mirror of
https://github.com/Relintai/pandemonium_engine.git
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111 lines
3.8 KiB
C++
111 lines
3.8 KiB
C++
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#include "gsai_arrive.h"
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GSAIAgentLocation GSAIArrive::get_ *target() {
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return *target;
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}
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void GSAIArrive::set_ *target(const 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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// 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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// Target agent to arrive to.;
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GSAIAgentLocation *target;
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// Distance from the target for the agent to be considered successfully;
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// arrived.;
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float arrival_tolerance = 0.0;
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// Distance from the target for the agent to begin slowing down.;
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float deceleration_radius = 0.0;
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// Represents the time it takes to change acceleration.;
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float time_to_reach = 0.1;
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void GSAIArrive::arrive(const 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(const GSAITargetAcceleration &acceleration, const Vector3 &target_position) {
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Vector3 to_target = target_position - agent.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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}
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else {
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float desired_speed = 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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}
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Vector3 desired_velocity = 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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}
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}
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void GSAIArrive::_calculate_steering(const GSAITargetAcceleration &acceleration) {
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arrive(acceleration, target.position);
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}
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}
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GSAIArrive::GSAIArrive() {
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*target;
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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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static 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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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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ClassDB::bind_method(D_METHOD("_calculate_steering", "acceleration"), &GSAIArrive::_calculate_steering);
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}
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