more fun with AI/steering

diff --git a/src/ai/AIController.hpp b/src/ai/AIController.hpp
index c1241969bdef702ada0225d0952184cd4a5fa986..bd88290fdcb9d44075552807c560c9ac137411d5 100644 (file)
--- a/src/ai/AIController.hpp
+++ b/src/ai/AIController.hpp
@@ -10,13 +10,16 @@
 namespace blank {
 
 class AIState;
+class Entity;
 class GaloisLFSR;
+class Player;
+class World;
 
 class AIController
 : public EntityController {
 
 public:
-       explicit AIController(GaloisLFSR &);
+       AIController(World &, GaloisLFSR &);
        ~AIController();
 
        void SetState(const AIState &);
@@ -27,6 +30,16 @@ public:
 
        static glm::vec3 Heading(const EntityState &) noexcept;
 
+       /// get the closest player that given entity can see
+       /// returns nullptr if none are in sight
+       Player *ClosestVisiblePlayer(const Entity &) noexcept;
+       /// true if to entity is in visible range of from entity
+       bool LineOfSight(const Entity &from, const Entity &to) const noexcept;
+
+       /// true if the controller may do expensive calculations
+       bool MayThink() const noexcept;
+       void SetThinkInterval(float) noexcept;
+
        /// schedule a decision in the next minimum ± variance seconds
        void CueDecision(
                float minimum,
@@ -37,48 +50,96 @@ public:
        /// random choice of 0 to num_choices - 1
        unsigned int Decide(unsigned int num_choices) noexcept;
 
-       void EnterHalt(float speed) noexcept;
+       void EnterHalt() noexcept;
        void ExitHalt() noexcept;
        bool IsHalted() const noexcept;
+       void SetHaltSpeed(float) noexcept;
+       glm::vec3 GetHaltForce(const EntityState &) const noexcept;
 
-       void StartFleeing(const Entity &, float speed) noexcept;
+       void StartFleeing() noexcept;
        void StopFleeing() noexcept;
        bool IsFleeing() const noexcept;
+       void SetFleeTarget(Entity &) noexcept;
+       void SetFleeSpeed(float) noexcept;
+       Entity &GetFleeTarget() noexcept;
        const Entity &GetFleeTarget() const noexcept;
+       glm::vec3 GetFleeForce(const EntityState &) const noexcept;
 
-       void StartSeeking(const Entity &, float speed) noexcept;
+       void StartSeeking() noexcept;
        void StopSeeking() noexcept;
        bool IsSeeking() const noexcept;
+       void SetSeekTarget(Entity &) noexcept;
+       void SetSeekSpeed(float) noexcept;
+       Entity &GetSeekTarget() noexcept;
        const Entity &GetSeekTarget() const noexcept;
-
-       /// start wandering randomly at given speed
+       glm::vec3 GetSeekForce(const EntityState &) const noexcept;
+
+       void StartEvading() noexcept;
+       void StopEvading() noexcept;
+       bool IsEvading() const noexcept;
+       void SetEvadeTarget(Entity &) noexcept;
+       void SetEvadeSpeed(float) noexcept;
+       Entity &GetEvadeTarget() noexcept;
+       const Entity &GetEvadeTarget() const noexcept;
+       glm::vec3 GetEvadeForce(const EntityState &) const noexcept;
+
+       void StartPursuing() noexcept;
+       void StopPursuing() noexcept;
+       bool IsPursuing() const noexcept;
+       void SetPursuitTarget(Entity &) noexcept;
+       void SetPursuitSpeed(float) noexcept;
+       Entity &GetPursuitTarget() noexcept;
+       const Entity &GetPursuitTarget() const noexcept;
+       glm::vec3 GetPursuitForce(const EntityState &) const noexcept;
+
+       /// start wandering randomly
+       void StartWandering() noexcept;
+       void StopWandering() noexcept;
+       bool IsWandering() const noexcept;
+       /// change how wandering is performed
        /// the trajectory is modified by targetting a blip on a sphere
        /// in front of the entity which moves randomly
        /// the displacement is given (roughly) in units per second
-       void StartWandering(
+       void SetWanderParams(
                float speed,
                float distance = 2.0f,
                float radius = 1.0f,
                float displacement = 1.0f
        ) noexcept;
-       void StopWandering() noexcept;
-       bool IsWandering() const noexcept;
+       glm::vec3 GetWanderForce(const EntityState &) const noexcept;
 
 private:
+       World &world;
        GaloisLFSR &random;
        const AIState *state;
 
