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kthecoderkthecoder
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Draft Flow Fields
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‎LICENSE.md

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/==================================================================
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Fluid HTN AI
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==================================================================/
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MIT License
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Copyright (c) 2019 Pål Trefall
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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/==================================================================
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Fast Marching Method
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==================================================================/
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Copyright 2017 Tommy Hinks
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Permission is hereby granted, free of charge, to any person obtaining a
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copy of this software and associated documentation files (the "Software"),
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to deal in the Software without restriction, including without limitation
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the rights to use, copy, modify, merge, publish, distribute, sublicense,
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and/or sell copies of the Software, and to permit persons to whom the
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Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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DEALINGS IN THE SOFTWARE.

‎README.md

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@@ -414,7 +414,7 @@ Interaction with smart objects only if they are in range or available.
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The execution will check conditions of a task when it starts, run execution conditions every tick, run the task operator every tick and apply "executing" effects upon task success.
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# Liscening
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# Licensing
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The FLuid HTN Code comes from :
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‎SConstruct

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@@ -40,7 +40,7 @@ env = SConscript("godot-cpp/SConstruct", {"env": env, "customs": customs})
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env.Append(CPPPATH=["src/"])
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# TODO Add Nested Folders as a new Glob
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sources = [Glob("src/*.cpp"), Glob("src/Example/*.cpp"), Glob("src/Agents/**/*.cpp"), Glob("src/FluidHTN/**/*.cpp")]
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sources = [Glob("src/*.cpp"), Glob("src/Flow/*.cpp"), Glob("src/Agents/**/*.cpp"), Glob("src/FluidHTN/**/*.cpp")]
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if env["target"] in ["editor", "template_debug"]:
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try:

‎demo/Test.tscn

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[gd_scene load_steps=2 format=3 uid="uid://cs6xj3i70yh0f"]
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[ext_resource type="Script" uid="uid://ba0phkf16vg6l" path="res://hello_world_gdextention_function.gd" id="1_myinc"]
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[sub_resource type="GDScript" id="GDScript_rvu7i"]
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script/source = "extends HelloWorld
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func _ready():
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hello_message();
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"
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[node name="Test" type="Node3D"]
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[node name="HelloWorld" type="HelloWorld" parent="."]
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script = ExtResource("1_myinc")
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_import_path = NodePath("")
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unique_name_in_owner = false
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process_mode = 0
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process_priority = 0
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process_physics_priority = 0
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process_thread_group = 0
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physics_interpolation_mode = 0
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auto_translate_mode = 0
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editor_description = ""
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script = SubResource("GDScript_rvu7i")

‎demo/hello_world_gdextention_function.gd

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‎demo/hello_world_gdextention_function.gd.uid

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‎demo/scenes/Level/flow_field.tscn

