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https://github.com/Relintai/godot-steering-ai-framework.git
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45 lines
1.5 KiB
GDScript
45 lines
1.5 KiB
GDScript
# Calculates acceleration to take an agent to its target's location.
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# The calculation will attempt to arrive with zero remaining velocity.
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class_name GSTArrive
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extends GSTSteeringBehavior
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# The target whose location the agent will be steered to arrive at
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var target: GSTAgentLocation
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# The distance from the target for the agent to be considered successfully arrived
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var arrival_tolerance: float
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# The distance from the target for the agent to begin slowing down
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var deceleration_radius: float
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# The amount of time to reach the target velocity
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var time_to_reach := 0.1
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func _init(agent: GSTSteeringAgent, target: GSTAgentLocation).(agent) -> void:
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self.target = target
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func _arrive(acceleration: GSTTargetAcceleration, target_position: Vector3) -> GSTTargetAcceleration:
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var to_target := target_position - agent.position
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var distance := to_target.length()
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if distance <= arrival_tolerance:
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acceleration.set_zero()
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else:
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var desired_speed := agent.linear_speed_max
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if distance <= deceleration_radius:
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desired_speed *= distance / deceleration_radius
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var desired_velocity := to_target * desired_speed/distance
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desired_velocity = (desired_velocity - agent.linear_velocity) * 1.0 / time_to_reach
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acceleration.linear = GSTUtils.clampedv3(desired_velocity, agent.linear_acceleration_max)
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acceleration.angular = 0
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return acceleration
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func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
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return _arrive(acceleration, target.position)
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