Inherit method

game.tscn

@@ -1,8 +1,6 @@
-[gd_scene load_steps=4 format=3 uid="uid://by1t3mp5yidhs"]
+[gd_scene load_steps=2 format=3 uid="uid://by1t3mp5yidhs"]
 
-[ext_resource type="PackedScene" uid="uid://cxi54gpin4hg2" path="res://vehicles/vehicle.tscn" id="2_y4634"]
-[ext_resource type="PackedScene" uid="uid://butgg65inr3bj" path="res://targets/target.tscn" id="3_aou68"]
-[ext_resource type="PackedScene" uid="uid://big6qeu2oi7ri" path="res://obstacle.tscn" id="3_chtlx"]
+[ext_resource type="PackedScene" uid="uid://cdwd5g0p36bei" path="res://scenarios/evade.tscn" id="1_7fx3n"]
 
 [node name="game" type="Node2D"]
 
@@ -13,23 +11,4 @@ offset_right = 1216.0
 offset_bottom = 705.0
 color = Color(0, 0, 0.141176, 1)
 
-[node name="obstacle avoidance" type="Node2D" parent="."]
-
-[node name="target" parent="obstacle avoidance" instance=ExtResource("3_aou68")]
-
-[node name="vehicle" parent="obstacle avoidance" node_paths=PackedStringArray("target") instance=ExtResource("2_y4634")]
-mass = 0.25
-linear_damp_mode = 1
-target = NodePath("../target")
-behavior = Array[int]([5])
-
-[node name="obstacles" type="Node" parent="obstacle avoidance"]
-
-[node name="obstacle" parent="obstacle avoidance/obstacles" instance=ExtResource("3_chtlx")]
-position = Vector2(163, 193)
-
-[node name="obstacle2" parent="obstacle avoidance/obstacles" instance=ExtResource("3_chtlx")]
-position = Vector2(677, 157)
-
-[node name="obstacle3" parent="obstacle avoidance/obstacles" instance=ExtResource("3_chtlx")]
-position = Vector2(482, 364)
+[node name="evade" parent="." instance=ExtResource("1_7fx3n")]

project.godot

@@ -12,13 +12,9 @@ config_version=5
 
 config/name="sbac"
 run/main_scene="res://game.tscn"
-config/features=PackedStringArray("4.0", "GL Compatibility")
+config/features=PackedStringArray("4.1", "GL Compatibility")
 config/icon="res://icon.svg"
 
-[display]
-
-window/stretch/mode="viewport"
-
 [rendering]
 
 renderer/rendering_method="gl_compatibility"

scenarios/evade.tscn

@@ -0,0 +1,12 @@
+[gd_scene load_steps=3 format=3 uid="uid://cdwd5g0p36bei"]
+
+[ext_resource type="PackedScene" uid="uid://infrrx4bca6i" path="res://targets/sliding_target.tscn" id="1_5kdus"]
+[ext_resource type="PackedScene" uid="uid://cjm4ncojk7pki" path="res://vehicles/evading_vehicle.tscn" id="2_4vqy5"]
+
+[node name="evade" type="Node2D"]
+
+[node name="sliding_target" parent="." instance=ExtResource("1_5kdus")]
+linear_damp_mode = 1
+
+[node name="evading_vehicle" parent="." node_paths=PackedStringArray("target") instance=ExtResource("2_4vqy5")]
+target = NodePath("../sliding_target")

scenarios/flee.tscn

@@ -0,0 +1,11 @@
+[gd_scene load_steps=3 format=3 uid="uid://d0aqshen3pu4s"]
+
+[ext_resource type="PackedScene" uid="uid://b3ej2trb8osvg" path="res://targets/click_target.tscn" id="2_rtm3k"]
+[ext_resource type="PackedScene" uid="uid://do44pgjw83f0v" path="res://vehicles/fleeing_vehicle.tscn" id="3_pjm6k"]
+
+[node name="flee" type="Node2D"]
+
+[node name="click_target" parent="." instance=ExtResource("2_rtm3k")]
+
+[node name="fleeing_vehicle" parent="." node_paths=PackedStringArray("target") instance=ExtResource("3_pjm6k")]
+target = NodePath("../click_target")

