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 837c412f7280467336dd29afbdf22e8f889133d6..f24d0694e0838222d457471ba1f254a76417471c 100644 (file)
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -24,15 +24,15 @@ AIController::AIController(GaloisLFSR &rand)
 : random(rand)
 , state(&idle)
 , flee_target(nullptr)
-, flee_speed(-5.0f)
+, flee_speed(5.0f)
 , seek_target(nullptr)
-, seek_speed(-5.0f)
+, 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);
 }
 
@@ -48,13 +48,15 @@ void AIController::SetState(const AIState &s) {
 
 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()) {
@@ -66,22 +68,25 @@ void AIController::Update(Entity &e, float dt) {
        }
 }
 
-glm::vec3 AIController::ControlForce(const EntityState &state) const {
+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 (dot(diff, diff) > std::numeric_limits<float>::epsilon()) {
-                       force += normalize(diff) * flee_speed;
+               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 (dot(diff, diff) > std::numeric_limits<float>::epsilon()) {
-                       force += normalize(diff) * seek_speed;
+               if (MaxOutForce(force, TargetVelocity(normalize(diff) * seek_speed, state, 0.5f), entity.MaxControlForce())) {
+                       return force;
                }
        }
        if (wandering) {
-               force += (Heading(state) * wander_dist + wander_pos) * wander_speed;
+               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;
 }
@@ -129,8 +134,17 @@ const Entity &AIController::GetSeekTarget() const noexcept {
        return *seek_target;
 }
 
-void AIController::StartWandering() noexcept {
+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;
@@ -138,7 +152,7 @@ void AIController::StopWandering() noexcept {
 
 
 void IdleState::Enter(AIController &ctrl) const {
-       ctrl.StartWandering();
+       ctrl.StartWandering(1.0f);
 }
 
 void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {