geometry stuff

[blank.git] / src / ai / ai.cpp

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index fc6abfc4b9e59fa0133ad1bb66c4776e4595b049..4b76856ea9664db0bb5dc17681155bfe501090be 100644 (file)
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -4,7 +4,8 @@
 #include "IdleState.hpp"
 #include "RoamState.hpp"
 
-#include "../model/geometry.hpp"
+#include "../geometry/distance.hpp"
+#include "../geometry/rotation.hpp"
 #include "../rand/GaloisLFSR.hpp"
 #include "../world/Entity.hpp"
 #include "../world/World.hpp"
@@ -83,7 +84,7 @@ void AIController::Update(Entity &e, float dt) {
                // our box is oriented for -Z velocity
                obstacle_transform = glm::mat4(find_rotation(glm::vec3(0.0f, 0.0f, -1.0f), e.Heading()));
                // and positioned relative to the entity's chunk
-               obstacle_transform[3] = glm::vec4(e.GetState().block_pos, 1.0f);
+               obstacle_transform[3] = glm::vec4(e.GetState().pos.block, 1.0f);
        }
 
        if (wandering) {
@@ -100,9 +101,13 @@ void AIController::Update(Entity &e, float dt) {
        if (e.Moving()) {
                // orient head towards heading
                glm::vec3 heading(e.Heading());
-               float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z)));
-               float tgt_yaw = std::atan2(-heading.x, -heading.z);
+               // only half pitch, so we don't crane our neck
+               float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z))) * 0.5f;
+               // always look straight ahead
+               // maybe look at the pursuit target if there is one
+               float tgt_yaw = 0.0f;
                e.SetHead(tgt_pitch, tgt_yaw);
+               e.OrientBody(dt);
        }
 }
 
@@ -164,7 +169,7 @@ Player *AIController::ClosestVisiblePlayer(const Entity &e) noexcept {
 
                // LOS test, assumes all entities are see-through
                WorldCollision col;
-               if (world.Intersection(aim, glm::mat4(1.0f), reference, col) && col.depth < dist) {
+               if (world.Intersection(aim, reference, col) && col.depth < dist) {
                        continue;
                }
 
@@ -184,7 +189,7 @@ bool AIController::LineOfSight(const Entity &from, const Entity &to) const noexc
                return false;
        }
        WorldCollision col;
-       if (world.Intersection(aim, glm::mat4(1.0f), reference, col) && col.depth < dist) {
+       if (world.Intersection(aim, reference, col) && col.depth < dist) {
                return false;
        }
        return true;
@@ -276,7 +281,7 @@ glm::vec3 AIController::GetObstacleAvoidanceForce(const Entity &e, const EntityS
        for (WorldCollision &c : col) {
                // diff points from block to state
                glm::vec3 diff = state.RelativePosition(c.ChunkPos()) - c.BlockCoords();
-               float dist = length_squared(diff);
+               float dist = length2(diff);
                if (dist < distance) {
                        nearest = &c;
                        difference = diff;
@@ -292,7 +297,7 @@ glm::vec3 AIController::GetObstacleAvoidanceForce(const Entity &e, const EntityS
        // point on the "velocity ray" closest to obstacle
        float to_go = dot(difference, e.Heading());
        // point is our future position if we keep going our way
-       glm::vec3 point(e.GetState().block_pos + e.Heading() * to_go);
+       glm::vec3 point(e.GetState().pos.block + e.Heading() * to_go);
        // now steer away in the direction of (point - block)
        // with a magniture proportional to speed/distance
        return normalize(point - nearest->BlockCoords()) * (e.Speed() / std::sqrt(distance));
@@ -424,7 +429,7 @@ glm::vec3 AIController::GetEvadeForce(const Entity &, const EntityState &state)
        glm::vec3 cur_diff(state.Diff(GetEvadeTarget().GetState()));
        float time_estimate = length(cur_diff) / evade_speed;
        EntityState pred_state(GetEvadeTarget().GetState());
-       pred_state.block_pos += pred_state.velocity * time_estimate;
+       pred_state.pos.block += pred_state.velocity * time_estimate;
        return Flee(state, pred_state, evade_speed, 2.0f);
 }
 
@@ -470,7 +475,7 @@ glm::vec3 AIController::GetPursuitForce(const Entity &, const EntityState &state
        glm::vec3 cur_diff(state.Diff(GetPursuitTarget().GetState()));
        float time_estimate = length(cur_diff) / pursuit_speed;
        EntityState pred_state(GetPursuitTarget().GetState());
-       pred_state.block_pos += pred_state.velocity * time_estimate;
+       pred_state.pos.block += pred_state.velocity * time_estimate;
        return Seek(state, pred_state, pursuit_speed, 2.0f);
 }
 
@@ -525,7 +530,7 @@ void ChaseState::Update(AIController &ctrl, Entity &e, float dt) const {
                return;
        }
        // halt if we're close enough, flee if we're too close
-       float dist_sq = length_squared(e.AbsoluteDifference(ctrl.GetPursuitTarget()));
+       float dist_sq = length2(e.AbsoluteDifference(ctrl.GetPursuitTarget()));
        if (dist_sq < 8.0f) {
                ctrl.SetFleeTarget(ctrl.GetPursuitTarget());
                ctrl.SetState(flee);