scenarios/funsies.tscn

@@ -0,0 +1,16 @@
+[gd_scene load_steps=4 format=3 uid="uid://chvgjsd1am5yp"]
+
+[ext_resource type="PackedScene" uid="uid://4jey0e27fxnu" path="res://targets/fleeing_target.tscn" id="1_gabhm"]
+[ext_resource type="PackedScene" uid="uid://ba65gavov6hfm" path="res://vehicles/pursuing_vehicle.tscn" id="2_k3inf"]
+[ext_resource type="Script" path="res://targets/fleeing_target.gd" id="2_p51fv"]
+
+[node name="funsies" type="Node2D"]
+
+[node name="fleeing_target" parent="." node_paths=PackedStringArray("target") instance=ExtResource("1_gabhm")]
+position = Vector2(426, 235)
+script = ExtResource("2_p51fv")
+target = NodePath("../pursuing_vehicle")
+
+[node name="pursuing_vehicle" parent="." node_paths=PackedStringArray("target") instance=ExtResource("2_k3inf")]
+position = Vector2(332, 142)
+target = NodePath("../fleeing_target")

scenarios/offset_pursuit.tscn

@@ -0,0 +1,13 @@
+[gd_scene load_steps=3 format=3 uid="uid://d3250ocpee3fw"]
+
+[ext_resource type="PackedScene" uid="uid://infrrx4bca6i" path="res://targets/sliding_target.tscn" id="1_2jp1h"]
+[ext_resource type="PackedScene" uid="uid://bsxx8mmxh8a5u" path="res://vehicles/offset_pursuing_vehicle.tscn" id="2_yip7c"]
+
+[node name="offset_pursuit" type="Node2D"]
+
+[node name="sliding_target" parent="." instance=ExtResource("1_2jp1h")]
+position = Vector2(386, 215)
+linear_damp_mode = 1
+
+[node name="offset_pursuing_vehicle" parent="." node_paths=PackedStringArray("target") instance=ExtResource("2_yip7c")]
+target = NodePath("../sliding_target")

scenarios/pursuit.tscn

@@ -0,0 +1,16 @@
+[gd_scene load_steps=3 format=3 uid="uid://caqiud54bwepk"]
+
+[ext_resource type="PackedScene" uid="uid://infrrx4bca6i" path="res://targets/sliding_target.tscn" id="1_2d4cr"]
+[ext_resource type="PackedScene" uid="uid://ba65gavov6hfm" path="res://vehicles/pursuing_vehicle.tscn" id="2_ebshu"]
+
+[node name="pursuit" type="Node2D"]
+
+[node name="sliding_target" parent="." instance=ExtResource("1_2d4cr")]
+position = Vector2(305, 136)
+mass = 0.01
+linear_velocity = Vector2(250, 20)
+linear_damp_mode = 1
+
+[node name="pursuing_vehicle" parent="." node_paths=PackedStringArray("target") instance=ExtResource("2_ebshu")]
+position = Vector2(116, 128)
+target = NodePath("../sliding_target")

scenarios/seek.tscn

@@ -0,0 +1,11 @@
+[gd_scene load_steps=3 format=3 uid="uid://cx31jewsu8sok"]
+
+[ext_resource type="PackedScene" uid="uid://b3ej2trb8osvg" path="res://targets/click_target.tscn" id="1_1ruvh"]
+[ext_resource type="PackedScene" uid="uid://q84qhepieh22" path="res://vehicles/seeking_vehicle.tscn" id="2_ws6kx"]
+
+[node name="seek" type="Node2D"]
+
+[node name="click_target" parent="." instance=ExtResource("1_1ruvh")]
+
+[node name="seeking_vehicle" parent="." node_paths=PackedStringArray("target") instance=ExtResource("2_ws6kx")]
+target = NodePath("../click_target")

targets/click_target.gd

@@ -0,0 +1,5 @@
+extends "res://targets/target.gd"
+
+func _process(delta):
+	if Input.is_mouse_button_pressed(MOUSE_BUTTON_LEFT):
+		position = get_global_mouse_position()

targets/click_target.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=2 format=3 uid="uid://b3ej2trb8osvg"]
+
+[ext_resource type="Script" path="res://targets/click_target.gd" id="1_rmt10"]
+
+[node name="click_target" type="RigidBody2D"]
+gravity_scale = 0.0
+script = ExtResource("1_rmt10")

targets/fleeing_target.gd

@@ -0,0 +1,6 @@
+extends "res://vehicles/fleeing_vehicle.gd"
+
+
+func _draw():
+	draw_circle(Vector2.ZERO, 10, Color.RED)
+

targets/fleeing_target.tscn

@@ -0,0 +1,5 @@
+[gd_scene load_steps=2 format=3 uid="uid://4jey0e27fxnu"]
+
+[ext_resource type="PackedScene" uid="uid://butgg65inr3bj" path="res://targets/target.tscn" id="1_k7m0x"]
+
+[node name="fleeing_target" instance=ExtResource("1_k7m0x")]

targets/sliding_target.gd

@@ -0,0 +1,4 @@
+extends "res://targets/target.gd"
+
+func _process(delta):
+	position = position.posmodv(screen)

