brought some order to the whole controller thing

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

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index 1d424cc218c73c9224f3d0abe6eea37a41bae06f..f24d0694e0838222d457471ba1f254a76417471c 100644 (file)
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -1,4 +1,5 @@
 #include "AIController.hpp"
+#include "IdleState.hpp"
 
 #include "../model/geometry.hpp"
 #include "../rand/GaloisLFSR.hpp"
@@ -13,33 +14,49 @@
 
 namespace blank {
 
+namespace {
+
+IdleState idle;
+
+}
+
 AIController::AIController(GaloisLFSR &rand)
 : random(rand)
-, chase_speed(2.0f)
-, flee_speed(-5.0f)
-, stop_dist(10.0f)
-, flee_dist(5.0f)
+, state(&idle)
+, flee_target(nullptr)
+, flee_speed(5.0f)
+, seek_target(nullptr)
+, seek_speed(5.0f)
+, wandering(false)
 , wander_pos(1.0f, 0.0f, 0.0f)
+, wander_speed(1.0f)
 , wander_dist(2.0f)
-, wander_radius(1.0f)
-, wander_disp(1.0f)
-, wander_speed(1.0f) {
-
+, wander_radius(1.5f)
+, wander_disp(1.0f) {
+       state->Enter(*this);
 }
 
 AIController::~AIController() {
+       state->Exit(*this);
+}
 
+void AIController::SetState(const AIState &s) {
+       state->Exit(*this);
+       state = &s;
+       state->Enter(*this);
 }
 
 void AIController::Update(Entity &e, float dt) {
        // movement: for now, wander only
-       glm::vec3 displacement(
-               random.SNorm() * wander_disp,
-               random.SNorm() * wander_disp,
-               random.SNorm() * wander_disp
-       );
-       if (dot(displacement, displacement) > std::numeric_limits<float>::epsilon()) {
-               wander_pos = normalize(wander_pos + displacement * dt) * wander_radius;
+       if (wandering) {
+               glm::vec3 displacement(
+                       random.SNorm() * wander_disp,
+                       random.SNorm() * wander_disp,
+                       random.SNorm() * wander_disp
+               );
+               if (!iszero(displacement)) {
+                       wander_pos = normalize(wander_pos + displacement * dt) * wander_radius;
+               }
        }
 
        if (e.Moving()) {
@@ -51,8 +68,27 @@ void AIController::Update(Entity &e, float dt) {
        }
 }
 
-glm::vec3 AIController::ControlForce(const EntityState &state) const {
-       return (Heading(state) * wander_dist + wander_pos) * wander_speed;
+glm::vec3 AIController::ControlForce(const Entity &entity, const EntityState &state) const {
+       glm::vec3 force(0.0f);
+       if (IsFleeing()) {
+               glm::vec3 diff(GetFleeTarget().GetState().Diff(state));
+               if (MaxOutForce(force, TargetVelocity(normalize(diff) * flee_speed, state, 0.5f), entity.MaxControlForce())) {
+                       return force;
+               }
+       }
+       if (IsSeeking()) {
+               glm::vec3 diff(state.Diff(GetSeekTarget().GetState()));
+               if (MaxOutForce(force, TargetVelocity(normalize(diff) * seek_speed, state, 0.5f), entity.MaxControlForce())) {
+                       return force;
+               }
+       }
+       if (wandering) {
+               glm::vec3 wander_target(normalize(Heading(state) * wander_dist + wander_pos) * wander_speed);
+               if (MaxOutForce(force, TargetVelocity(wander_target, state, 2.0f), entity.MaxControlForce())) {
+                       return force;
+               }
+       }
+       return force;
 }
 
 glm::vec3 AIController::Heading(const EntityState &state) noexcept {
@@ -64,4 +100,66 @@ glm::vec3 AIController::Heading(const EntityState &state) noexcept {
        }
 }
 
+void AIController::StartFleeing(const Entity &e, float speed) noexcept {
+       flee_target = &e;
+       flee_speed = speed;
+}
+
+void AIController::StopFleeing() noexcept {
+       flee_target = nullptr;
+}
+
+bool AIController::IsFleeing() const noexcept {
+       return flee_target;
+}
+
+const Entity &AIController::GetFleeTarget() const noexcept {
+       return *flee_target;
+}
+
+void AIController::StartSeeking(const Entity &e, float speed) noexcept {
+       seek_target = &e;
+       seek_speed = speed;
+}
+
+void AIController::StopSeeking() noexcept {
+       seek_target = nullptr;
+}
+
+bool AIController::IsSeeking() const noexcept {
+       return seek_target;
+}
+
+const Entity &AIController::GetSeekTarget() const noexcept {
+       return *seek_target;
+}
+
+void AIController::StartWandering(
+       float speed,
+       float distance,
+       float radius,
+       float displacement
+) noexcept {
+       wandering = true;
+       wander_speed = speed;
+       wander_dist = distance;
+       wander_radius = radius;
+       wander_disp = displacement;
+}
+void AIController::StopWandering() noexcept {
+       wandering = false;
+}
+
+
+void IdleState::Enter(AIController &ctrl) const {
+       ctrl.StartWandering(1.0f);
+}
+
+void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
+}
+
+void IdleState::Exit(AIController &ctrl) const {
+       ctrl.StopWandering();
+}
+
 }