Merge pull request #94 from nezvers/obstackle_navigation

Ai cornering

addons/nezvers_library/nodes/Navigation/TileNavigationGetter.gd

@@ -1,14 +1,20 @@
 class_name TileNavigationGetter
 extends Line2D
 
+
 @export var astargrid_resource:AstarGridResource
 ## How close to be to a point to look up next one
 @export var reached_distance:float = 6.0
 
-var last_path:PackedVector2Array
+var navigation_path:PackedVector2Array
+var tile_path:Array[Vector2i]
 var index:int = 0
 var closest_point:Vector2
-var is_finished:bool
+var finish_reached:bool : set = set_finish_reached
+var point_reached:bool
+
+func set_finish_reached(value:bool)->void:
+	finish_reached = value
 
 func _ready()->void:
 	top_level = true
@@ -17,49 +23,62 @@ func _ready()->void:
 func get_target_path(from:Vector2, to:Vector2)->PackedVector2Array:
 	var _from_tile:Vector2i = astargrid_resource.tilemap_layer.local_to_map(from)
 	var _to_tile:Vector2i = astargrid_resource.tilemap_layer.local_to_map(to)
-	last_path = astargrid_resource.value.get_point_path(_from_tile, _to_tile)
-	index = 0
-	first_point_choice(from)
+	navigation_path = astargrid_resource.value.get_point_path(_from_tile, _to_tile)
+	tile_path = astargrid_resource.value.get_id_path(_from_tile, _to_tile)
+
+	if navigation_path.size() < 2:
+		index = 0
+	else:
+		index = 1
+	assert(index < navigation_path.size())
 
-	is_finished = false
+	finish_reached = false
 	if visible:
-		points = last_path
-	return last_path
+		points = navigation_path
+	return navigation_path
 
 ## TODO: Don't use top_level to be able use position
 ##
 func get_next_path_position(from:Vector2)->Vector2:
-	if last_path.is_empty():
+	if navigation_path.is_empty():
 		return closest_point
 
 	## TODO: add corner avoidance steering
-	closest_point = last_path[index]
+	closest_point = navigation_path[index]
 	var _closest_dist:float = (closest_point - from).length_squared()
 	var _treshold:float = reached_distance * reached_distance
-	var i:int = index +1
-	while i < last_path.size():
-		var _current_point = last_path[i]
-		var _current_dist = (_current_point - from).length_squared()
-		if _closest_dist < _current_dist:
-			break
-		closest_point = _current_point
-		_closest_dist = _current_dist
-		index = i
-		i += 1 # <- don't forget, or else...
+	var i:int = index
+	#if i < navigation_path.size() - 1:
+		#i += 1
+		#assert(i < navigation_path.size())
+		#while i < navigation_path.size():
+			#var _current_point = navigation_path[i]
+			#var _current_dist = (_current_point - from).length_squared()
+			#if _closest_dist < _current_dist:
+				#i -= 1
+				#assert(i < navigation_path.size())
+				#break
+			#closest_point = _current_point
+			#_closest_dist = _current_dist
+			#i += 1 # <- don't forget, or else...
+		#i = min(i , navigation_path.size() - 1)
 
-	if _closest_dist < _treshold && index < last_path.size() - 1:
-		index += 1
-		closest_point = last_path[index]
-	else:
-		is_finished = true
+	if _closest_dist < _treshold && i < navigation_path.size() - 1:
+		i += 1
+		assert(i < navigation_path.size())
+		closest_point = navigation_path[i]
+
+	if i != index:
+		point_reached = true
+		if index == navigation_path.size() - 1:
+			finish_reached = true
+	elif !finish_reached:
+		point_reached = false
 
