AI state machine

[blank.git] / src / ai / ai.cpp

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();
+}
+
 }