636ffc92bd
Turn is a rate. Combat wrote it each tick and nothing wrote it after the Minion returned to its root state, so the hull kept the last rate and spun without end. The pilot tick now writes zero before the state runs; a piloting state overwrites it with its demand. One writer per tick, no reset in Ship. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
98 lines
3.4 KiB
C#
98 lines
3.4 KiB
C#
/* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/. */
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using UniRx;
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using CultMath;
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using static CultMath.math;
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using float2 = CultMath.float2;
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public class Agent
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{
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private const float FORWARD_DELTA_THRESHOLD = 20;
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private const float THRUST_DELTA_THRESHOLD = 1;
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protected BaseState _rootState;
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private BaseState _currentState;
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private VelocityLimit _velocityLimit;
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public AgentTask Task { get; set; }
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public Ship Ship { get; }
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public ItemManager ItemManager { get; }
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public GameplaySettings Settings { get; }
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public float TopSpeed => _velocityLimit?.Limit ?? 100;
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public Agent(Ship ship)
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{
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Ship = ship;
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ItemManager = Ship.ItemManager;
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Settings = Ship.ItemManager.GameplaySettings;
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_rootState = _currentState = new BaseState(this);
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_velocityLimit = Ship.GetBehavior<VelocityLimit>();
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}
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public void Transition(BaseState targetState, Action onTransition = null)
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{
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//ItemManager.Log($"{Ship.Name} changing state from {_currentState.GetType().Name} to {targetState.GetType().Name}");
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_currentState.OnExitState();
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_currentState = targetState;
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onTransition?.Invoke();
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_currentState.OnEnterState();
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}
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public void Update(float delta)
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{
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// The pilot tick writes Turn every tick, in every state: a state that pilots overwrites this zero with its
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// demand, and one that does not leaves the hull holding course instead of inheriting the last state's rate.
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Ship.Turn = 0;
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_currentState.Update(delta);
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foreach (var transition in _currentState.Transitions)
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if (transition.Condition())
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{
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Transition(transition.TargetState, transition.OnTransition);
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break;
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}
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}
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public void Accelerate(float2 targetVelocity, bool noTurn = false)
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{
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var deltaV = targetVelocity - Ship.Velocity;
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var deltaVMag = length(deltaV);
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var deltaVDirection = normalize(deltaV);
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// If Delta V is above the threshold, direct the ship towards the delta and use only main thrusters
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if (!noTurn && deltaVMag > FORWARD_DELTA_THRESHOLD)
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{
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Ship.Turn = Steering.Toward(Ship, deltaVDirection);
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Ship.MovementDirection = float2(0, pow(dot(Ship.Direction, deltaVDirection), 2));
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}
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// If Delta V is low, use all thrusters and leave Turn to the caller (MoveTo already pointed it at the target)
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else if(deltaVMag > THRUST_DELTA_THRESHOLD)
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{
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var right = Ship.Direction.Rotate(ItemRotation.Clockwise);
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Ship.MovementDirection = float2(dot(right, deltaVDirection), dot(Ship.Direction, deltaVDirection));
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}
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else
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{
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Ship.MovementDirection = float2.zero;
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}
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}
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}
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public class StateTransition
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{
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public StateTransition(BaseState targetState, Func<bool> condition, Action onTransition)
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{
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TargetState = targetState;
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Condition = condition;
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OnTransition = onTransition;
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}
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public BaseState TargetState { get; }
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public Func<bool> Condition { get; }
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public Action OnTransition { get; }
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}
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