+	index = i
+	assert(i < navigation_path.size())
 	return closest_point
 
-## Solution to not go backwards for a first point
-func first_point_choice(_position:Vector2)->void:
-	if last_path.size() < 2:
-		return
-	var _dot_product:float = (last_path[0] - _position).normalized().dot((last_path[1] - _position).normalized())
-	if _dot_product > 0.0:
-		return
-	index = 1
+
+func _draw()->void:
+	pass

addons/top_down/scenes/obstacles/hole_obstacle.tscn

@@ -11,7 +11,7 @@ collision_mask = 6
 script = ExtResource("1_soon6")
 
 [node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="AreaTransmitter2D"]
-polygon = PackedVector2Array(0, -5, -12, 0, 0, 5, 12, 0)
+polygon = PackedVector2Array(0, -5, -11, 0, 0, 5, 11, 0)
 
 [node name="HoleTransmitter" type="Node" parent="AreaTransmitter2D" node_paths=PackedStringArray("area_transmitter")]
 script = ExtResource("2_otvmq")

addons/top_down/scripts/actor/bots/TargetDirection.gd

@@ -7,18 +7,19 @@ extends Node
 @export var tile_navigation:TileNavigationGetter
 ## Value used to change recalculation cooldown
 @export var retarget_distance:float = 16.0
+@export var straight_path_distance:float = 16.0 * 5.0
 @export var debug:bool
 
 
 ## From bot to target
-var local_direction:Vector2
+var target_direction:Vector2
 ## Track targets position
 var last_target_position:Vector2
 ## Time last navigation update happened
 var last_update_time:float
 var navigation_cooldown:float = 1.0
-
-
+## Used to control navigation around corners
+var allow_straight_path:bool = false
 
 func _ready()->void:
 	target_finder.target_update.connect(on_target_update)
@@ -30,13 +31,13 @@ func on_target_update()->void:
 	if target_finder.target_count < 1:
 		set_direction(Vector2.ZERO)
 		return
-	local_direction = target_finder.closest.global_position - bot_input.global_position
-	var local_dir_len:float = local_direction.length_squared()
-	var attack_dist_squared:float = bot_input.attack_distance * bot_input.attack_distance
+	target_direction = target_finder.closest.global_position - bot_input.global_position
+	#var local_dir_len:float = target_direction.length_squared()
+	#var attack_dist_squared:float = bot_input.attack_distance * bot_input.attack_distance
 
 
-	if line_of_sight():
-		set_direction(local_direction)
+	if test_line_of_sight():
+		set_direction(target_direction)
 		return
 
 	navigation_update()
@@ -45,10 +46,33 @@ func on_target_update()->void:
 	set_direction(direction)
 
 ## Raycast checks if anything from environment is in the way
-func line_of_sight()->bool:
-	raycast.target_position = local_direction
+func test_line_of_sight()->bool:
+	raycast.target_position = target_direction
 	raycast.force_raycast_update()
-	return !raycast.is_colliding()
+
+	var _is_line_of_sight:bool = !raycast.is_colliding()
+	if !_is_line_of_sight:
+		allow_straight_path = false
+
+	if tile_navigation.navigation_path.is_empty():
+		return _is_line_of_sight
+	if tile_navigation.finish_reached:
+		return _is_line_of_sight
+	if !(tile_navigation.index < tile_navigation.navigation_path.size() - 1):
+		return _is_line_of_sight
+
+	#if target_direction.length_squared() > (straight_path_distance * straight_path_distance):
+		#return allow_straight_path
+
+	if _is_line_of_sight && !allow_straight_path && tile_navigation.point_reached:
+		# use tile Vector2i positions for dot product to have straight angles
+		var _target_tile_direction:Vector2 = (target_direction / tile_navigation.astargrid_resource.value.cell_size).round()
+		var _point_direction:Vector2 = tile_navigation.tile_path[tile_navigation.index + 1] - tile_navigation.tile_path[tile_navigation.index]
+		var _dot_product:float = _target_tile_direction.normalized().dot(_point_direction.normalized())
+		if _dot_product > 0.5:
+			allow_straight_path = true
+
+	return allow_straight_path
 
 func navigation_update()->void:
 	var time: = Time.get_ticks_msec() * 0.001