pandemonium_engine/modules/steering_ai/behaviors/gsai_follow_path.cpp

/*************************************************************************/
/*  gsai_follow_path.cpp                                                 */
/*************************************************************************/
/*                         This file is part of:                         */
/*                          PANDEMONIUM ENGINE                           */
/*             https://github.com/Relintai/pandemonium_engine            */
/*************************************************************************/
/* Copyright (c) 2022-present Péter Magyar.                              */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/

#include "gsai_follow_path.h"

#include "../gsai_path.h"
#include "../gsai_steering_agent.h"
#include "../gsai_target_acceleration.h"

Ref<GSAIPath> GSAIFollowPath::get_path() {
	return path;
}

void GSAIFollowPath::set_path(const Ref<GSAIPath> &val) {
	path = val;
}

float GSAIFollowPath::get_path_offset() const {
	return path_offset;
}

void GSAIFollowPath::set_path_offset(const float val) {
	path_offset = val;
}

bool GSAIFollowPath::get_is_arrive_enabled() const {
	return is_arrive_enabled;
}

void GSAIFollowPath::set_is_arrive_enabled(const bool val) {
	is_arrive_enabled = val;
}

float GSAIFollowPath::get_prediction_time() const {
	return prediction_time;
}

void GSAIFollowPath::set_prediction_time(const float val) {
	prediction_time = val;
}

void GSAIFollowPath::_calculate_steering(Ref<GSAITargetAcceleration> acceleration) {
	ERR_FAIL_COND(!agent.is_valid());
	ERR_FAIL_COND(!path.is_valid());

	Vector3 location;

	if (prediction_time == 0) {
		location = agent->get_position();
	} else {
		location = agent->get_position() + (agent->get_linear_velocity() * prediction_time);
	}

	float distance = path->calculate_distance(location);
	float target_distance = distance + path_offset;

	if (prediction_time > 0 && path->get_is_open()) {
		if (target_distance < path->calculate_distance(agent->get_position())) {
			target_distance = path->get_length();
		}
	}

	Vector3 target_position = path->calculate_target_position(target_distance);

	if (is_arrive_enabled && path->get_is_open()) {
		if (path_offset >= 0) {
			if (target_distance > path->get_length() - deceleration_radius) {
				arrive(acceleration, target_position);
				return;
			}
		} else {
			if (target_distance < deceleration_radius) {
				arrive(acceleration, target_position);
				return;
			}
		}
	}

	Vector3 linear = (target_position - agent->get_position()).normalized();
	linear *= agent->get_linear_acceleration_max();

	acceleration->set_linear(linear);
	acceleration->set_angular(0);
}

GSAIFollowPath::GSAIFollowPath() {
	path_offset = 0.0;
	is_arrive_enabled = true;
	prediction_time = 0.0;
}

GSAIFollowPath::~GSAIFollowPath() {
}

void GSAIFollowPath::_bind_methods() {
	ClassDB::bind_method(D_METHOD("get_path"), &GSAIFollowPath::get_path);
	ClassDB::bind_method(D_METHOD("set_path", "value"), &GSAIFollowPath::set_path);
	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "path", PROPERTY_HINT_RESOURCE_TYPE, "GSAIPath"), "set_path", "get_path");

	ClassDB::bind_method(D_METHOD("get_path_offset"), &GSAIFollowPath::get_path_offset);
	ClassDB::bind_method(D_METHOD("set_path_offset", "value"), &GSAIFollowPath::set_path_offset);
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_offset"), "set_path_offset", "get_path_offset");

	ClassDB::bind_method(D_METHOD("get_is_arrive_enabled"), &GSAIFollowPath::get_is_arrive_enabled);
	ClassDB::bind_method(D_METHOD("set_is_arrive_enabled", "value"), &GSAIFollowPath::set_is_arrive_enabled);
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "is_arrive_enabled"), "set_is_arrive_enabled", "get_is_arrive_enabled");

	ClassDB::bind_method(D_METHOD("get_prediction_time"), &GSAIFollowPath::get_prediction_time);
	ClassDB::bind_method(D_METHOD("set_prediction_time", "value"), &GSAIFollowPath::set_prediction_time);
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "prediction_time"), "set_prediction_time", "get_prediction_time");
}