+       /// how far controlled entities can see
+       float sight_dist;
+       /// cosine of the half angle of FOV of controlled entities
+       float sight_angle;
+
+       FineTimer think_timer;
        FineTimer decision_timer;
 
        bool halted;
        float halt_speed;
 
-       const Entity *flee_target;
+       bool fleeing;
+       Entity *flee_target;
        float flee_speed;
 
-       const Entity *seek_target;
+       bool seeking;
+       Entity *seek_target;
        float seek_speed;
 
+       bool evading;
+       Entity *evade_target;
+       float evade_speed;
+
+       bool pursuing;
+       Entity *pursuit_target;
+       float pursuit_speed;
+
        bool wandering;
        glm::vec3 wander_pos;
        float wander_speed;

diff --git a/src/ai/ChaseState.hpp b/src/ai/ChaseState.hpp
new file mode 100644 (file)
index 0000000..97e6895
--- /dev/null
+++ b/src/ai/ChaseState.hpp
@@ -0,0 +1,25 @@
+#ifndef BLANK_AI_CHASESTATE_HPP_
+#define BLANK_AI_CHASESTATE_HPP_
+
+#include "AIState.hpp"
+
+
+namespace blank {
+
+/// stand around and do nothing
+/// occasionally look in a different direction
+/// start roaming at random
+/// start chasing a player if one comes near
+
+class ChaseState
+: 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/FleeState.hpp b/src/ai/FleeState.hpp
new file mode 100644 (file)
index 0000000..8664e58
--- /dev/null
+++ b/src/ai/FleeState.hpp
@@ -0,0 +1,25 @@
+#ifndef BLANK_AI_FLEESTATE_HPP_
+#define BLANK_AI_FLEESTATE_HPP_
+
+#include "AIState.hpp"
+
+
+namespace blank {
+
+/// stand around and do nothing
+/// occasionally look in a different direction
+/// start roaming at random
+/// start chasing a player if one comes near
+
+class FleeState
+: 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/Spawner.cpp b/src/ai/Spawner.cpp
index 6404e443999dc2cf54bbee6e6f9be739b2e0e079..fabc6dd6a4377999751098b4719a4b12eb2a2fe2 100644 (file)
--- a/src/ai/Spawner.cpp
+++ b/src/ai/Spawner.cpp
@@ -127,7 +127,7 @@ void Spawner::Spawn(Entity &reference, const glm::ivec3 &chunk, const glm::vec3
        e.Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } });
        e.WorldCollidable(true);
        RandomModel().Instantiate(e.GetModel());
-       e.SetController(new AIController(random));
+       e.SetController(new AIController(world, random));
        e.Name("spawned");
        e.Ref();
        entities.emplace_back(&e);

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index 343bacf774aebe56d0828e3ab74a079149779f7a..11add89bb049f079fad1bc62f01c612ce03e685e 100644 (file)
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -1,4 +1,6 @@
 #include "AIController.hpp"
+#include "ChaseState.hpp"
+#include "FleeState.hpp"
 #include "IdleState.hpp"
 #include "RoamState.hpp"
 
@@ -17,27 +19,42 @@ namespace blank {
 
 namespace {
 
+ChaseState chase;
+FleeState flee;
 IdleState idle;
 RoamState roam;
 
