💿🐜 Antkeeper source code
https://antkeeper.com
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181 lines
6.0 KiB
181 lines
6.0 KiB
/*
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* Copyright (C) 2017-2019 Christopher J. Howard
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*
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* This file is part of Antkeeper Source Code.
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*
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* Antkeeper Source Code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper Source Code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper Source Code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "behavior-system.hpp"
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#include <set>
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BehaviorSystem::BehaviorSystem(ComponentManager* componentManager):
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System(componentManager),
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behaviorGroup(componentManager),
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antHillGroup(componentManager)
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{
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behaviorGroup.addGroupObserver(this);
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}
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BehaviorSystem::~BehaviorSystem()
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{}
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void BehaviorSystem::update(float t, float dt)
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{
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auto members = behaviorGroup.getMembers();
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for (const BehaviorGroup::Member* member: *members)
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{
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BehaviorComponent* behavior = std::get<0>(member->components);
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LeggedLocomotionComponent* leggedLocomotion = std::get<1>(member->components);
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SteeringComponent* steering = std::get<2>(member->components);
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TransformComponent* transform = std::get<3>(member->components);
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steering->maxSpeed = leggedLocomotion->speed;
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steering->behaviorCount = 2;
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steering->behaviors[0].priority = 2.0f;
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steering->behaviors[0].weight = 1.0f;
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steering->behaviors[0].function = std::bind(&BehaviorSystem::containment, this, member);
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steering->behaviors[1].priority = 1.0f;
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steering->behaviors[1].weight = 0.5f;
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steering->behaviors[1].function = std::bind(&BehaviorSystem::wander, this, dt, member);
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}
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}
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void BehaviorSystem::memberRegistered(const BehaviorGroup::Member* member)
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{
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BehaviorComponent* behavior = std::get<0>(member->components);
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LeggedLocomotionComponent* leggedLocomotion = std::get<1>(member->components);
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behavior->wanderDirection = Vector3(0.0f);
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while (glm::length2(behavior->wanderDirection) == 0.0f)
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{
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behavior->wanderDirection = Vector3(frand(-1, 1), frand(-1, 1), frand(-1, 1));
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}
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behavior->wanderTriangle = leggedLocomotion->surface;
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behavior->wanderDirection = glm::normalize(behavior->wanderDirection);
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behavior->wanderCircleDistance = 3.0f;
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behavior->wanderCircleRadius = 2.0f;
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behavior->wanderRate = glm::radians(180.0f) * 5.0f;
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leggedLocomotion->speed = 2.0f;
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}
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void BehaviorSystem::memberUnregistered(const BehaviorGroup::Member* member)
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{}
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Vector3 BehaviorSystem::containment(const BehaviorGroup::Member* agent)
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{
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LeggedLocomotionComponent* leggedLocomotion = std::get<1>(agent->components);
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TransformComponent* transform = std::get<3>(agent->components);
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float probeAngle = glm::radians(30.0f);
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float probeDistance = 5.0f;
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Vector3 direction = transform->transform.rotation * Vector3(0, 0, 1);
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TriangleMesh::Triangle* surface = leggedLocomotion->surface;
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Vector3 forward = transform->transform.rotation * Vector3(0, 0, 1);
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Vector3 up = surface->normal;
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Vector3 right = glm::normalize(glm::cross(forward, up));
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Vector3 force(0.0f);
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return force;
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}
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Vector3 BehaviorSystem::wander(float dt, const BehaviorGroup::Member* agent)
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{
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BehaviorComponent* behavior = std::get<0>(agent->components);
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LeggedLocomotionComponent* leggedLocomotion = std::get<1>(agent->components);
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SteeringComponent* steering = std::get<2>(agent->components);
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TransformComponent* transform = std::get<3>(agent->components);
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// Reorientate wander direction
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if (behavior->wanderTriangle != leggedLocomotion->surface)
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{
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if (behavior->wanderTriangle)
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{
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behavior->wanderDirection = glm::normalize(glm::rotation(behavior->wanderTriangle->normal, leggedLocomotion->surface->normal) * behavior->wanderDirection);
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}
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behavior->wanderTriangle = leggedLocomotion->surface;
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}
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// Make wander direction coplanar with surface triangle
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TriangleMesh::Triangle* triangle = leggedLocomotion->surface;
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Vector3 triangleCenter = (triangle->edge->vertex->position + triangle->edge->next->vertex->position + triangle->edge->previous->vertex->position) * (1.0f / 3.0f);
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behavior->wanderDirection = glm::normalize(projectOnPlane(transform->transform.translation + behavior->wanderDirection, triangleCenter, triangle->normal) - transform->transform.translation);
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Vector3 forward = transform->transform.rotation * Vector3(0, 0, 1);
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Vector3 up = triangle->normal;
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// Calculate center of wander circle
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Vector3 wanderCircleCenter = forward * behavior->wanderCircleDistance;
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// Calculate wander force
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Vector3 wanderForce = wanderCircleCenter + behavior->wanderDirection * behavior->wanderCircleRadius;
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// Displace wander direction
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float displacementAngle = frand(-behavior->wanderRate, behavior->wanderRate) * 0.5f * dt;
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behavior->wanderDirection = glm::normalize(glm::angleAxis(displacementAngle, up) * behavior->wanderDirection);
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return wanderForce;
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}
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Vector3 BehaviorSystem::forage(const BehaviorGroup::Member* agent)
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{
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return Vector3(0.0f);
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}
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Vector3 BehaviorSystem::homing(const BehaviorGroup::Member* agent)
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{
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// Get ant position
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const Vector3& antPosition = std::get<3>(agent->components)->transform.translation;
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// Find nearest ant-hill
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bool found = false;
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float minDistanceSquared = 0.0f;
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Vector3 homingDirection(0.0f);
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auto antHills = antHillGroup.getMembers();
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for (const AntHillGroup::Member* antHill: *antHills)
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{
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// Get ant-hill position
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const Vector3& antHillPosition = std::get<1>(antHill->components)->transform.translation;
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// Determine distance to ant-hill
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Vector3 difference = antHillPosition - antPosition;
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float distanceSquared = glm::length2(difference);
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if (!found || distanceSquared < minDistanceSquared)
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{
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minDistanceSquared = distanceSquared;
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homingDirection = difference;
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found = true;
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}
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}
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if (found)
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{
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homingDirection = glm::normalize(homingDirection);
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}
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return homingDirection;
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}
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