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Use NavigationObstacle2D to handle collision avoidance between robots #7

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merged 1 commit into from
Oct 23, 2022
Merged

Use NavigationObstacle2D to handle collision avoidance between robots #7

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18 changes: 5 additions & 13 deletions assets/Scenes/Robot.tscn
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Original file line number Diff line number Diff line change
@@ -1,14 +1,11 @@
[gd_scene load_steps=6 format=2]
[gd_scene load_steps=5 format=2]

[ext_resource path="res://assets/cdda_sprites/mon_eyebot_season_winter.png" type="Texture" id=1]
[ext_resource path="res://src/Robot.gd" type="Script" id=2]

[sub_resource type="CircleShape2D" id=3]
radius = 6.0

[sub_resource type="CircleShape2D" id=4]
radius = 9.0

[sub_resource type="CircleShape2D" id=2]
radius = 150.0

Expand All @@ -34,14 +31,6 @@ collision_mask = 4
width = 2.0
default_color = Color( 0.894118, 0.623529, 0.909804, 1 )

[node name="Collision_avoidance" type="Area2D" parent="."]
collision_layer = 8
collision_mask = 8

[node name="Collision_avoidance_Shape2D" type="CollisionShape2D" parent="Collision_avoidance"]
self_modulate = Color( 0.862745, 0.145098, 0.945098, 1 )
shape = SubResource( 4 )

[node name="Area2D" type="Area2D" parent="." groups=["Depot"]]
modulate = Color( 0.796078, 0.913725, 0.219608, 1 )
show_behind_parent = true
Expand All @@ -51,5 +40,8 @@ monitorable = false
shape = SubResource( 2 )

[node name="NavigationAgent2D" type="NavigationAgent2D" parent="."]
avoidance_enabled = true
radius = 12.0
neighbor_dist = 32.0

[connection signal="area_entered" from="Collision_avoidance" to="." method="_on_Collision_avoidance_area_entered"]
[node name="NavigationObstacle2D" type="NavigationObstacle2D" parent="."]
32 changes: 3 additions & 29 deletions src/Robot.gd
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Original file line number Diff line number Diff line change
Expand Up @@ -8,30 +8,26 @@ var grab_target: Vector2
var _home_depot_pos: Vector2
var _home_depot_area: Area2D

var _last_pos: Vector2
var _stuck_counter:= 0.0
var _heading: float

export var _step_size:= 40

onready var line:= $Line2D
onready var awarness_area:= $Area2D
onready var collision_avoidance_area:= $Collision_avoidance
onready var collision_shape:= $CollisionShape2D
onready var nav_agent:= $NavigationAgent2D

onready var map := get_node("../TileMap")

var STUCK_THRESHOLD:= 0.4

func _ready() -> void:
set_process(true)

nav_agent.connect("velocity_computed", self, "move")

var AI_core = get_tree().get_nodes_in_group("Core")[0]
_home_depot_area = AI_core.get_child(2)
_home_depot_pos = _home_depot_area.global_position

_last_pos = global_position
pick_heading()
new_path()

Expand Down Expand Up @@ -67,22 +63,12 @@ func _physics_process(_delta: float) -> void:
if _current_path.empty():
new_path()

if position.distance_to(_last_pos)<= 0.2:
_stuck_counter += _delta
else:
_stuck_counter = 0.0

_last_pos = global_position


var next_location= _current_path[0]
var direction:= position.direction_to(next_location)
var target_vel:= direction * _speed
move(target_vel)

#TODO: unstuck
if _stuck_counter > STUCK_THRESHOLD:
pass
nav_agent.set_velocity(target_vel)

if close_enough(next_location):
_current_path.remove(0)
Expand Down Expand Up @@ -137,17 +123,5 @@ func get_closest_ressource_in_awarness()->Body:
closest_body= body
return closest_body

func _on_Collision_avoidance_area_entered(area: Area2D) -> void:
var into_colllider= area.global_position - global_position
var tangent_out = into_colllider.tangent().normalized() * _body_size
var new_point = area.global_position + tangent_out
_current_path.insert(0,new_point)
line.add_point(new_point,0)


func _on_Collision_avoidance_area_exited(area: Area2D) -> void:
_current_path = make_path(_curr_dest)
line.points = _current_path

func is_robot()->bool:
return true