 }
 
-AIController::AIController(GaloisLFSR &rand)
-: random(rand)
+AIController::AIController(World &world, GaloisLFSR &rand)
+: world(world)
+, random(rand)
 , state(&idle)
+, sight_dist(64.0f)
+, sight_angle(0.707f)
+, think_timer(0.5f)
 , decision_timer(1.0f)
 , halted(false)
 , halt_speed(1.0f)
+, fleeing(false)
 , flee_target(nullptr)
 , flee_speed(5.0f)
+, seeking(false)
 , seek_target(nullptr)
 , seek_speed(5.0f)
+, evading(false)
+, evade_target(nullptr)
+, evade_speed(5.0f)
+, pursuing(false)
+, pursuit_target(nullptr)
+, pursuit_speed(5.0f)
 , wandering(false)
 , wander_pos(1.0f, 0.0f, 0.0f)
 , wander_speed(1.0f)
 , wander_dist(2.0f)
 , wander_radius(1.5f)
 , wander_disp(1.0f) {
+       think_timer.Start();
        state->Enter(*this);
 }
 
@@ -52,6 +69,7 @@ void AIController::SetState(const AIState &s) {
 }
 
 void AIController::Update(Entity &e, float dt) {
+       think_timer.Update(dt);
        decision_timer.Update(dt);
        state->Update(*this, e, dt);
 
@@ -77,24 +95,31 @@ void AIController::Update(Entity &e, float dt) {
 
 glm::vec3 AIController::ControlForce(const Entity &entity, const EntityState &state) const {
        if (IsHalted()) {
-               return Halt(state, halt_speed);
+               return GetHaltForce(state);
        }
        glm::vec3 force(0.0f);
        if (IsFleeing()) {
-               glm::vec3 diff(GetFleeTarget().GetState().Diff(state));
-               if (MaxOutForce(force, TargetVelocity(normalize(diff) * flee_speed, state, 0.5f), entity.MaxControlForce())) {
+               if (MaxOutForce(force, GetFleeForce(state), entity.MaxControlForce())) {
                        return force;
                }
        }
        if (IsSeeking()) {
-               glm::vec3 diff(state.Diff(GetSeekTarget().GetState()));
-               if (MaxOutForce(force, TargetVelocity(normalize(diff) * seek_speed, state, 0.5f), entity.MaxControlForce())) {
+               if (MaxOutForce(force, GetSeekForce(state), entity.MaxControlForce())) {
+                       return force;
+               }
+       }
+       if (IsEvading()) {
+               if (MaxOutForce(force, GetEvadeForce(state), entity.MaxControlForce())) {
+                       return force;
+               }
+       }
+       if (IsPursuing()) {
+               if (MaxOutForce(force, GetPursuitForce(state), entity.MaxControlForce())) {
                        return force;
                }
        }
        if (IsWandering()) {
-               glm::vec3 wander_target(normalize(Heading(state) * wander_dist + wander_pos) * wander_speed);
-               if (MaxOutForce(force, TargetVelocity(wander_target, state, 2.0f), entity.MaxControlForce())) {
+               if (MaxOutForce(force, GetWanderForce(state), entity.MaxControlForce())) {
                        return force;
                }
        }
@@ -110,6 +135,65 @@ glm::vec3 AIController::Heading(const EntityState &state) noexcept {
        }
 }
 
+Player *AIController::ClosestVisiblePlayer(const Entity &e) noexcept {
+       Player *target = nullptr;
+       float distance = sight_dist;
+       const glm::ivec3 &reference(e.ChunkCoords());
+       Ray aim(e.Aim(reference));
+       for (Player &p : world.Players()) {
+               const Entity &pe = p.GetEntity();
+
+               // distance test
+               const glm::vec3 diff(pe.AbsoluteDifference(e));
+               float dist = length_squared(diff);
+               if (dist > distance) continue;
+
+               // FOV test, 45° in each direction
+               if (dot(normalize(diff), aim.dir) < sight_angle) {
+                       continue;
+               }
+
+               // LOS test, assumes all entities are see-through
+               WorldCollision col;
+               if (world.Intersection(aim, glm::mat4(1.0f), reference, col) && col.depth * col.depth < dist) {
+                       continue;
+               }
+
+               // we got a match
+               target = &p;
+               distance = dist;
+       }
+       return target;
+}
+
+bool AIController::LineOfSight(const Entity &from, const Entity &to) const noexcept {
+       const glm::ivec3 &reference(from.ChunkCoords());
+       Ray aim(from.Aim(reference));
+       const glm::vec3 diff(to.AbsoluteDifference(from));
+       float dist = length(diff);
+       if (dist > sight_dist || dot(diff / dist, aim.dir) < sight_angle) {
+               return false;
+       }
+       WorldCollision col;
+       if (world.Intersection(aim, glm::mat4(1.0f), reference, col) && col.depth < dist) {
+               return false;
+       }
+       return true;
+}
+
+// think
+
+bool AIController::MayThink() const noexcept {
+       return think_timer.Hit();
+}
+
+void AIController::SetThinkInterval(float i) noexcept {
+       think_timer = FineTimer(i);
+       think_timer.Start();
+}
+
+// decide
+
 void AIController::CueDecision(
        float minimum,
        float variance
@@ -126,9 +210,10 @@ unsigned int AIController::Decide(unsigned int num_choices) noexcept {
        return random.Next<unsigned int>() % num_choices;
 }
 
