ab8aa5fb9a
Agent behaviors are no longer hard coded but instead created by equippable control modules Game Context has a job system which assigns appropriate tasks to drone control modules
55 lines
2.2 KiB
C#
55 lines
2.2 KiB
C#
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 Unity.Mathematics;
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using static Unity.Mathematics.math;
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public class Locomotion : AgentBehavior
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{
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public float2 Objective;
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private const float Sensitivity = 1;
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private const float TangentSensitivity = 2;
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private Thruster _thrust;
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private Turning _turning;
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private VelocityLimit _velocityLimit;
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public Locomotion(GameContext context, Entity entity, ControllerData controllerData) : base(context, entity, controllerData)
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{
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_velocityLimit = Entity.GetBehaviors<VelocityLimit>().FirstOrDefault();
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_thrust = Entity.Axes.Keys.FirstOrDefault(x => x is Thruster) as Thruster;
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_turning = Entity.Axes.Keys.FirstOrDefault(x => x is Turning) as Turning;
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}
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public override void Update(float delta)
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{
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if (_thrust != null && _turning != null)
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{
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float2 diff = Objective - Entity.Position;
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// We want to go top speed in the direction of our target
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var topSpeed = _velocityLimit?.Limit ?? 1000;
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float2 desiredVelocity = normalize(diff) * topSpeed;
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var accelerationTime = length(desiredVelocity - Entity.Velocity) / (_thrust.Thrust / Entity.Mass);
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var accelerationDistance = accelerationTime * length((desiredVelocity + Entity.Velocity) / 2);
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// We do not have enough space to get to full speed, use approximate maneuvering
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if (accelerationDistance > length(diff))
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{
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float2 tangential = Entity.Velocity - dot(normalize(diff), normalize(Entity.Velocity)) * Entity.Velocity;
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float2 adjustedDirection = normalize(diff) - tangential * TangentSensitivity;
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Entity.Axes[_turning] = TurningInput(adjustedDirection);
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Entity.Axes[_thrust] = 1;
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}
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// We have plenty of space, use exact maneuvering
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else
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{
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var deltaV = desiredVelocity - Entity.Velocity;
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Entity.Axes[_turning] = TurningInput(deltaV);
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Entity.Axes[_thrust] = ThrustInput(deltaV);
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}
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}
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}
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}
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