targets/sliding_target.tscn

@@ -0,0 +1,8 @@
+[gd_scene load_steps=3 format=3 uid="uid://infrrx4bca6i"]
+
+[ext_resource type="PackedScene" uid="uid://butgg65inr3bj" path="res://targets/target.tscn" id="1_8olrm"]
+[ext_resource type="Script" path="res://targets/sliding_target.gd" id="2_ulyfq"]
+
+[node name="sliding_target" instance=ExtResource("1_8olrm")]
+linear_velocity = Vector2(50, 0)
+script = ExtResource("2_ulyfq")

targets/target.gd

@@ -1,8 +1,8 @@
-extends RigidBody2D
+extends "res://vehicles/vehicle.gd"
 
 func _draw():
 	draw_circle(Vector2.ZERO, 10, Color.RED)
 
 func _process(delta):
-	if Input.is_mouse_button_pressed(MOUSE_BUTTON_LEFT):
-		position = get_global_mouse_position()
+	position = get_global_mouse_position()
+

vehicles/evading_vehicle.gd

@@ -0,0 +1,21 @@
+extends "res://vehicles/vehicle.gd"
+
+
+func _draw():
+	var p := future_target_position() * get_global_transform_with_canvas()
+	draw_circle(p, 3, Color.GREEN)
+	super._draw()
+
+func steer(target: RigidBody2D) -> Vector2:
+	var desired_velocity: Vector2 = (position - future_target_position()).normalized() * max_speed
+	var steering = desired_velocity - linear_velocity
+	return steering
+
+func future_target_position() -> Vector2:
+	# future_time_look_ahead = distance / speed
+	var look_ahead: float 
+	if !linear_velocity.is_zero_approx():
+		look_ahead = (position.distance_to(target.position)) / linear_velocity.length()
+
+	# 20 is a constant, a turning parameter as Chris Reynolds puts it.
+	return target.position + (target.linear_velocity * look_ahead) / 20

vehicles/evading_vehicle.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=3 format=3 uid="uid://cjm4ncojk7pki"]
+
+[ext_resource type="PackedScene" uid="uid://cxi54gpin4hg2" path="res://vehicles/vehicle.tscn" id="1_kdgb3"]
+[ext_resource type="Script" path="res://vehicles/evading_vehicle.gd" id="2_arvux"]
+
+[node name="evading_vehicle" instance=ExtResource("1_kdgb3")]
+script = ExtResource("2_arvux")

vehicles/fleeing_vehicle.gd

@@ -0,0 +1,6 @@
+extends "res://vehicles/vehicle.gd"
+
+func steer(target: RigidBody2D) -> Vector2:
+	var desired_velocity: Vector2 = (position - target.position).normalized() * max_speed
+	var steering = desired_velocity - linear_velocity
+	return steering

vehicles/fleeing_vehicle.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=3 format=3 uid="uid://do44pgjw83f0v"]
+
+[ext_resource type="PackedScene" uid="uid://cxi54gpin4hg2" path="res://vehicles/vehicle.tscn" id="1_e646x"]
+[ext_resource type="Script" path="res://vehicles/fleeing_vehicle.gd" id="2_6rvj6"]
+
+[node name="fleeing_vehicle" instance=ExtResource("1_e646x")]
+script = ExtResource("2_6rvj6")

vehicles/offset_pursuing_vehicle.gd

@@ -0,0 +1,29 @@
+extends "res://vehicles/vehicle.gd"
+
+func _draw():
+	# global space to local space transformation
+	var p := future_target_position() * get_global_transform_with_canvas()
+	draw_circle(p, 3, Color.GREEN)
+	draw_line(Vector2.ZERO, linear_velocity.orthogonal().normalized()*-20, Color.YELLOW)
+	super._draw()
+
+func steer(target: RigidBody2D) -> Vector2:
+	var desired_velocity: Vector2 = (future_target_position() - position).normalized() * max_speed
+	var steering = desired_velocity - linear_velocity
+	return steering
+
+func future_target_position() -> Vector2:
+	const radius := 10
+
+	# project to local coordinate space
+	var local_target_position := target.position * get_global_transform_with_canvas()
+	var local_projection := local_target_position.project(linear_velocity.orthogonal())
+	local_projection = local_projection.normalized() * -1 * radius
+	print("local projection", local_projection)
+
+	var new_target_position := local_target_position + local_projection
+	var new_global_target_position := new_target_position * get_global_transform_with_canvas().inverse()
+
+	if (new_global_target_position.is_finite()):
+		return new_global_target_position
+	return target.position