-void AIController::EnterHalt(float speed) noexcept {
+// halt
+
+void AIController::EnterHalt() noexcept {
        halted = true;
-       halt_speed = speed;
 }
 
 void AIController::ExitHalt() noexcept {
@@ -139,81 +224,307 @@ bool AIController::IsHalted() const noexcept {
        return halted;
 }
 
-void AIController::StartFleeing(const Entity &e, float speed) noexcept {
-       flee_target = &e;
-       flee_speed = speed;
+void AIController::SetHaltSpeed(float speed) noexcept {
+       halt_speed = speed;
+}
+
+glm::vec3 AIController::GetHaltForce(const EntityState &state) const noexcept {
+       return Halt(state, halt_speed);
+}
+
+// flee
+
+void AIController::StartFleeing() noexcept {
+       fleeing = true;
 }
 
 void AIController::StopFleeing() noexcept {
-       flee_target = nullptr;
+       fleeing = false;
+       if (flee_target) {
+               flee_target->UnRef();
+               flee_target = nullptr;
+       }
 }
 
 bool AIController::IsFleeing() const noexcept {
-       return flee_target;
+       return fleeing && flee_target;
+}
+
+void AIController::SetFleeTarget(Entity &e) noexcept {
+       if (flee_target) {
+               flee_target->UnRef();
+       }
+       flee_target = &e;
+       flee_target->Ref();
+}
+
+void AIController::SetFleeSpeed(float speed) noexcept {
+       flee_speed = speed;
+}
+
+Entity &AIController::GetFleeTarget() 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;
+glm::vec3 AIController::GetFleeForce(const EntityState &state) const noexcept {
+       return Flee(state, GetFleeTarget().GetState(), flee_speed, 2.0f);
+}
+
+// seek
+
+void AIController::StartSeeking() noexcept {
+       seeking = true;
 }
 
 void AIController::StopSeeking() noexcept {
-       seek_target = nullptr;
+       seeking = false;
+       if (seek_target) {
+               seek_target->UnRef();
+               seek_target = nullptr;
+       }
 }
 
 bool AIController::IsSeeking() const noexcept {
-       return seek_target;
+       return seeking && seek_target;
+}
+
+void AIController::SetSeekTarget(Entity &e) noexcept {
+       if (seek_target) {
+               seek_target->UnRef();
+       }
+       seek_target = &e;
+       seek_target->Ref();
+}
+
+void AIController::SetSeekSpeed(float speed) noexcept {
+       seek_speed = speed;
+}
+
+Entity &AIController::GetSeekTarget() noexcept {
+       return *seek_target;
 }
 
 const Entity &AIController::GetSeekTarget() const noexcept {
        return *seek_target;
 }
 
