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https://github.com/Relintai/godot-steering-ai-framework.git
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a01f5d5b2e
The first pass was somewhat obtuse and lacked a common class that differentiated them from behaviors that didn't use Proximities.
66 lines
2.2 KiB
GDScript
66 lines
2.2 KiB
GDScript
extends GSTGroupBehavior
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class_name GSTAvoidCollisions
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# Behavior that steers the agent to avoid obstacles lying in its path, approximated by a sphere.
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var first_neighbor: GSTSteeringAgent
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var shortest_time: float
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var first_minimum_separation: float
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var first_distance: float
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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: GSTSteeringAgent, proximity: GSTProximity).(agent, proximity) -> void:
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pass
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func _calculate_steering(acceleration: GSTTargetAcceleration) -> GSTTargetAcceleration:
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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: = 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(
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first_minimum_separation <= 0 or
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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.max_linear_acceleration
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acceleration.angular = 0
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return acceleration
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func report_neighbor(neighbor: GSTSteeringAgent) -> bool:
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var relative_position: = neighbor.position - agent.position
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var relative_velocity: = neighbor.linear_velocity - agent.linear_velocity
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var relative_speed_squared: = 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 = -relative_position.dot(relative_velocity) / relative_speed_squared
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if time_to_collision <= 0 or 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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