AI state machine

only one state atm, but it's a start

diff --git a/src/ai/AIController.hpp b/src/ai/AIController.hpp
index 53bdc827a5b3bc8df5b99b4c88553e6dfd5a5361..0eca2b78335b3bbf9094bd3cd03024de8cc7ff65 100644 (file)
--- a/src/ai/AIController.hpp
+++ b/src/ai/AIController.hpp
@@ -8,6 +8,7 @@
 
 namespace blank {
 
+class AIState;
 class GaloisLFSR;
 
 class AIController
@@ -17,20 +18,38 @@ public:
        explicit AIController(GaloisLFSR &);
        ~AIController();
 
+       void SetState(const AIState &);
+
        void Update(Entity &, float dt) override;
 
        glm::vec3 ControlForce(const EntityState &) const override;
 
        static glm::vec3 Heading(const EntityState &) noexcept;
 
+       void StartFleeing(const Entity &, float speed) noexcept;
+       void StopFleeing() noexcept;
+       bool IsFleeing() const noexcept;
+       const Entity &GetFleeTarget() const noexcept;
+
+       void StartSeeking(const Entity &, float speed) noexcept;
+       void StopSeeking() noexcept;
+       bool IsSeeking() const noexcept;
+       const Entity &GetSeekTarget() const noexcept;
+
+       void StartWandering() noexcept;
+       void StopWandering() noexcept;
+
 private:
        GaloisLFSR &random;
+       const AIState *state;
 
-       float chase_speed;
+       const Entity *flee_target;
        float flee_speed;
-       float stop_dist;
-       float flee_dist;
 
+       const Entity *seek_target;
+       float seek_speed;
+
+       bool wandering;
        glm::vec3 wander_pos;
        float wander_dist;
        float wander_radius;

diff --git a/src/ai/AIState.hpp b/src/ai/AIState.hpp
new file mode 100644 (file)
index 0000000..ed82cc0
--- /dev/null
+++ b/src/ai/AIState.hpp
@@ -0,0 +1,17 @@
+#ifndef BLANK_AI_AISTATE_HPP_
+#define BLANK_AI_AISTATE_HPP_
+
+
+namespace blank {
+
+struct AIState {
+
+       virtual void Enter(AIController &) const = 0;
+       virtual void Update(AIController &, Entity &, float dt) const = 0;
+       virtual void Exit(AIController &) const = 0;
+
+};
+
+}
+
+#endif

diff --git a/src/ai/IdleState.hpp b/src/ai/IdleState.hpp
new file mode 100644 (file)
index 0000000..76358f8
--- /dev/null
+++ b/src/ai/IdleState.hpp
@@ -0,0 +1,20 @@
+#ifndef BLANK_AI_IDLESTATE_HPP_
+#define BLANK_AI_IDLESTATE_HPP_
+
+#include "AIState.hpp"
+
+
+namespace blank {
+
+class IdleState
+: public AIState {
+
+       void Enter(AIController &) const override;
+       void Update(AIController &, Entity &, float dt) const override;
+       void Exit(AIController &) const override;
+
+};
+
+}
+
+#endif

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index 1d424cc218c73c9224f3d0abe6eea37a41bae06f..837c412f7280467336dd29afbdf22e8f889133d6 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"
@@ -13,22 +14,36 @@
 
 namespace blank {
 
+namespace {
+
+IdleState idle;
+
+}
+
 AIController::AIController(GaloisLFSR &rand)
 : random(rand)
-, chase_speed(2.0f)
+, state(&idle)
+, flee_target(nullptr)
 , flee_speed(-5.0f)
-, stop_dist(10.0f)
-, flee_dist(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 AIController::SetState(const AIState &s) {
+       state->Exit(*this);
+       state = &s;
+       state->Enter(*this);
 }
 
 void AIController::Update(Entity &e, float dt) {
@@ -52,7 +67,23 @@ 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 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;
 }
 
 glm::vec3 AIController::Heading(const EntityState &state) noexcept {
@@ -64,4 +95,57 @@ 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() noexcept {
+       wandering = true;
+}
+void AIController::StopWandering() noexcept {
+       wandering = false;
+}
+
+
+void IdleState::Enter(AIController &ctrl) const {
+       ctrl.StartWandering();
+}
+
+void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
+}
+
+void IdleState::Exit(AIController &ctrl) const {
+       ctrl.StopWandering();
+}
+
 }

diff --git a/src/world/world.cpp b/src/world/world.cpp
index e77192b277b46c8a592c9049f00601c59be1a08f..ee5bf02c191ffcf3be293d0a4acda9b31289f751 100644 (file)
--- a/src/world/world.cpp
+++ b/src/world/world.cpp
@@ -507,6 +507,10 @@ EntityDerivative World::CalculateStep(
        next.velocity += delta.velocity * dt;
        next.AdjustPosition();
 
+       if (dot(next.velocity, next.velocity) > entity.MaxVelocity() * entity.MaxVelocity()) {
+               next.velocity = normalize(next.velocity) * entity.MaxVelocity();
+       }
+
        EntityDerivative out;
        out.position = next.velocity;
        out.velocity = CalculateForce(entity, next); // by mass = 1kg
@@ -517,7 +521,12 @@ glm::vec3 World::CalculateForce(
        const Entity &entity,
        const EntityState &state
 ) {
-       return ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state);
+       glm::vec3 force(ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state));
+       if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) {
+               return normalize(force) * entity.MaxControlForce();
+       } else {
+               return force;
+       }
 }
 
 glm::vec3 World::ControlForce(