d78ad49762
Implemented task and control module for surveying resources Implemented behavior for resource scanner Resources aren't shown until they have been surveyed Entities can now display messages, used to provide drone state feedback Orbital entities now provide correct velocity, improving drone docking precision
58 lines
2.3 KiB
C#
58 lines
2.3 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 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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private int _thrustAxis;
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private int _turningAxis;
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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.GetBehaviors<Thruster>().FirstOrDefault();
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_turning = Entity.GetBehaviors<Turning>().FirstOrDefault();
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_thrustAxis = Entity.GetAxis<Thruster>();
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_turningAxis = Entity.GetAxis<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[_turningAxis].Value = TurningInput(adjustedDirection);
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Entity.Axes[_thrustAxis].Value = 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[_turningAxis].Value = TurningInput(deltaV);
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Entity.Axes[_thrustAxis].Value = ThrustInput(deltaV);
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}
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}
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}
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}
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