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68 lines
2.4 KiB
GDScript
68 lines
2.4 KiB
GDScript
# Steers the agent to avoid obstacles in its path. Approximates obstacles as
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# spheres.
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# @category - Group behaviors
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class_name GSAIAvoidCollisions
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extends GSAIGroupBehavior
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var _first_neighbor: GSAISteeringAgent
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var _shortest_time : float = 0.0
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var _first_minimum_separation : float = 0.0
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var _first_distance : float = 0.0
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var _first_relative_position : Vector3
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var _first_relative_velocity : Vector3
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func _init(agent: GSAISteeringAgent, proximity: GSAIProximity).(agent, proximity) -> void:
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pass
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func _calculate_steering(acceleration: GSAITargetAcceleration) -> void:
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_shortest_time = INF
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_first_neighbor = null
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_first_minimum_separation = 0
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_first_distance = 0
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var neighbor_count : int = proximity._find_neighbors(_callback)
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if neighbor_count == 0 or not _first_neighbor:
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acceleration.set_zero()
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else:
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if (_first_minimum_separation <= 0 || _first_distance < agent.bounding_radius + _first_neighbor.bounding_radius):
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acceleration.linear = _first_neighbor.position - agent.position
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else:
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acceleration.linear = (_first_relative_position+ (_first_relative_velocity * _shortest_time))
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acceleration.linear = (acceleration.linear.normalized() * -agent.linear_acceleration_max)
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acceleration.angular = 0
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# Callback for the proximity to call when finding neighbors. Keeps track of every `neighbor`
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# that was found but only keeps the one the owning agent will most likely collide with.
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# @tags - virtual
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func _report_neighbor(neighbor: GSAISteeringAgent) -> bool:
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var relative_position : Vector3 = neighbor.position - agent.position
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var relative_velocity : Vector3 = neighbor.linear_velocity - agent.linear_velocity
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var relative_speed_squared : float = relative_velocity.length_squared()
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if relative_speed_squared == 0:
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return false
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else:
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var time_to_collision : float = -relative_position.dot(relative_velocity) / relative_speed_squared
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if time_to_collision <= 0 || time_to_collision >= _shortest_time:
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return false
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else:
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var distance = relative_position.length()
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var minimum_separation: float = (distance - sqrt(relative_speed_squared) * time_to_collision)
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if minimum_separation > agent.bounding_radius + neighbor.bounding_radius:
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return false
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else:
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_shortest_time = time_to_collision
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_first_neighbor = neighbor
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_first_minimum_separation = minimum_separation
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_first_distance = distance
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_first_relative_position = relative_position
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_first_relative_velocity = relative_velocity
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return true
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