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40 lines
1.4 KiB
GDScript
40 lines
1.4 KiB
GDScript
# Calculates acceleration to take an agent to its target's location. The
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# calculation attempts to arrive with zero remaining velocity.
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# @category - Individual behaviors
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class_name GSAIArrive
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extends GSAISteeringBehavior
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# Target agent to arrive to.
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var target : GSAIAgentLocation
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# Distance from the target for the agent to be considered successfully
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# arrived.
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var arrival_tolerance : float = 0.0
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# Distance from the target for the agent to begin slowing down.
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var deceleration_radius : float = 0.0
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# Represents the time it takes to change acceleration.
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var time_to_reach : float = 0.1
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func _arrive(acceleration : GSAITargetAcceleration, target_position : Vector3) -> void:
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var to_target : Vector3 = target_position - agent.position
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var distance : float = 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 : float = 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 : Vector3 = 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 = GSAIUtils.clampedv3(desired_velocity, agent.linear_acceleration_max)
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acceleration.angular = 0
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func _calculate_steering(acceleration: GSAITargetAcceleration) -> void:
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_arrive(acceleration, target.position)
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