seek.cpp

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/*
 * Copyright (C) 2023  Christopher J. Howard
 *
 * This file is part of Antkeeper source code.
 *
 * Antkeeper source code is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Antkeeper source code is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Antkeeper source code.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#include <engine/ai/steering/behavior/seek.hpp>
 
namespace ai {
namespace steering {
namespace behavior {
 
math::fvec3 seek(const agent& agent, const math::fvec3& target)
{
    math::fvec3 force = {0, 0, 0};
    const math::fvec3 difference = target - agent.position;
    const float sqr_distance = math::dot(difference, difference);
    
    if (sqr_distance)
    {
        const float inverse_distance = 1.0f / std::sqrt(sqr_distance);
        force = difference * inverse_distance * agent.max_force;
        force -= agent.velocity;
    }
    
    return force;
}
 
} // namespace behavior
} // namespace steering
} // namespace ai