pulled AI

12 files changed, 368 insertions, 2 deletions

diff --git a/src/crepe/api/AI.cpp b/src/crepe/api/AI.cpp
new file mode 100644
index 0000000..d785bb5
--- /dev/null
+++ b/src/crepe/api/AI.cpp
@@ -0,0 +1,7 @@
+#include "AI.h"
+
+namespace crepe {
+
+AI::AI(game_object_id_t id, float max_force) : Component(id), max_force(max_force) {}
+
+} // namespace crepe
diff --git a/src/crepe/api/AI.h b/src/crepe/api/AI.h
new file mode 100644
index 0000000..35b8998
--- /dev/null
+++ b/src/crepe/api/AI.h
@@ -0,0 +1,69 @@
+#pragma once
+
+#include "Component.h"
+#include "types.h"
+
+namespace crepe {
+
+class AI : public Component {
+public:
+	enum BehaviorType {
+		NONE = 0x00000,
+		SEEK = 0x00002,
+		FLEE = 0x00004,
+		ARRIVE = 0x00008,
+		PATH_FOLLOW = 0x00010,
+	};
+
+public:
+	AI(game_object_id_t id, float max_force);
+
+	bool on(BehaviorType behavior) const { return (flags & behavior) == behavior; }
+	void seek_on() { flags |= SEEK; }
+	void seek_off() {
+		if (on(SEEK)) flags ^= SEEK;
+	}
+	void flee_on() { flags |= FLEE; }
+	void flee_off() {
+		if (on(FLEE)) flags ^= FLEE;
+	}
+	void arrive_on() { flags |= ARRIVE; }
+	void arrive_off() {
+		if (on(ARRIVE)) flags ^= ARRIVE;
+	}
+	void path_follow_on() { flags |= PATH_FOLLOW; }
+	void path_follow_off() {
+		if (on(PATH_FOLLOW)) flags ^= PATH_FOLLOW;
+	}
+
+	void add_path_node(vec2 node) { path.push_back(node); }
+
+public:
+	float max_force;
+
+	// The target to seek or arrive at
+	vec2 seek_target;
+	// The target to flee from
+	vec2 flee_target;
+	// The distance at which the entity will start to flee from the target
+	float square_flee_panic_distance = 200.0f * 200.0f;
+	// The deceleration rate for the arrive behavior (higher values will make the entity decelerate faster (less overshoot))
+	float arrive_deceleration = 40.0f;
+	// The path to follow
+	std::vector<vec2> path;
+	// The distance from the path node at which the entity will move to the next node
+	float path_node_distance = 400.0f;
+	// Looping behavior for the path
+	bool path_loop = true;
+
+private:
+	// The flags for the behaviors
+	int flags = 0;
+	// The current path index
+	size_t path_index = 0;
+
+	// The AISystem is the only class that can access the private members of AI
+	friend class AISystem;
+};
+
+} // namespace crepe
diff --git a/src/crepe/api/CMakeLists.txt b/src/crepe/api/CMakeLists.txt
index 593c4e6..f869d88 100644
--- a/src/crepe/api/CMakeLists.txt
+++ b/src/crepe/api/CMakeLists.txt
@@ -24,6 +24,7 @@ target_sources(crepe PUBLIC
 	Script.cpp
 	Button.cpp
 	UIObject.cpp
+	AI.cpp
 )
 
 target_sources(crepe PUBLIC FILE_SET HEADERS FILES
@@ -58,4 +59,5 @@ target_sources(crepe PUBLIC FILE_SET HEADERS FILES
 	Asset.h
 	Button.h
 	UIObject.h
+	AI.h
 )
diff --git a/src/crepe/api/LoopManager.cpp b/src/crepe/api/LoopManager.cpp
index 044f096..fec9f51 100644
--- a/src/crepe/api/LoopManager.cpp
+++ b/src/crepe/api/LoopManager.cpp
@@ -1,3 +1,5 @@
+#include "../facade/SDLContext.h"
+#include "../system/AISystem.h"
 #include "../system/AnimatorSystem.h"
 #include "../system/CollisionSystem.h"
 #include "../system/InputSystem.h"
@@ -20,6 +22,7 @@ LoopManager::LoopManager() {
 	this->load_system<RenderSystem>();
 	this->load_system<ScriptSystem>();
 	this->load_system<InputSystem>();
+	this->load_system<AISystem>();
 }
 