-void AIController::StartWandering(
+glm::vec3 AIController::GetSeekForce(const EntityState &state) const noexcept {
+       return Seek(state, GetSeekTarget().GetState(), seek_speed, 2.0f);
+}
+
+// evade
+
+void AIController::StartEvading() noexcept {
+       evading = true;
+}
+
+void AIController::StopEvading() noexcept {
+       evading = false;
+       if (evade_target) {
+               evade_target->UnRef();
+               evade_target = nullptr;
+       }
+}
+
+bool AIController::IsEvading() const noexcept {
+       return evading && evade_target;
+}
+
+void AIController::SetEvadeTarget(Entity &e) noexcept {
+       if (evade_target) {
+               evade_target->UnRef();
+       }
+       evade_target = &e;
+       evade_target->Ref();
+}
+
+void AIController::SetEvadeSpeed(float speed) noexcept {
+       evade_speed = speed;
+}
+
+Entity &AIController::GetEvadeTarget() noexcept {
+       return *evade_target;
+}
+
+const Entity &AIController::GetEvadeTarget() const noexcept {
+       return *evade_target;
+}
+
+glm::vec3 AIController::GetEvadeForce(const EntityState &state) const noexcept{
+       glm::vec3 cur_diff(state.Diff(GetEvadeTarget().GetState()));
+       float time_estimate = length(cur_diff) / evade_speed;
+       EntityState pred_state(GetEvadeTarget().GetState());
+       pred_state.block_pos += pred_state.velocity * time_estimate;
+       return Flee(state, pred_state, evade_speed, 2.0f);
+}
+
+// pursuit
+
+void AIController::StartPursuing() noexcept {
+       pursuing = true;
+}
+
+void AIController::StopPursuing() noexcept {
+       pursuing = false;
+       if (pursuit_target) {
+               pursuit_target->UnRef();
+               pursuit_target = nullptr;
+       }
+}
+
+bool AIController::IsPursuing() const noexcept {
+       return pursuing && pursuit_target;
+}
+
+void AIController::SetPursuitTarget(Entity &e) noexcept {
+       if (pursuit_target) {
+               pursuit_target->UnRef();
+       }
+       pursuit_target = &e;
+       pursuit_target->Ref();
+}
+
+void AIController::SetPursuitSpeed(float speed) noexcept {
+       pursuit_speed = speed;
+}
+
+Entity &AIController::GetPursuitTarget() noexcept {
+       return *pursuit_target;
+}
+
+const Entity &AIController::GetPursuitTarget() const noexcept {
+       return *pursuit_target;
+}
+
+glm::vec3 AIController::GetPursuitForce(const EntityState &state) const noexcept {
+       glm::vec3 cur_diff(state.Diff(GetPursuitTarget().GetState()));
+       float time_estimate = length(cur_diff) / pursuit_speed;
+       EntityState pred_state(GetPursuitTarget().GetState());
+       pred_state.block_pos += pred_state.velocity * time_estimate;
+       return Seek(state, pred_state, pursuit_speed, 2.0f);
+}
+
+// wander
+
+void AIController::StartWandering() noexcept {
+       wandering = true;
+}
+
+void AIController::StopWandering() noexcept {
+       wandering = false;
+}
+
+bool AIController::IsWandering() const noexcept {
+       return wandering;
+}
+
+void AIController::SetWanderParams(
        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;
+glm::vec3 AIController::GetWanderForce(const EntityState &state) const noexcept {
+       glm::vec3 wander_target(normalize(Heading(state) * wander_dist + wander_pos) * wander_speed);
+       return TargetVelocity(wander_target, state, 0.5f);
 }
 
