1 files changed, 78 insertions, 0 deletions
diff --git a/Scripts/car_behaviour.gd b/Scripts/car_behaviour.gd
new file mode 100644
index 0000000..b71ebb6
--- /dev/null
+++ b/Scripts/car_behaviour.gd
@@ -0,0 +1,78 @@
+extends StaticBody2D
+
+# editor variables
+@export var max_speed = 300
+@export var steer_force = 0.1
+@export var look_ahead = 75
+@export var num_rays = 32
+
+# context array
+var ray_directions = []
+var interest = []
+var danger = []
+
+var chosen_dir = Vector2.ZERO
+var velocity = Vector2.ZERO
+var acceleration = Vector2.ZERO
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	interest.resize(num_rays)
+	danger.resize(num_rays)
+	ray_directions.resize(num_rays)
+	for i in num_rays:
+		var angle = i * 2 * PI / num_rays
+		ray_directions[i] = Vector2.RIGHT.rotated(angle)
+	print(ray_directions)
+
+
+func _physics_process(delta):
+	set_interest()
+	set_danger()
+	choose_direction()
+	var desired_velocity = chosen_dir.rotated(rotation) * max_speed
+	velocity = velocity.lerp(desired_velocity, steer_force)
+	rotation = velocity.angle()
+	move_and_collide(velocity * delta)
+
+func set_interest():
+	# Set interest in each slot based on world direction
+	if owner and owner.has_method("get_path_direction"):
+		var path_direction = owner.get_path_direction(position)
+		for i in num_rays:
+			var d = ray_directions[i].rotated(rotation).dot(path_direction)
+			interest[i] = max(0, d)
+	# If no world path, use default interest
+	else:
+		set_default_interest()
+
+func set_default_interest():
+	# Default to moving forward
+	for i in num_rays:
+		var d = ray_directions[i].rotated(rotation).dot(transform.x)
+		interest[i] = max(0, d)
+
+func set_danger():
+	# Cast rays to find danger directions
+	var space_state = get_world_2d().direct_space_state
+	
+	var params = PhysicsRayQueryParameters2D.new()
+	params.from = position
+	params.exclude = [self]
+	
+	for i in num_rays:
+		params.to = position + ray_directions[i].rotated(rotation) * look_ahead
+		var result = space_state.intersect_ray(params)
+		danger[i] = 1.0 if result else 0.0
+
+func choose_direction():
+	# Eliminate interest in slots with danger
+	for i in num_rays:
+		if danger[i] > 0.0:
+			interest[i] = 0.0
+	# Choose direction based on remaining interest
+	chosen_dir = Vector2.ZERO
+	for i in num_rays:
+		chosen_dir += ray_directions[i] * interest[i]
+	chosen_dir = chosen_dir.normalized()