 void LoopManager::process_input() { this->get_system<InputSystem>().update(); }
@@ -35,6 +38,7 @@ void LoopManager::fixed_update() {
 	EventManager & ev = this->mediator.event_manager;
 	ev.dispatch_events();
 	this->get_system<ScriptSystem>().update();
+	this->get_system<AISystem>().update();
 	this->get_system<PhysicsSystem>().update();
 	this->get_system<CollisionSystem>().update();
 }
@@ -75,4 +79,4 @@ void LoopManager::render() {
 	this->get_system<RenderSystem>().update();
 }
 
-void LoopManager::update() {}
+void LoopManager::update() { this->get_system<AnimatorSystem>().update(); }
diff --git a/src/crepe/api/Rigidbody.h b/src/crepe/api/Rigidbody.h
index 40c6bf1..f641fff 100644
--- a/src/crepe/api/Rigidbody.h
+++ b/src/crepe/api/Rigidbody.h
@@ -79,7 +79,7 @@ public:
 		//! Linear velocity of the object (speed and direction).
 		vec2 linear_velocity;
 		//! Maximum linear velocity of the object. This limits the object's speed.
-		vec2 max_linear_velocity = {INFINITY, INFINITY};
+		float max_linear_velocity = INFINITY;
 		//! Linear velocity coefficient. This scales the object's velocity for adjustment or damping.
 		vec2 linear_velocity_coefficient = {1, 1};
 		//! \}
diff --git a/src/crepe/api/Script.h b/src/crepe/api/Script.h
index d99ab0e..e351e6a 100644
--- a/src/crepe/api/Script.h
+++ b/src/crepe/api/Script.h
@@ -7,6 +7,7 @@
 #include "../system/CollisionSystem.h"
 #include "../types.h"
 #include "../util/OptionalRef.h"
+#include "system/CollisionSystem.h"
 
 namespace crepe {
 
diff --git a/src/crepe/api/Vector2.h b/src/crepe/api/Vector2.h
index c278c87..bf9d124 100644
--- a/src/crepe/api/Vector2.h
+++ b/src/crepe/api/Vector2.h
@@ -66,6 +66,30 @@ struct Vector2 {
 
 	//! Checks if this vector is not equal to another vector.
 	bool operator!=(const Vector2<T> & other) const;
+
+	//! Truncates the vector to a maximum length.
+	void truncate(T max);
+
+	//! Normalizes the vector (resulting in vector with a length of 1).
+	void normalize();
+
+	//! Returns the length of the vector.
+	T length() const;
+
+	//! Returns the squared length of the vector.
+	T length_squared() const;
+
+	//! Returns the dot product (inwendig product) of this vector and another vector.
+	T dot(const Vector2<T> & other) const;
+
+	//! Returns the distance between this vector and another vector.
+	T distance(const Vector2<T> & other) const;
+
+	//! Returns the squared distance between this vector and another vector.
+	T distance_squared(const Vector2<T> & other) const;
+
+	//! Returns the perpendicular vector to this vector.
+	Vector2 perpendicular() const;
 };
 
 } // namespace crepe
diff --git a/src/crepe/api/Vector2.hpp b/src/crepe/api/Vector2.hpp
index cad15f8..ff53cb0 100644
--- a/src/crepe/api/Vector2.hpp
+++ b/src/crepe/api/Vector2.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <cmath>
+
 #include "Vector2.h"
 
 namespace crepe {
@@ -115,4 +117,50 @@ bool Vector2<T>::operator!=(const Vector2<T> & other) const {
 	return !(*this == other);
 }
 