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[gd_scene load_steps=15 format=3 uid="uid://bu2bnqb7jbvdv"]
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[ext_resource type="Script" uid="uid://co51i1xik6ibh" path="res://scripts/Levels/LevelScript.gd" id="1_twb67"]
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[ext_resource type="Script" uid="uid://basfttxylkrle" path="res://scripts/SteeringBehaviors/FlowField.gd" id="2_70utq"]
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[ext_resource type="Script" uid="uid://bydjrl4wumi6y" path="res://scripts/Spawners/Spawning.gd" id="2_o5lst"]
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[ext_resource type="PackedScene" uid="uid://d37wo3mvlcmia" path="res://spawner/AgentSpawner.tscn" id="3_70utq"]
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[ext_resource type="Texture2D" uid="uid://l0ib77o0wncj" path="res://assets/textures/Prototype/Dark/texture_08.png" id="4_sf0pg"]
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[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_qstfa"]
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sky_horizon_color = Color(0.64625, 0.65575, 0.67075, 1)
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ground_horizon_color = Color(0.64625, 0.65575, 0.67075, 1)
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[sub_resource type="Sky" id="Sky_irks6"]
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sky_material = SubResource("ProceduralSkyMaterial_qstfa")
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[sub_resource type="Environment" id="Environment_heqyn"]
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background_mode = 2
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sky = SubResource("Sky_irks6")
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tonemap_mode = 2
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glow_enabled = true
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[sub_resource type="QuadMesh" id="QuadMesh_706t6"]
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size = Vector2(200, 200)
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orientation = 1
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[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_5wmcq"]
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albedo_texture = ExtResource("4_sf0pg")
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[sub_resource type="BoxShape3D" id="BoxShape3D_6wtjj"]
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size = Vector3(200, 1, 200)
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[sub_resource type="BoxMesh" id="BoxMesh_31y8d"]
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size = Vector3(6, 6, 6)
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[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_brjmj"]
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albedo_color = Color(0.345098, 0.517647, 0.65098, 1)
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[sub_resource type="ConcavePolygonShape3D" id="ConcavePolygonShape3D_ukqwy"]
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data = PackedVector3Array(-3, 3, 3, 3, 3, 3, -3, -3, 3, 3, 3, 3, 3, -3, 3, -3, -3, 3, 3, 3, -3, -3, 3, -3, 3, -3, -3, -3, 3, -3, -3, -3, -3, 3, -3, -3, 3, 3, 3, 3, 3, -3, 3, -3, 3, 3, 3, -3, 3, -3, -3, 3, -3, 3, -3, 3, -3, -3, 3, 3, -3, -3, -3, -3, 3, 3, -3, -3, 3, -3, -3, -3, 3, 3, 3, -3, 3, 3, 3, 3, -3, -3, 3, 3, -3, 3, -3, 3, 3, -3, -3, -3, 3, 3, -3, 3, -3, -3, -3, 3, -3, 3, 3, -3, -3, -3, -3, -3)
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[node name="TestLevel" type="Node3D"]
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script = ExtResource("1_twb67")
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[node name="FlowField" type="FlowField" parent="."]
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script = ExtResource("2_70utq")
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[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
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transform = Transform3D(-0.866023, -0.433016, 0.250001, 0, 0.499998, 0.866027, -0.500003, 0.749999, -0.43301, 0, 0, 0)
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shadow_enabled = true
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[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
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environment = SubResource("Environment_heqyn")
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[node name="Spawning" type="Node3D" parent="."]
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script = ExtResource("2_o5lst")
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[node name="PlayerSpawner" type="MultiplayerSpawner" parent="Spawning"]
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_spawnable_scenes = PackedStringArray("uid://6s5rk0xolkxi")
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spawn_path = NodePath("../SpawnedPlayers")
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[node name="PlayerSpawnPoints" type="Node3D" parent="Spawning"]
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[node name="Marker3D" type="Marker3D" parent="Spawning/PlayerSpawnPoints"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.220346, -6.96668)
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[node name="Marker3D2" type="Marker3D" parent="Spawning/PlayerSpawnPoints"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.220346, 7.19992)
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[node name="Marker3D3" type="Marker3D" parent="Spawning/PlayerSpawnPoints"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -9.22954, 0.220346, -0.233832)
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[node name="Marker3D4" type="Marker3D" parent="Spawning/PlayerSpawnPoints"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8.39961, 0.220346, -0.233832)
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[node name="SpawnedPlayers" type="Node3D" parent="Spawning"]
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[node name="AgentSpawner" type="MultiplayerSpawner" parent="Spawning"]
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_spawnable_scenes = PackedStringArray("uid://d1l8jr35roq11")
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spawn_path = NodePath("../SpawnedAgents")
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[node name="AgentSpawners" type="Node3D" parent="Spawning"]
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[node name="AgentSpawner" parent="Spawning/AgentSpawners" instance=ExtResource("3_70utq")]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 15.2856, 81.8714)
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[node name="SpawnedAgents" type="Node3D" parent="Spawning"]
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[node name="Ground" type="StaticBody3D" parent="." groups=["Ground"]]
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[node name="MeshInstance3D" type="MeshInstance3D" parent="Ground"]
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mesh = SubResource("QuadMesh_706t6")
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surface_material_override/0 = SubResource("StandardMaterial3D_5wmcq")
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[node name="CollisionShape3D" type="CollisionShape3D" parent="Ground"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.49, 0)
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shape = SubResource("BoxShape3D_6wtjj")
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[node name="Obstacles" type="Node3D" parent="."]
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[node name="MeshInstance3D" type="MeshInstance3D" parent="Obstacles"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -48.3205, 2.93985, 0)
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mesh = SubResource("BoxMesh_31y8d")
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skeleton = NodePath("")
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surface_material_override/0 = SubResource("StandardMaterial3D_brjmj")
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[node name="StaticBody3D" type="StaticBody3D" parent="Obstacles/MeshInstance3D"]
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[node name="CollisionShape3D" type="CollisionShape3D" parent="Obstacles/MeshInstance3D/StaticBody3D"]
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shape = SubResource("ConcavePolygonShape3D_ukqwy")
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[node name="MeshInstance3D2" type="MeshInstance3D" parent="Obstacles"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 38.5944, 2.93985, 0)
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mesh = SubResource("BoxMesh_31y8d")
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skeleton = NodePath("")
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surface_material_override/0 = SubResource("StandardMaterial3D_brjmj")
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[node name="StaticBody3D" type="StaticBody3D" parent="Obstacles/MeshInstance3D2"]
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[node name="CollisionShape3D" type="CollisionShape3D" parent="Obstacles/MeshInstance3D2/StaticBody3D"]
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shape = SubResource("ConcavePolygonShape3D_ukqwy")
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[node name="MeshInstance3D3" type="MeshInstance3D" parent="Obstacles"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -21.78, 2.93985, -44.8711)
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mesh = SubResource("BoxMesh_31y8d")
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skeleton = NodePath("")
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surface_material_override/0 = SubResource("StandardMaterial3D_brjmj")
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[node name="StaticBody3D" type="StaticBody3D" parent="Obstacles/MeshInstance3D3"]
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[node name="CollisionShape3D" type="CollisionShape3D" parent="Obstacles/MeshInstance3D3/StaticBody3D"]
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shape = SubResource("ConcavePolygonShape3D_ukqwy")
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[node name="MeshInstance3D4" type="MeshInstance3D" parent="Obstacles"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -21.78, 2.93985, 40.8336)
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mesh = SubResource("BoxMesh_31y8d")
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skeleton = NodePath("")
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surface_material_override/0 = SubResource("StandardMaterial3D_brjmj")
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[node name="StaticBody3D" type="StaticBody3D" parent="Obstacles/MeshInstance3D4"]
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[node name="CollisionShape3D" type="CollisionShape3D" parent="Obstacles/MeshInstance3D4/StaticBody3D"]
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shape = SubResource("ConcavePolygonShape3D_ukqwy")

