💿🐜 Antkeeper source code
https://antkeeper.com
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93 lines
3.0 KiB
93 lines
3.0 KiB
/*
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* Copyright (C) 2021 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 "entity/systems/steering.hpp"
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#include "entity/components/steering.hpp"
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#include "entity/components/transform.hpp"
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#include "entity/id.hpp"
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#include "ai/steering/behavior/wander.hpp"
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#include "ai/steering/behavior/seek.hpp"
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#include "config.hpp"
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namespace entity {
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namespace system {
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steering::steering(entity::registry& registry):
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updatable(registry)
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{}
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void steering::update(double t, double dt)
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{
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registry.view<component::steering, component::transform>().each
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(
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[&](entity::id entity_id, auto& steering, auto& transform)
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{
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auto& agent = steering.agent;
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// Update agent orientation
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agent.orientation = transform.local.rotation;
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// Accumulate forces
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float3 force = {0, 0, 0};
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if (steering.wander_weight)
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{
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//force += ai::steering::behavior::wander_2d(agent, steering.wander_noise * dt, steering.wander_distance, steering.wander_radius, steering.wander_angle) * steering.wander_weight;
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force += ai::steering::behavior::wander_3d(agent, steering.wander_noise * dt, steering.wander_distance, steering.wander_radius, steering.wander_angle, steering.wander_angle2) * steering.wander_weight;
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}
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if (steering.seek_weight)
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{
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force += ai::steering::behavior::seek(agent, steering.seek_target) * steering.seek_weight;
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}
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// Normalize force
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if (steering.sum_weights)
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force /= steering.sum_weights;
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// Accelerate
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agent.acceleration = force / agent.mass;
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agent.velocity += agent.acceleration * static_cast<float>(dt);
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// Limit speed
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const float speed_squared = math::length_squared(agent.velocity);
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if (speed_squared > agent.max_speed_squared)
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{
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const float speed = std::sqrt(speed_squared);
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agent.velocity = (agent.velocity / speed) * agent.max_speed;
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}
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// Move agent
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agent.position += agent.velocity * static_cast<float>(dt);
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// Rotate agent
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if (speed_squared)
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{
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agent.orientation = math::look_rotation(agent.velocity / std::sqrt(speed_squared), agent.up);
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agent.forward = agent.orientation * config::global_forward;
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agent.up = agent.orientation * config::global_up;
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}
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// Update transform
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transform.local.translation = agent.position;
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transform.local.rotation = agent.orientation;
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}
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);
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}
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} // namespace system
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} // namespace entity
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