diff options
Diffstat (limited to 'src/crepe/system/AISystem.cpp')
| -rw-r--r-- | src/crepe/system/AISystem.cpp | 46 |
1 files changed, 24 insertions, 22 deletions
diff --git a/src/crepe/system/AISystem.cpp b/src/crepe/system/AISystem.cpp index 62fa553..4d5039b 100644 --- a/src/crepe/system/AISystem.cpp +++ b/src/crepe/system/AISystem.cpp @@ -2,7 +2,6 @@ #include <cmath> #include "api/LoopTimer.h" -#include "api/Rigidbody.h" #include "api/Transform.h" #include "manager/ComponentManager.h" #include "manager/Mediator.h" @@ -27,10 +26,17 @@ void AISystem::update() { RefVector<Rigidbody> rigidbodies = mgr.get_components_by_id<Rigidbody>(ai.game_object_id); + if (rigidbodies.empty()) { + throw std::runtime_error( + "AI component must be attached to a GameObject with a Rigidbody component"); + } Rigidbody & rigidbody = rigidbodies.front().get(); + if (rigidbody.data.mass <= 0) { + throw std::runtime_error("Mass must be greater than 0"); + } // Calculate the force to apply to the entity - vec2 force = this->calculate(ai); + vec2 force = this->calculate(ai, rigidbody); // Calculate the acceleration (using the above calculated force) vec2 acceleration = force / rigidbody.data.mass; // Finally, update Rigidbody's velocity @@ -38,33 +44,33 @@ void AISystem::update() { } } -vec2 AISystem::calculate(AI & ai) { +vec2 AISystem::calculate(AI & ai, const Rigidbody & rigidbody) { vec2 force; // Run all the behaviors that are on, and stop if the force gets too high if (ai.on(AI::BehaviorType::FLEE)) { - vec2 force_to_add = this->flee(ai); + vec2 force_to_add = this->flee(ai, rigidbody); if (!this->accumulate_force(ai, force, force_to_add)) { return force; } } if (ai.on(AI::BehaviorType::ARRIVE)) { - vec2 force_to_add = this->arrive(ai); + vec2 force_to_add = this->arrive(ai, rigidbody); if (!this->accumulate_force(ai, force, force_to_add)) { return force; } } if (ai.on(AI::BehaviorType::SEEK)) { - vec2 force_to_add = this->seek(ai); + vec2 force_to_add = this->seek(ai, rigidbody); 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); + vec2 force_to_add = this->path_follow(ai, rigidbody); if (!this->accumulate_force(ai, force, force_to_add)) { return force; @@ -74,7 +80,7 @@ vec2 AISystem::calculate(AI & ai) { return force; } -bool AISystem::accumulate_force(AI & ai, vec2 & running_total, vec2 force_to_add) { +bool AISystem::accumulate_force(const AI & ai, vec2 & running_total, vec2 force_to_add) { float magnitude = running_total.length(); float magnitude_remaining = ai.max_force - magnitude; @@ -96,13 +102,11 @@ bool AISystem::accumulate_force(AI & ai, vec2 & running_total, vec2 force_to_add return true; } -vec2 AISystem::seek(const AI & ai) { +vec2 AISystem::seek(const AI & ai, const Rigidbody & rigidbody) const { 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(); // Calculate the desired velocity vec2 desired_velocity = ai.seek_target - transform.position; @@ -112,13 +116,11 @@ vec2 AISystem::seek(const AI & ai) { return desired_velocity - rigidbody.data.linear_velocity; } -vec2 AISystem::flee(const AI & ai) { +vec2 AISystem::flee(const AI & ai, const Rigidbody & rigidbody) const { 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(); // Calculate the desired velocity if the entity is within the panic distance vec2 desired_velocity = transform.position - ai.flee_target; @@ -131,18 +133,20 @@ vec2 AISystem::flee(const AI & ai) { return desired_velocity - rigidbody.data.linear_velocity; } -vec2 AISystem::arrive(const AI & ai) { +vec2 AISystem::arrive(const AI & ai, const Rigidbody & rigidbody) const { 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(); // Calculate the desired velocity (taking into account the deceleration rate) vec2 to_target = ai.seek_target - transform.position; float distance = to_target.length(); if (distance > 0.0f) { + if (ai.arrive_deceleration <= 0.0f) { + throw std::runtime_error("Deceleration rate must be greater than 0"); + } + float speed = distance / ai.arrive_deceleration; speed = std::min(speed, rigidbody.data.max_linear_velocity.length()); vec2 desired_velocity = to_target * (speed / distance); @@ -153,13 +157,11 @@ vec2 AISystem::arrive(const AI & ai) { return vec2{0, 0}; } -vec2 AISystem::path_follow(AI & ai) { +vec2 AISystem::path_follow(AI & ai, const Rigidbody & rigidbody) { 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}; @@ -182,11 +184,11 @@ vec2 AISystem::path_follow(AI & ai) { } else { // If the path is not looping, arrive at the last node ai.path_index = ai.path.size() - 1; - return this->arrive(ai); + return this->arrive(ai, rigidbody); } } } // Seek the target node - return this->seek(ai); + return this->seek(ai, rigidbody); } |