X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fai%2Fai.cpp;h=837c412f7280467336dd29afbdf22e8f889133d6;hb=d122d3e445d64f7d710c1cfaf285ff01bbe955b9;hp=b3e1a0ceae5fb852c2f8fd653bfa2675cd193022;hpb=c52405fad9c070e1370f852234c6eb723b52916c;p=blank.git

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index b3e1a0c..837c412 100644
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -1,101 +1,151 @@
-#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(Entity &ctrl, Entity &tgt) noexcept
-: Controller(ctrl)
-, tgt(tgt)
-, speed(0.002f)
-, stop_dist(5 * 5)
-, flee_dist(3 * 3) {
+namespace {
+
+IdleState idle;
 
 }
 
-Chaser::~Chaser() {
+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_dist(2.0f)
+, wander_radius(1.0f)
+, wander_disp(1.0f)
+, wander_speed(1.0f) {
+	state->Enter(*this);
+}
 
+AIController::~AIController() {
+	state->Exit(*this);
 }
 
-void Chaser::Update(int dt) {
-	glm::vec3 diff(Target().AbsoluteDifference(Controlled()));
-	float dist = dot (diff, diff);
-	// TODO: line of sight test
-	if (dist > stop_dist) {
-		Controlled().Velocity(normalize(diff) * speed);
-	} else if (dist < flee_dist) {
-		Controlled().Velocity(normalize(diff) * -speed);
-	} else {
-		Controlled().Velocity(glm::vec3(0.0f));
+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 (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 AIController::ControlForce(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 (IsSeeking()) {
+		glm::vec3 diff(state.Diff(GetSeekTarget().GetState()));
+		if (dot(diff, diff) > std::numeric_limits<float>::epsilon()) {
+			force += normalize(diff) * seek_speed;
+		}
+	}
+	if (wandering) {
+		force += (Heading(state) * wander_dist + wander_pos) * wander_speed;
+	}
+	return force;
+}
 
-Controller::Controller(Entity &e) noexcept
-: entity(e) {
+glm::vec3 AIController::Heading(const EntityState &state) noexcept {
+	if (dot(state.velocity, state.velocity) > std::numeric_limits<float>::epsilon()) {
+		return normalize(state.velocity);
+	} else {
+		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() {
+void AIController::StopFleeing() noexcept {
+	flee_target = nullptr;
+}
 
+bool AIController::IsFleeing() const noexcept {
+	return flee_target;
 }
 
+const Entity &AIController::GetFleeTarget() const noexcept {
+	return *flee_target;
+}
 
-RandomWalk::RandomWalk(Entity &e) noexcept
-: Controller(e)
-, time_left(0) {
+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) {
-	time_left -= dt;
-	if (time_left > 0) return;
-	time_left += 2500 + (rand() % 5000);
+void AIController::StartWandering() noexcept {
+	wandering = true;
+}
+void AIController::StopWandering() noexcept {
+	wandering = false;
+}
 
-	constexpr float move_vel = 0.0005f;
 
-	glm::vec3 new_vel = Controlled().Velocity();
+void IdleState::Enter(AIController &ctrl) const {
+	ctrl.StartWandering();
+}
 
-	switch (rand() % 9) {
-		case 0:
-			new_vel.x = -move_vel;
-			break;
-		case 1:
-			new_vel.x = 0.0f;
-			break;
-		case 2:
-			new_vel.x = move_vel;
-			break;
-		case 3:
-			new_vel.y = -move_vel;
-			break;
-		case 4:
-			new_vel.y = 0.0f;
-			break;
-		case 5:
-			new_vel.y = move_vel;
-			break;
-		case 6:
-			new_vel.z = -move_vel;
-			break;
-		case 7:
-			new_vel.z = 0.0f;
-			break;
-		case 8:
-			new_vel.z = move_vel;
-			break;
-	}
+void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
+}
 
-	Controlled().Velocity(new_vel);
+void IdleState::Exit(AIController &ctrl) const {
+	ctrl.StopWandering();
 }
 
 }