83 lines
2.6 KiB
C
83 lines
2.6 KiB
C
// AI framework
|
|
// - rlyeh, public domain.
|
|
//
|
|
// [src] original A-star code by @mmozeiko (PD) - https://gist.github.com/mmozeiko/68f0a8459ef2f98bcd879158011cc275
|
|
// [src] original swarm/boids code by @Cultrarius (UNLICENSE) - https://github.com/Cultrarius/Swarmz
|
|
|
|
// pathfinding -----------------------------------------------------------------
|
|
|
|
API int pathfind_astar(int width, int height, const unsigned* map, vec2i src, vec2i dst, vec2i* path, size_t maxpath);
|
|
|
|
// ----------------------------------------------------------------------------
|
|
// Behavior trees: decision planning and decision making.
|
|
// Supersedes finite state-machines (FSM) and hierarchical finite state-machines (HFSM).
|
|
|
|
typedef int (*bt_func)();
|
|
|
|
typedef struct bt_t {
|
|
uint64_t type;
|
|
int (*action)();
|
|
union {
|
|
int argi;
|
|
float argf;
|
|
};
|
|
array(struct bt_t) children;
|
|
} bt_t;
|
|
|
|
API bt_t bt(const char *ini_file, unsigned flags);
|
|
API int bt_run(bt_t *b);
|
|
API void bt_addfun(const char *name, int(*func)());
|
|
API bt_func bt_findfun(const char *name);
|
|
API char *bt_funcname(bt_func fn);
|
|
|
|
API int ui_bt(bt_t *b);
|
|
|
|
// boids/swarm -----------------------------------------------------------------
|
|
|
|
typedef enum SWARM_DISTANCE {
|
|
SWARM_DISTANCE_LINEAR,
|
|
SWARM_DISTANCE_INVERSE_LINEAR,
|
|
SWARM_DISTANCE_QUADRATIC,
|
|
SWARM_DISTANCE_INVERSE_QUADRATIC
|
|
} SWARM_DISTANCE;
|
|
|
|
#define boid(...) C_CAST(boid_t, __VA_ARGS__)
|
|
|
|
typedef struct boid_t {
|
|
vec3 position;
|
|
vec3 velocity;
|
|
vec3 acceleration;
|
|
vec3 prev_position;
|
|
} boid_t;
|
|
|
|
typedef struct swarm_t {
|
|
array(boid_t) boids;
|
|
|
|
float perception_radius; // determines the vision radius of each boid. Only boids within this distance influence each other.
|
|
|
|
float separation_weight; // how much boids repel each other
|
|
SWARM_DISTANCE separation_type;
|
|
|
|
float alignment_weight; // how much boids want go in the same direction
|
|
float cohesion_weight; // how much boids want to be in the center of the swarm
|
|
|
|
float steering_weight;
|
|
array(vec3) steering_targets;
|
|
SWARM_DISTANCE steering_target_type;
|
|
|
|
float blindspot_angledeg;
|
|
float max_acceleration; // how fast each boid can change its direction
|
|
float max_velocity; // how fast each boid can move
|
|
|
|
// private:
|
|
map(vec3*, array(boid_t*)) voxel_cache_;
|
|
float blindspot_angledeg_compare_value_;
|
|
} swarm_t;
|
|
|
|
API swarm_t swarm();
|
|
API void swarm_update(swarm_t *self, float delta); // acc,vel,pos
|
|
API void swarm_update_acceleration_only(swarm_t *self); // acc
|
|
API void swarm_update_acceleration_and_velocity_only(swarm_t *self, float delta); // acc,vel
|
|
|
|
API int ui_swarm(swarm_t *self);
|