96 lines
3.1 KiB
GDScript
96 lines
3.1 KiB
GDScript
extends CharacterBody3D
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const RAYCAST_VIS_SCN: PackedScene = preload("res://npc/RaycastVis.tscn")
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const MOTION_SPEED_DEADZONE: float = 0.05
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@export var vision_sensor: Node3D
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@export_group("Detection", "detection_")
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@export var detection_normal_profile: DetectionProfile
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@export var detection_chase_profile: DetectionProfile
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@export var detection_ray_length: float = 15.0
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@export_range(0.0, 45.0, 0.5, "radians_as_degrees") var detection_ray_cone_angle: float = TAU / 32.0
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@export_range(0, 4, 1) var detection_ray_cone_angle_steps: int = 3
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@onready var num_rays: int = 1 + (detection_ray_cone_angle_steps * 6)
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var raycast_vis: Array[RaycastVis]
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var prop: Prop = null
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var ray_idx: int = 0
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var line_of_sight: bool = false
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var los_last_ray_idx: int = 0
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var los_distance: float = 0.0
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var detection_profile: DetectionProfile
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var detected: float = 0.0
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var prop_last_pos: = Vector3.ZERO
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func _ready() -> void:
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Harbinger.subscribe("active_prop", func(p): prop = p[0])
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for i in range(num_rays):
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var vis: = RAYCAST_VIS_SCN.instantiate()
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vision_sensor.add_child(vis)
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raycast_vis.append(vis)
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detection_profile = detection_normal_profile
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func _process(delta: float) -> void:
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DebugOverlay.display({ los = line_of_sight, los_distance = los_distance, detected = detected }, self)
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if Input.is_action_just_pressed("debug_draw_raycast"):
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for vis in raycast_vis:
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vis.visible = !vis.visible
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func _physics_process(delta: float) -> void:
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if !prop:
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detected = 0.0
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return
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#region perception
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var dir_to_prop: = (prop.global_position - vision_sensor.global_position).normalized()
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var dir: = dir_to_prop
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var cone_angle_axis: = dir.cross(dir.rotated(Vector3.UP, 0.5)).normalized()
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dir = dir.rotated(
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cone_angle_axis,
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((ray_idx + 5) / 6) * (detection_ray_cone_angle / detection_ray_cone_angle_steps)
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)
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dir = dir.rotated(
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dir_to_prop,
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((ray_idx + 5) % 6) * (TAU / 6.0)
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)
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var space_state: = get_world_3d().direct_space_state
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var query: = PhysicsRayQueryParameters3D.create(
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vision_sensor.global_position,
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vision_sensor.global_position + (dir * detection_ray_length)
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)
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var result: = space_state.intersect_ray(query)
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if result:
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if result.collider == prop:
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raycast_vis[ray_idx].update_vis(result.position, Color.GREEN)
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line_of_sight = true
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los_last_ray_idx = ray_idx
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los_distance = (result.position - vision_sensor.global_position).length()
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else:
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raycast_vis[ray_idx].update_vis(result.position, Color.ORANGE)
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if los_last_ray_idx == ray_idx:
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line_of_sight = false
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else:
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raycast_vis[ray_idx].update_vis(vision_sensor.global_position + (dir * detection_ray_length), Color.DARK_RED)
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if los_last_ray_idx == ray_idx:
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line_of_sight = false
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ray_idx = (ray_idx + 1) % num_rays
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#endregion
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#region detection
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if line_of_sight:
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var prop_speed: = prop.velocity.length()
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if los_distance <= detection_profile.motion_range && prop_speed > MOTION_SPEED_DEADZONE:
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detected += prop_speed * detection_profile.motion_sensitivity * delta
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else:
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detected -= detection_profile.decay * delta
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else:
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detected -= detection_profile.decay * delta
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detected = clampf(detected, 0.0, 1.0)
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#endregion
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