+template <class T>
+void Vector2<T>::truncate(T max) {
+	if (length() > max) {
+		normalize();
+		*this *= max;
+	}
+}
+
+template <class T>
+void Vector2<T>::normalize() {
+	T len = length();
+	if (len > 0) {
+		*this /= len;
+	}
+}
+
+template <class T>
+T Vector2<T>::length() const {
+	return std::sqrt(x * x + y * y);
+}
+
+template <class T>
+T Vector2<T>::length_squared() const {
+	return x * x + y * y;
+}
+
+template <class T>
+T Vector2<T>::dot(const Vector2<T> & other) const {
+	return x * other.x + y * other.y;
+}
+
+template <class T>
+T Vector2<T>::distance(const Vector2<T> & other) const {
+	return (*this - other).length();
+}
+
+template <class T>
+T Vector2<T>::distance_squared(const Vector2<T> & other) const {
+	return (*this - other).length_squared();
+}
+
+template <class T>
+Vector2<T> Vector2<T>::perpendicular() const {
+	return {-y, x};
+}
+
 } // namespace crepe
diff --git a/src/crepe/system/AISystem.cpp b/src/crepe/system/AISystem.cpp
new file mode 100644
index 0000000..55dc14c
--- /dev/null
+++ b/src/crepe/system/AISystem.cpp
@@ -0,0 +1,170 @@
+#include <algorithm>
+#include <cmath>
+
+#include "api/LoopTimer.h"
+#include "api/Rigidbody.h"
+#include "api/Transform.h"
+#include "manager/ComponentManager.h"
+#include "manager/Mediator.h"
+
+#include "AISystem.h"
+#include "types.h"
+
+using namespace crepe;
+
+void AISystem::update() {
+	const Mediator & mediator = this->mediator;
+	ComponentManager & mgr = mediator.component_manager;
+	RefVector<AI> ai_components = mgr.get_components_by_type<AI>();
+
+	double dt = LoopTimer::get_instance().get_delta_time();
+
+	for (AI & ai : ai_components) {
+		RefVector<Rigidbody> rigidbodies
+			= mgr.get_components_by_id<Rigidbody>(ai.game_object_id);
+		Rigidbody & rigidbody = rigidbodies.front().get();
+
+		vec2 force = this->calculate(ai);
+		vec2 acceleration = force / rigidbody.data.mass;
+		rigidbody.data.linear_velocity += acceleration * dt;
+	}
+}
+
+vec2 AISystem::calculate(AI & ai) {
+	vec2 force;
+
+	if (ai.on(AI::BehaviorType::FLEE)) {
+		vec2 force_to_add = this->flee(ai);
+
+		if (!this->accumulate_force(ai, force, force_to_add)) {
+			return force;
+		}
+	}
+	if (ai.on(AI::BehaviorType::ARRIVE)) {
+		vec2 force_to_add = this->arrive(ai);
+
+		if (!this->accumulate_force(ai, force, force_to_add)) {
+			return force;
+		}
+	}
+	if (ai.on(AI::BehaviorType::SEEK)) {
+		vec2 force_to_add = this->seek(ai);
+
+		if (!this->accumulate_force(ai, force, force_to_add)) {
+			return force;
+		}
+	}
+	if (ai.on(AI::BehaviorType::PATH_FOLLOW)) {
+		vec2 force_to_add = this->path_follow(ai);
+
+		if (!this->accumulate_force(ai, force, force_to_add)) {
+			return force;
+		}
+	}
+
+	return force;
+}
+
+bool AISystem::accumulate_force(AI & ai, vec2 & running_total, vec2 force_to_add) {
+	float magnitude = running_total.length();
+	float magnitude_remaining = ai.max_force - magnitude;
+
+	if (magnitude_remaining <= 0.0f) {
+		return false;
+	}
+
+	float magnitude_to_add = force_to_add.length();
+	if (magnitude_to_add < magnitude_remaining) {
+		running_total += force_to_add;
+	} else {
+		force_to_add.normalize();
+		running_total += force_to_add * magnitude_remaining;
+	}
+
+	return true;
+}
+
+vec2 AISystem::seek(const AI & ai) {
+	const Mediator & mediator = this->mediator;
+	ComponentManager & mgr = mediator.component_manager;
+	RefVector<Transform> transforms = mgr.get_components_by_id<Transform>(ai.game_object_id);
+	Transform & transform = transforms.front().get();
+	RefVector<Rigidbody> rigidbodies = mgr.get_components_by_id<Rigidbody>(ai.game_object_id);
+	Rigidbody & rigidbody = rigidbodies.front().get();
+
