Improved approach behavior in formations/logic

core/src/mindustry/ai/types/FormationAI.java

@@ -37,7 +37,6 @@ public class FormationAI extends AIController implements FormationMember{
         }
 
         unit.controlWeapons(true, leader.isShooting);
-        // unit.moveAt(Tmp.v1.set(deltaX, deltaY).limit(unit.type().speed));
 
         unit.aim(leader.aimX(), leader.aimY());
 
@@ -47,17 +46,10 @@ public class FormationAI extends AIController implements FormationMember{
             unit.lookAt(unit.vel.angle());
         }
 
-        Vec2 realtarget = vec.set(target);
+        Vec2 realtarget = vec.set(target).add(leader.vel.x, leader.vel.y);
 
-        float margin = 4f;
+        float speed = unit.realSpeed() * unit.floorSpeedMultiplier();
-
+        unit.approach(Mathf.arrive(unit.x, unit.y, realtarget.x, realtarget.y, unit.vel, 0f, 0.01f, speed, 1f));
-        float speed = unit.realSpeed();
-
-        if(unit.dst(realtarget) <= margin){
-            //unit.vel.approachDelta(Vec2.ZERO, speed * type.accel / 2f);
-        }else{
-            unit.moveAt(realtarget.sub(unit).limit(speed));
-        }
 
         if(unit.canMine() && leader.canMine()){
             if(leader.mineTile != null && unit.validMine(leader.mineTile)){

core/src/mindustry/ai/types/LogicAI.java

@@ -1,6 +1,7 @@
 package mindustry.ai.types;
 
 import arc.math.*;
+import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
 import mindustry.ai.*;
@@ -67,7 +68,7 @@ public class LogicAI extends AIController{
                 moveTo(Tmp.v1.set(moveX, moveY), 1f, 30f);
             }
             case approach -> {
-                moveTo(Tmp.v1.set(moveX, moveY), moveRad - 8f, 8f);
+                moveTo(Tmp.v1.set(moveX, moveY), moveRad - 7f, 7);
             }
             case pathfind -> {
                 Building core = unit.closestEnemyCore();
@@ -112,6 +113,24 @@ public class LogicAI extends AIController{
         return radars.add(radar);
     }
 
+    @Override
+    protected void moveTo(Position target, float circleLength, float smooth){
+        if(target == null) return;
+
+        vec.set(target).sub(unit);
+
+        float length = circleLength <= 0.001f ? 1f : Mathf.clamp((unit.dst(target) - circleLength) / smooth, -1f, 1f);
+
+        vec.setLength(unit.realSpeed() * length);
+        if(length < -0.5f){
+            vec.rotate(180f);
+        }else if(length < 0){
+            vec.setZero();
+        }
+
+        unit.approach(vec);
+    }
+
     //always retarget
     @Override
     protected boolean retarget(){

core/src/mindustry/entities/comp/MechComp.java

@@ -83,4 +83,12 @@ abstract class MechComp implements Posc, Flyingc, Hitboxc, Unitc, Mechc, Elevati
             walked = true;
         }
     }
+
+    @Override
+    public void approach(Vec2 vector){
+        if(!vector.isZero(0.09f)){
+            //mark walking state when moving in a controlled manner
+            walked = true;
+        }
+    }
 }

core/src/mindustry/entities/comp/UnitComp.java

@@ -38,6 +38,7 @@ abstract class UnitComp implements Healthc, Physicsc, Hitboxc, Statusc, Teamc, I
     @Import Team team;
     @Import int id;
     @Import @Nullable Tile mineTile;
+    @Import Vec2 vel;
 
     private UnitController controller;
     UnitType type;
@@ -51,6 +52,10 @@ abstract class UnitComp implements Healthc, Physicsc, Hitboxc, Statusc, Teamc, I
         moveAt(vector, type.accel);
     }
 
+    public void approach(Vec2 vector){
+        vel.approachDelta(vector, type.accel * realSpeed() * floorSpeedMultiplier());
+    }
+
     public void aimLook(Position pos){
         aim(pos);
         lookAt(pos);

gradle.properties

@@ -1,3 +1,3 @@
 org.gradle.daemon=true
 org.gradle.jvmargs=-Xms256m -Xmx1024m
-archash=f0400adb14a72ca567ea3b48ea8c3a22c55e1b9e
+archash=9cb277618ace40f91c93987ad922c16922c1a8d6