‎demo/scripts/SteeringBehaviors/FlowField.gd

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extends Node
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var grid_origin: Vector3 = Vector3(-100.0, 0.0, -100.0); # Example for a 200×200 area centered at (0,0,0)
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var cell_size: float = 1.0;
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var myFlowField: FlowField = FlowField.new();
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func _ready():
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var all_occupied_cells := []
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for child in $"../Obstacles".get_children():
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if child is MeshInstance3D:
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var mesh_instance: MeshInstance3D = child
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var local_aabb: AABB = mesh_instance.get_aabb()
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var global_aabb: AABB = mesh_instance.global_transform * mesh_instance.get_aabb()
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# Shift the global AABB to grid-local coordinates by offsetting with grid_origin.
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var aabb_min: Vector3 = global_aabb.position - grid_origin
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var aabb_max: Vector3 = (global_aabb.position + global_aabb.size) - grid_origin
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# Convert the X and Z coordinates to grid cell indices (using floor() for proper rounding).
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var min_cell_x: int = int(floor(aabb_min.x / cell_size))
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var min_cell_y: int = int(floor(aabb_min.z / cell_size)) # We use Z as our grid’s "y" index.
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var max_cell_x: int = int(floor(aabb_max.x / cell_size))
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var max_cell_y: int = int(floor(aabb_max.z / cell_size))
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# Loop over the cells covered by this AABB and add them.
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for x in range(min_cell_x, max_cell_x + 1):
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for y in range(min_cell_y, max_cell_y + 1):
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all_occupied_cells.append(Vector2(x, y))
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myFlowField.compute_flow(200, 200, 0, 0, all_occupied_cells);

‎demo/scripts/SteeringBehaviors/FlowField.gd.uid

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uid://basfttxylkrle

‎src/Example/Hello_World.cpp

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