+	vec2 desired_velocity = ai.seek_target - transform.position;
+	desired_velocity.normalize();
+	desired_velocity *= rigidbody.data.max_linear_velocity;
+
+	return desired_velocity - rigidbody.data.linear_velocity;
+}
+
+vec2 AISystem::flee(const AI & ai) {
+	const Mediator & mediator = this->mediator;
+	ComponentManager & mgr = mediator.component_manager;
+	RefVector<Transform> transforms = mgr.get_components_by_id<Transform>(ai.game_object_id);
+	Transform & transform = transforms.front().get();
+	RefVector<Rigidbody> rigidbodies = mgr.get_components_by_id<Rigidbody>(ai.game_object_id);
+	Rigidbody & rigidbody = rigidbodies.front().get();
+
+	vec2 desired_velocity = transform.position - ai.flee_target;
+	if (desired_velocity.length_squared() > ai.square_flee_panic_distance) {
+		return vec2{0, 0};
+	}
+
+	desired_velocity.normalize();
+	desired_velocity *= rigidbody.data.max_linear_velocity;
+
+	return desired_velocity - rigidbody.data.linear_velocity;
+}
+
+vec2 AISystem::arrive(const AI & ai) {
+	const Mediator & mediator = this->mediator;
+	ComponentManager & mgr = mediator.component_manager;
+	RefVector<Transform> transforms = mgr.get_components_by_id<Transform>(ai.game_object_id);
+	Transform & transform = transforms.front().get();
+	RefVector<Rigidbody> rigidbodies = mgr.get_components_by_id<Rigidbody>(ai.game_object_id);
+	Rigidbody & rigidbody = rigidbodies.front().get();
+
+	vec2 to_target = ai.seek_target - transform.position;
+	float distance = to_target.length();
+	if (distance > 0.0f) {
+		float speed = distance / ai.arrive_deceleration;
+		speed = std::min(speed, rigidbody.data.max_linear_velocity.length());
+		vec2 desired_velocity = to_target * (speed / distance);
+
+		return desired_velocity - rigidbody.data.linear_velocity;
+	}
+
+	return vec2{0, 0};
+}
+
+vec2 AISystem::path_follow(AI & ai) {
+	const Mediator & mediator = this->mediator;
+	ComponentManager & mgr = mediator.component_manager;
+	RefVector<Transform> transforms = mgr.get_components_by_id<Transform>(ai.game_object_id);
+	Transform & transform = transforms.front().get();
+	RefVector<Rigidbody> rigidbodies = mgr.get_components_by_id<Rigidbody>(ai.game_object_id);
+	Rigidbody & rigidbody = rigidbodies.front().get();
+
+	if (ai.path.empty()) {
+		return vec2{0, 0};
+	}
+
+	vec2 to_target = ai.path.at(ai.path_index) - transform.position;
+	if (to_target.length_squared() > ai.path_node_distance * ai.path_node_distance) {
+		ai.seek_target = ai.path.at(ai.path_index);
+	} else {
+		ai.path_index++;
+		if (ai.path_index >= ai.path.size()) {
+			if (ai.path_loop) {
+				ai.path_index = 0;
+			} else {
+				ai.path_index = ai.path.size() - 1;
+				return this->arrive(ai);
+			}
+		}
+	}
+
+	return this->seek(ai);
+}
diff --git a/src/crepe/system/AISystem.h b/src/crepe/system/AISystem.h
new file mode 100644
index 0000000..27861d9
--- /dev/null
+++ b/src/crepe/system/AISystem.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "api/AI.h"
+
+#include "System.h"
+#include "types.h"
+
+namespace crepe {
+
+class AISystem : public System {
+public:
+	using System::System;
+
+	void update() override;
+
+private:
+	vec2 calculate(AI & ai);
+	bool accumulate_force(AI & ai, vec2 & running_total, vec2 force_to_add);
+
+	vec2 seek(const AI & ai);
+	vec2 flee(const AI & ai);
+	vec2 arrive(const AI & ai);
+	vec2 path_follow(AI & ai);
+};
+
+} // namespace crepe
diff --git a/src/crepe/system/CMakeLists.txt b/src/crepe/system/CMakeLists.txt
index 95f6e33..7de5198 100644
--- a/src/crepe/system/CMakeLists.txt
+++ b/src/crepe/system/CMakeLists.txt
@@ -7,6 +7,7 @@ target_sources(crepe PUBLIC
 	RenderSystem.cpp
 	AnimatorSystem.cpp
 	InputSystem.cpp
+	AISystem.cpp
 )
 