-bool AIController::IsWandering() const noexcept {
-       return wandering;
+
+// chase
+
+void ChaseState::Enter(AIController &ctrl) const {
+       ctrl.SetHaltSpeed(2.0f);
+       ctrl.SetPursuitSpeed(4.0f);
+       ctrl.StartPursuing();
+}
+
+void ChaseState::Update(AIController &ctrl, Entity &e, float dt) const {
+       // check if target still alive and in sight
+       if (ctrl.GetPursuitTarget().Dead()) {
+               ctrl.SetState(idle);
+               return;
+       }
+       if (!ctrl.LineOfSight(e, ctrl.GetPursuitTarget())) {
+               ctrl.SetState(idle);
+               return;
+       }
+       // halt if we're close enough, flee if we're too close
+       float dist_sq = length_squared(e.AbsoluteDifference(ctrl.GetPursuitTarget()));
+       if (dist_sq < 8.0f) {
+               ctrl.SetFleeTarget(ctrl.GetPursuitTarget());
+               ctrl.SetState(flee);
+       } else if (dist_sq < 25.0f) {
+               ctrl.EnterHalt();
+       } else {
+               ctrl.ExitHalt();
+       }
+}
+
+void ChaseState::Exit(AIController &ctrl) const {
+       ctrl.StopPursuing();
+       ctrl.ExitHalt();
+}
+
+// flee
+
+void FleeState::Enter(AIController &ctrl) const {
+       ctrl.CueDecision(6.0f, 3.0f);
+       ctrl.SetFleeSpeed(4.0f);
+       ctrl.StartFleeing();
+}
+
+void FleeState::Update(AIController &ctrl, Entity &e, float dt) const {
+       if (!ctrl.DecisionDue()) return;
+       ctrl.SetState(idle);
+}
+
+void FleeState::Exit(AIController &ctrl) const {
+       ctrl.StopFleeing();
 }
 
+// idle
 
 void IdleState::Enter(AIController &ctrl) const {
-       ctrl.EnterHalt(2.0f);
-       ctrl.StartWandering(0.001f, 1.1f);
+       ctrl.SetHaltSpeed(0.5f);
+       ctrl.EnterHalt();
+       ctrl.SetWanderParams(0.001f, 1.1f);
        ctrl.CueDecision(10.0f, 5.0f);
 }
 
 void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
-       // TODO: check for players
+       if (ctrl.MayThink()) {
+               const Player *player = ctrl.ClosestVisiblePlayer(e);
+               if (player) {
+                       ctrl.SetPursuitTarget(player->GetEntity());
+                       ctrl.SetState(chase);
+                       return;
+               }
+       }
+
        if (!ctrl.DecisionDue()) return;
 
        unsigned int d = ctrl.Decide(10);
-       if (d == 0) {
-               // .1 chance to start going
+       if (d < 2) {
+               // .2 chance to start going
                ctrl.SetState(roam);
-       } else if (d < 3) {
-               // .2 chance of looking around
+       } else if (d < 5) {
+               // .3 chance of looking around
                ctrl.ExitHalt();
+               ctrl.StartWandering();
        } else {
-               ctrl.EnterHalt(2.0f);
+               // .5 chance of doing nothing
+               ctrl.StopWandering();
+               ctrl.EnterHalt();
        }
        ctrl.CueDecision(10.0f, 5.0f);
 }
@@ -223,13 +534,24 @@ void IdleState::Exit(AIController &ctrl) const {
        ctrl.StopWandering();
 }
 
+// roam
+
 void RoamState::Enter(AIController &ctrl) const {
-       ctrl.StartWandering(1.0f);
+       ctrl.SetWanderParams(1.0f);
+       ctrl.StartWandering();
        ctrl.CueDecision(10.0f, 5.0f);
 }
 
 void RoamState::Update(AIController &ctrl, Entity &e, float dt) const {
-       // TODO: check for players
+       if (ctrl.MayThink()) {
+               const Player *player = ctrl.ClosestVisiblePlayer(e);
+               if (player) {
+                       ctrl.SetPursuitTarget(player->GetEntity());
+                       ctrl.SetState(chase);
+                       return;
+               }
+       }
+
        if (!ctrl.DecisionDue()) return;
 
        unsigned int d = ctrl.Decide(10);

diff --git a/src/model/geometry.hpp b/src/model/geometry.hpp
index 0bc17c162b73afb2e457866ca5c0d98617f59865..248ced30e0b77941e60b77d7ee8138f8ddf1fb75 100644 (file)
--- a/src/model/geometry.hpp
+++ b/src/model/geometry.hpp
@@ -20,29 +20,38 @@ constexpr float PI_0p5_inv = 1.0f / PI_0p5;
 constexpr float DEG_RAD_FACTOR = PI / 180.0f;
 constexpr float RAD_DEG_FACTOR = 180.0f / PI;
 
