-#include "Chaser.hpp"
-#include "Controller.hpp"
-#include "RandomWalk.hpp"
+#include "AIController.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) {
+AIController::AIController(GaloisLFSR &rand)
+: random(rand)
+, chase_speed(2.0f)
+, flee_speed(-5.0f)
+, stop_dist(10.0f)
+, flee_dist(5.0f)
+, wander_pos(1.0f, 0.0f, 0.0f)
+, wander_dist(2.0f)
+, wander_radius(1.0f)
+, wander_disp(1.0f)
+, wander_speed(1.0f) {
}
-Chaser::~Chaser() {
+AIController::~AIController() {
}
-void Chaser::Update(int dt) {
- glm::vec3 diff(Target().AbsoluteDifference(Controlled()));
- float dist = length(diff);
- glm::vec3 norm_diff(diff / dist);
-
- bool line_of_sight = true;
- // FIXME: this only works if target is in the reference chunk (which is true for the player)
- Ray aim{Target().Position() - diff, norm_diff};
- Chunk *chunk;
- int blkid;
- float distance;
- glm::vec3 normal;
- if (world.Intersection(aim, glm::mat4(1.0f), chunk, blkid, distance, normal)) {
- line_of_sight = distance > dist;
+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 (!line_of_sight) {
- Controlled().Velocity(glm::vec3(0.0f));
- } else if (dist > stop_dist) {
- Controlled().Velocity(norm_diff * chase_speed);
- } else if (dist < flee_dist) {
- Controlled().Velocity(norm_diff * flee_speed);
- } else {
- Controlled().Velocity(glm::vec3(0.0f));
+ 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);
}
}
-
-Controller::Controller(Entity &e) noexcept
-: entity(e) {
-
-}
-
-Controller::~Controller() {
-
+glm::vec3 AIController::ControlForce(const EntityState &state) const {
+ return (Heading(state) * wander_dist + wander_pos) * wander_speed;
}
-
-RandomWalk::RandomWalk(Entity &e) noexcept
-: Controller(e)
-, time_left(0) {
-
-}
-
-RandomWalk::~RandomWalk() {
-
-}
-
-void RandomWalk::Update(int dt) {
- time_left -= dt;
- if (time_left > 0) return;
- time_left += 2500 + (rand() % 5000);
-
- constexpr float move_vel = 0.0005f;
-
- glm::vec3 new_vel = Controlled().Velocity();
-
- 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;
+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));
}
-
- Controlled().Velocity(new_vel);
}
}