 target_sources(crepe PUBLIC FILE_SET HEADERS FILES
@@ -17,4 +18,5 @@ target_sources(crepe PUBLIC FILE_SET HEADERS FILES
 	RenderSystem.h
 	AnimatorSystem.h
 	InputSystem.h
+	AISystem.h
 )
diff --git a/src/crepe/system/CollisionSystem.cpp b/src/crepe/system/CollisionSystem.cpp
index 44a0431..6b1954e 100644
--- a/src/crepe/system/CollisionSystem.cpp
+++ b/src/crepe/system/CollisionSystem.cpp
@@ -182,7 +182,11 @@ CollisionSystem::collision_handler(CollisionInternal & data1, CollisionInternal
 			vec2 collider_pos2 = this->get_current_position(collider2.offset, data2.transform,
 															data2.rigidbody);
 			resolution = this->get_circle_box_resolution(collider1, collider2, collider_pos1,
+<<<<<<< HEAD
 														 collider_pos2);
+=======
+														 collider_pos2, false);
+>>>>>>> 33a072db28d71ba65e59f9491abd42dbf9695fc4
 			break;
 		}
 	}
@@ -268,7 +272,12 @@ vec2 CollisionSystem::get_circle_circle_resolution(const CircleCollider & circle
 vec2 CollisionSystem::get_circle_box_resolution(const CircleCollider & circle_collider,
 												const BoxCollider & box_collider,
 												const vec2 & circle_position,
+<<<<<<< HEAD
 												const vec2 & box_position) const {
+=======
+												const vec2 & box_position,
+												bool inverse) const {
+>>>>>>> 33a072db28d71ba65e59f9491abd42dbf9695fc4
 	vec2 delta = circle_position - box_position;
 
 	// Compute half-dimensions of the box
@@ -290,7 +299,11 @@ vec2 CollisionSystem::get_circle_box_resolution(const CircleCollider & circle_co
 
 	// Compute penetration depth
 	float penetration_depth = circle_collider.radius - distance;
+<<<<<<< HEAD
 
+=======
+	if (inverse) collision_normal = -collision_normal;
+>>>>>>> 33a072db28d71ba65e59f9491abd42dbf9695fc4
 	// Compute the resolution vector
 	vec2 resolution = collision_normal * penetration_depth;