mirror of
https://github.com/Relintai/pandemonium_engine.git
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132 lines
5.8 KiB
C++
132 lines
5.8 KiB
C++
/*************************************************************************/
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/* gsai_arrive.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* PANDEMONIUM ENGINE */
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/* https://github.com/Relintai/pandemonium_engine */
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/*************************************************************************/
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/* Copyright (c) 2022-present Péter Magyar. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "gsai_arrive.h"
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#include "../gsai_steering_agent.h"
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#include "../gsai_target_acceleration.h"
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#include "../gsai_utils.h"
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Ref<GSAIAgentLocation> GSAIArrive::get_target() {
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return target;
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}
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void GSAIArrive::set_target(const Ref<GSAIAgentLocation> &val) {
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target = val;
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}
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float GSAIArrive::get_arrival_tolerance() const {
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return arrival_tolerance;
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}
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void GSAIArrive::set_arrival_tolerance(const float val) {
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arrival_tolerance = val;
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}
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float GSAIArrive::get_deceleration_radius() const {
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return deceleration_radius;
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}
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void GSAIArrive::set_deceleration_radius(const float val) {
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deceleration_radius = val;
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}
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float GSAIArrive::get_time_to_reach() const {
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return time_to_reach;
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}
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void GSAIArrive::set_time_to_reach(const float val) {
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time_to_reach = val;
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}
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void GSAIArrive::arrive(const Ref<GSAITargetAcceleration> &acceleration, const Vector3 &target_position) {
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call("_arrive", acceleration, target_position);
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}
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void GSAIArrive::_arrive(Ref<GSAITargetAcceleration> acceleration, Vector3 target_position) {
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ERR_FAIL_COND(!agent.is_valid());
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Vector3 to_target = target_position - agent->get_position();
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float 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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float desired_speed = agent->get_linear_speed_max();
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if (distance <= deceleration_radius) {
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desired_speed *= distance / deceleration_radius;
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}
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Vector3 desired_velocity = to_target * desired_speed / distance;
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desired_velocity = ((desired_velocity - agent->get_linear_velocity()) * 1.0 / time_to_reach);
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acceleration->set_linear(GSAIUtils::clampedv3(desired_velocity, agent->get_linear_acceleration_max()));
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acceleration->set_angular(0);
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}
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}
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void GSAIArrive::_calculate_steering(Ref<GSAITargetAcceleration> acceleration) {
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ERR_FAIL_COND(!target.is_valid());
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arrive(acceleration, target->get_position());
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}
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GSAIArrive::GSAIArrive() {
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arrival_tolerance = 0.0;
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deceleration_radius = 0.0;
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time_to_reach = 0.1;
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}
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GSAIArrive::~GSAIArrive() {
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}
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void GSAIArrive::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_target"), &GSAIArrive::get_target);
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ClassDB::bind_method(D_METHOD("set_target", "value"), &GSAIArrive::set_target);
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "target", PROPERTY_HINT_RESOURCE_TYPE, "GSAIAgentLocation"), "set_target", "get_target");
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ClassDB::bind_method(D_METHOD("get_arrival_tolerance"), &GSAIArrive::get_arrival_tolerance);
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ClassDB::bind_method(D_METHOD("set_arrival_tolerance", "value"), &GSAIArrive::set_arrival_tolerance);
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "arrival_tolerance"), "set_arrival_tolerance", "get_arrival_tolerance");
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ClassDB::bind_method(D_METHOD("get_deceleration_radius"), &GSAIArrive::get_deceleration_radius);
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ClassDB::bind_method(D_METHOD("set_deceleration_radius", "value"), &GSAIArrive::set_deceleration_radius);
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "deceleration_radius"), "set_deceleration_radius", "get_deceleration_radius");
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ClassDB::bind_method(D_METHOD("get_time_to_reach"), &GSAIArrive::get_time_to_reach);
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ClassDB::bind_method(D_METHOD("set_time_to_reach", "value"), &GSAIArrive::set_time_to_reach);
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_to_reach"), "set_time_to_reach", "get_time_to_reach");
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BIND_VMETHOD(MethodInfo("_arrive", PropertyInfo(Variant::OBJECT, "acceleration", PROPERTY_HINT_RESOURCE_TYPE, "GSAITargetAcceleration"), PropertyInfo(Variant::VECTOR3, "target_position")));
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ClassDB::bind_method(D_METHOD("arrive", "acceleration", "target_position"), &GSAIArrive::arrive);
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ClassDB::bind_method(D_METHOD("_arrive", "acceleration", "target_position"), &GSAIArrive::_arrive);
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}
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