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https://github.com/Relintai/godot-steering-ai-framework.git
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1a37b2bee0
Used `var variable := 0.0` as discussed in the Godot issue, instead of `var variable: = 0.0`. Mostly these are minor/cosmetic changes, but I've also reorganized the folder structure (naming of folders) to reflect our guidelines, plus made some minor changes to the demo codes. Still work in progress.
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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