.size.y/2, boundaries.size.y/2)
)
var agent: = agent_scene.instance()
agent.global_position = new_pos
agent.player_agent = player_agent
agent.speed = rand_range(min_speed, max_speed)
agent.color = agent_color
add_child(agent)

21
src/Steering/SteeringBehavior.gd
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extends Reference
class_name SteeringBehavior
"""
Base class to calculate how an AI agent steers itself.
"""
var enabled: = true
var agent: SteeringAgent
func _init(agent: SteeringAgent) -> void:
self.agent = agent
func calculate_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
return _calculate_internal_steering(acceleration) if enabled else acceleration.zero()
func _calculate_internal_steering(acceleration: TargetAcceleration) -> TargetAcceleration:
return acceleration.set_zero()