vehicles/offset_pursuing_vehicle.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=3 format=3 uid="uid://bsxx8mmxh8a5u"]
+
+[ext_resource type="PackedScene" uid="uid://cxi54gpin4hg2" path="res://vehicles/vehicle.tscn" id="1_3b8ps"]
+[ext_resource type="Script" path="res://vehicles/offset_pursuing_vehicle.gd" id="2_mrd1s"]
+
+[node name="offset_pursuing_vehicle" instance=ExtResource("1_3b8ps")]
+script = ExtResource("2_mrd1s")

vehicles/pursuing_vehicle.gd

@@ -0,0 +1,20 @@
+extends "res://vehicles/vehicle.gd"
+
+func _draw():
+	var p := future_target_position() * get_global_transform_with_canvas()
+	draw_circle(p, 3, Color.GREEN)
+	super._draw()
+
+func steer(target: RigidBody2D) -> Vector2:
+	var desired_velocity: Vector2 = (future_target_position() - position).normalized() * max_speed
+	var steering = desired_velocity - linear_velocity
+	return steering
+
+func future_target_position() -> Vector2:
+	# future_time_look_ahead = distance / speed
+	var look_ahead: float 
+	if !linear_velocity.is_zero_approx():
+		look_ahead = (position.distance_to(target.position)) / linear_velocity.length()
+
+	# 20 is a constant, a turning parameter as Chris Reynolds puts it.
+	return target.position + (target.linear_velocity * look_ahead) / 20

vehicles/pursuing_vehicle.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=3 format=3 uid="uid://ba65gavov6hfm"]
+
+[ext_resource type="PackedScene" uid="uid://cxi54gpin4hg2" path="res://vehicles/vehicle.tscn" id="1_orrlx"]
+[ext_resource type="Script" path="res://vehicles/pursuing_vehicle.gd" id="2_ghjxm"]
+
+[node name="pursuing_vehicle" instance=ExtResource("1_orrlx")]
+script = ExtResource("2_ghjxm")

vehicles/seeking_vehicle.gd

@@ -0,0 +1,6 @@
+extends "res://vehicles/vehicle.gd"
+
+func steer(target: RigidBody2D) -> Vector2:
+	var desired_velocity: Vector2 = (target.position - position).normalized() * max_speed
+	var steering = desired_velocity - linear_velocity
+	return steering

vehicles/seeking_vehicle.tscn

@@ -0,0 +1,8 @@
+[gd_scene load_steps=3 format=3 uid="uid://q84qhepieh22"]
+
+[ext_resource type="PackedScene" uid="uid://cxi54gpin4hg2" path="res://vehicles/vehicle.tscn" id="1_n8m25"]
+[ext_resource type="Script" path="res://vehicles/seeking_vehicle.gd" id="2_hdxun"]
+
+[node name="seeking_vehicle" instance=ExtResource("1_n8m25")]
+mass = 1.0
+script = ExtResource("2_hdxun")

vehicles/vehicle.gd

@@ -1,32 +1,14 @@
 extends RigidBody2D
 
-const Steering = preload("res://behaviors/steering.gd")
-
-const max_speed = 200
+const max_force = 100000
+const max_speed = 250
 
 @export var target: RigidBody2D
-@export var behavior: Array[Steering.Behaviors]
 
 var acceleration := Vector2.ZERO
 
 var screen := DisplayServer.window_get_size()
 
-var steering: Steering = Steering.new(max_speed)
-
-
-
-func _ready():
-	self.gravity_scale = 0
-
-	var raycasts: Array[RayCast2D]
-	for cast in $RayCasts.get_children():
-		raycasts.append(cast)
-	steering.set_raycasts(raycasts)
-
-	for b in behavior:
-		steering.add_behavior(b, 1.0)
-
-
 func _draw():
 	var direction = linear_velocity.normalized()
 	var points = PackedVector2Array([
@@ -39,13 +21,20 @@ func _draw():
 	draw_line(Vector2.ZERO, linear_velocity, Color.GREEN, 2.0)
 	draw_line(Vector2.ZERO, acceleration, Color.BLUE, 2.0)
 
+func _process(delta):
+	var force := steer(target)
+
+	var steering_force := force.limit_length(max_force)
+	acceleration = steering_force / mass
+	linear_velocity += acceleration * delta
+	linear_velocity = linear_velocity.limit_length(max_speed)
+
+	move_and_collide(linear_velocity*delta)
+	position = position.posmodv(screen)
+
+	queue_redraw()
 
-#func _process(delta):
-	#position = position.posmodv(screen)
-#	return
-
-
-func _physics_process(delta):
-	apply_central_force(steering.steer(self, target))
-	self.rotation = self.linear_velocity.angle()
-	# queue_redraw()
+func steer(target: RigidBody2D) -> Vector2:
+	print("steer should be overriden.")
+	assert(false)
+	return Vector2.ZERO