-#include "Chaser.hpp"
-#include "Controller.hpp"
-#include "RandomWalk.hpp"
+#include "AIController.hpp"
+#include "IdleState.hpp"
#include "../model/geometry.hpp"
+#include "../rand/GaloisLFSR.hpp"
#include "../world/Entity.hpp"
#include "../world/World.hpp"
#include "../world/WorldCollision.hpp"
+#include <cmath>
+#include <limits>
#include <glm/glm.hpp>
namespace blank {
-Chaser::Chaser(World &world, Entity &ctrl, Entity &tgt) noexcept
-: Controller(ctrl)
-, world(world)
-, tgt(tgt)
-, chase_speed(0.002f)
-, flee_speed(-0.005f)
-, stop_dist(10)
-, flee_dist(5) {
- tgt.Ref();
+namespace {
+
+IdleState idle;
+
+}
+
+AIController::AIController(GaloisLFSR &rand)
+: random(rand)
+, 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(1.5f)
+, wander_disp(1.0f) {
+ state->Enter(*this);
+}
+
+AIController::~AIController() {
+ state->Exit(*this);
}
-Chaser::~Chaser() {
- tgt.UnRef();
+void AIController::SetState(const AIState &s) {
+ state->Exit(*this);
+ state = &s;
+ state->Enter(*this);
}
-void Chaser::Update(int dt) {
- if (Target().Dead()) {
- Controlled().Kill();
- return;
+void AIController::Update(Entity &e, float dt) {
+ // movement: for now, wander only
+ 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;
+ }
}
- glm::vec3 diff(Target().AbsoluteDifference(Controlled()));
- float dist = length(diff);
- if (dist < std::numeric_limits<float>::epsilon()) {
- Controlled().TargetVelocity(glm::vec3(0.0f));
- return;
+ if (e.Moving()) {
+ // orient head towards heading
+ glm::vec3 heading(Heading(e.GetState()));
+ float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z)));
+ float tgt_yaw = std::atan2(-heading.x, -heading.z);
+ e.SetHead(tgt_pitch, tgt_yaw);
}
- glm::vec3 norm_diff(diff / dist);
+}
- bool line_of_sight = true;
- Ray aim{Target().Position() - diff, norm_diff};
- WorldCollision coll;
- if (world.Intersection(aim, glm::mat4(1.0f), Target().ChunkCoords(), coll)) {
- line_of_sight = coll.depth > dist;
+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;
+}
- if (!line_of_sight) {
- Controlled().TargetVelocity(glm::vec3(0.0f));
- } else if (dist > stop_dist) {
- Controlled().TargetVelocity(norm_diff * chase_speed);
- } else if (dist < flee_dist) {
- Controlled().TargetVelocity(norm_diff * flee_speed);
+glm::vec3 AIController::Heading(const EntityState &state) noexcept {
+ if (dot(state.velocity, state.velocity) > std::numeric_limits<float>::epsilon()) {
+ return normalize(state.velocity);
} else {
- Controlled().TargetVelocity(glm::vec3(0.0f));
+ float cp = std::cos(state.pitch);
+ return glm::vec3(std::cos(state.yaw) * cp, std::sin(state.yaw) * cp, std::sin(state.pitch));
}
}
+void AIController::StartFleeing(const Entity &e, float speed) noexcept {
+ flee_target = &e;
+ flee_speed = speed;
+}
-Controller::Controller(Entity &e) noexcept
-: entity(e) {
- entity.Ref();
+void AIController::StopFleeing() noexcept {
+ flee_target = nullptr;
}
-Controller::~Controller() {
- entity.UnRef();
+bool AIController::IsFleeing() const noexcept {
+ return flee_target;
}
+const Entity &AIController::GetFleeTarget() const noexcept {
+ return *flee_target;
+}
-RandomWalk::RandomWalk(Entity &e, std::uint64_t seed) noexcept
-: Controller(e)
-, random(seed)
-, start_vel(e.Velocity())
-, target_vel(start_vel)
-, start_rot(e.AngularVelocity())
-, target_rot(start_rot)
-, switch_time(0)
-, lerp_max(1.0f)
-, lerp_time(0.0f) {
+void AIController::StartSeeking(const Entity &e, float speed) noexcept {
+ seek_target = &e;
+ seek_speed = speed;
+}
+void AIController::StopSeeking() noexcept {
+ seek_target = nullptr;
}
-RandomWalk::~RandomWalk() {
+bool AIController::IsSeeking() const noexcept {
+ return seek_target;
+}
+const Entity &AIController::GetSeekTarget() const noexcept {
+ return *seek_target;
}
-void RandomWalk::Update(int dt) {
- switch_time -= dt;
- lerp_time -= dt;
- if (switch_time < 0) {
- switch_time += 2500 + (random.Next<unsigned short>() % 5000);
- lerp_max = 1500 + (random.Next<unsigned short>() % 1000);
- lerp_time = lerp_max;
- Change();
- } else if (lerp_time > 0) {
- float a = std::min(lerp_time / lerp_max, 1.0f);
- Controlled().TargetVelocity(mix(target_vel, start_vel, a));
- Controlled().AngularVelocity(mix(target_rot, start_rot, a));
- } else {
- Controlled().TargetVelocity(target_vel);
- Controlled().AngularVelocity(target_rot);
- }
+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 RandomWalk::Change() noexcept {
- start_vel = target_vel;
- start_rot = target_rot;
- constexpr float base = 0.000001f;
+void IdleState::Enter(AIController &ctrl) const {
+ ctrl.StartWandering(1.0f);
+}
- target_vel.x = base * (random.Next<short>() % 1024);
- target_vel.y = base * (random.Next<short>() % 1024);
- target_vel.z = base * (random.Next<short>() % 1024);
+void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
+}
- target_rot.x = base * (random.Next<short>() % 1024);
- target_rot.y = base * (random.Next<short>() % 1024);
- target_rot.z = base * (random.Next<short>() % 1024);
+void IdleState::Exit(AIController &ctrl) const {
+ ctrl.StopWandering();
}
}
projects / blank.git / blobdiff