-constexpr float deg2rad(float d) {
+constexpr float deg2rad(float d) noexcept {
        return d * DEG_RAD_FACTOR;
 }
 
-constexpr float rad2deg(float r) {
+constexpr float rad2deg(float r) noexcept {
        return r * RAD_DEG_FACTOR;
 }
 
 
+inline float length_squared(const glm::vec3 &v) noexcept {
+       return dot(v, v);
+}
+
+inline float distance_squared(const glm::vec3 &a, const glm::vec3 &b) noexcept {
+       return length_squared(a - b);
+}
+
+
 template <class T>
-inline bool iszero(const T &v) {
-       return dot(v, v) < std::numeric_limits<typename T::value_type>::epsilon();
+inline bool iszero(const T &v) noexcept {
+       return length_squared(v) < std::numeric_limits<typename T::value_type>::epsilon();
 }
 
 
 template<class T>
-T manhattan_distance(const glm::tvec3<T> &a, const glm::tvec3<T> &b) {
+T manhattan_distance(const glm::tvec3<T> &a, const glm::tvec3<T> &b) noexcept {
        glm::tvec3<T> diff(abs(a - b));
        return diff.x + diff.y + diff.z;
 }
 
 template<class T>
-T manhattan_radius(const glm::tvec3<T> &v) {
+T manhattan_radius(const glm::tvec3<T> &v) noexcept {
        glm::tvec3<T> a(abs(v));
        return std::max(a.x, std::max(a.y, a.z));
 }

diff --git a/src/world/EntityController.hpp b/src/world/EntityController.hpp
index 3bfc10bb47b5a4118a587a7a3d8fe1908f78fb20..ce3d0cf00998fbccf7826aa052766aca7a66cbe1 100644 (file)
--- a/src/world/EntityController.hpp
+++ b/src/world/EntityController.hpp
@@ -26,8 +26,15 @@ struct EntityController {
                const glm::vec3 &add,
                float max
        ) noexcept;
-       /// give a force that makes state's velocity converge with given target velocity
-       /// over 1/n seconds
+       /// give a force that makes state come to a halt over 1/n seconds
+       static inline glm::vec3 Halt(
+               const EntityState &state,
+               float n
+       ) noexcept {
+               return state.velocity * -n;
+       }
+       /// give a force that makes state's velocity converge with given
+       /// target velocity over 1/n seconds
        static inline glm::vec3 TargetVelocity(
                const glm::vec3 &target,
                const EntityState &state,
@@ -35,12 +42,24 @@ struct EntityController {
        ) noexcept {
                return (target - state.velocity) * n;
        }
-       /// give a force that makes state come to a halt over 1/n seconds
-       static inline glm::vec3 Halt(
+       /// give a force that makes state go after target with an attempted
+       /// acceleration over 1/n seconds and a speed of s
+       static inline glm::vec3 Seek(
                const EntityState &state,
+               const EntityState &target,
+               float s,
                float n
        ) noexcept {
-               return state.velocity * -n;
+               return TargetVelocity(normalize(target.Diff(state)) * s, state, n);
+       }
+       /// opposite of seek
+       static inline glm::vec3 Flee(
+               const EntityState &state,
+               const EntityState &target,
+               float s,
+               float n
+       ) noexcept {
+               return TargetVelocity(normalize(state.Diff(target)) * s, state, n);
        }
 
 };

diff --git a/src/world/World.hpp b/src/world/World.hpp
index 4755b18bcdea3cad24dc797c748691239d7f617f..ab563a7fa9e1e964bb49b10dc16762f2b623a99e 100644 (file)
--- a/src/world/World.hpp
+++ b/src/world/World.hpp
@@ -85,6 +85,7 @@ public:
        /// returs an existing entity if ID is already taken
        Entity &ForceAddEntity(std::uint32_t id);
 
+       std::list<Player> &Players() noexcept { return players; }
        const std::list<Player> &Players() const noexcept { return players; }
        std::list<Entity> &Entities() noexcept { return entities; }
        const std::list<Entity> &Entities() const noexcept { return entities; }