Minor command AI improvements

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

@@ -11,14 +11,16 @@ import mindustry.gen.*;
 import mindustry.world.*;
 
 public class CommandAI extends AIController{
-    private static final float localInterval = 30f;
-    private static final Vec2 vecOut = new Vec2();
+    private static final float localInterval = 40f;
+    private static final Vec2 vecOut = new Vec2(), flockVec = new Vec2(), separation = new Vec2(), cohesion = new Vec2(), massCenter = new Vec2();
 
     public @Nullable Vec2 targetPos;
     public @Nullable Teamc attackTarget;
 
+    private Vec2 lastTargetPos;
     private int pathId = -1;
     private Seq<Unit> local = new Seq<>(false);
+    private boolean flocked;
 
     @Override
     public void updateUnit(){
@@ -31,18 +33,28 @@ public class CommandAI extends AIController{
         }
 
         if(targetPos != null){
-            if(timer.get(timerTarget3, localInterval)){
+            if(timer.get(timerTarget3, localInterval) || !flocked){
+                if(!flocked){
+                    //make sure updates are staggered randomly
+                    timer.reset(timerTarget3, Mathf.random(localInterval));
+                }
+
                 local.clear();
+                //TODO experiment with 2/3/4
                 float size = unit.hitSize * 3f;
                 unit.team.data().tree().intersect(unit.x - size / 2f, unit.y - size/2f, size, size, local);
+                local.remove(unit);
+                flocked = true;
             }
         }else{
-            //make sure updates are staggered randomly
-            timer.reset(timerTarget3, Mathf.random(localInterval));
+            flocked = false;
         }
 
         if(attackTarget != null){
-            if(targetPos == null) targetPos = new Vec2();
+            if(targetPos == null){
+                targetPos = new Vec2();
+                lastTargetPos = targetPos;
+            }
             targetPos.set(attackTarget);
 
             if(unit.isGrounded() && attackTarget instanceof Building build && build.tile.solid() && unit.pathType() != Pathfinder.costLegs){
@@ -68,7 +80,9 @@ public class CommandAI extends AIController{
                     attackTarget != null && unit.within(attackTarget, engageRange) ? engageRange :
                     unit.isGrounded() ? 0f :
                     attackTarget != null ? engageRange :
-                    0f, 100f, false);
+                    0f, 100f, false, null);
+
+                //calculateFlock().limit(unit.speed() * flockMult)
             }
 
             if(unit.isFlying()){
@@ -77,14 +91,75 @@ public class CommandAI extends AIController{
                 faceTarget();
             }
 
-            if(attackTarget == null && unit.within(targetPos, Math.max(5f, unit.hitSize / 2.5f))){
-                targetPos = null;
+            if(attackTarget == null){
+                if(unit.within(targetPos, Math.max(5f, unit.hitSize / 2f))){
+                    targetPos = null;
+                }else if(local.size > 1){
+                    int count = 0;
+                    for(var near : local){
+                        //has arrived
+                        if(near.isCommandable() && !near.command().hasCommand() && targetPos.equals(near.command().lastTargetPos)){
+                            count ++;
+                        }
+                    }
+
+                    //others have arrived at destination, so this one will too
+                    if(count >= Math.max(2, local.size / 3)){
+                        targetPos = null;
+                    }
+                }
             }
+
         }else if(target != null){
             faceTarget();
         }
     }
 
+    public static float cohesionScl = 0.3f;
+    public static float cohesionRad = 3f, separationRad = 1.1f, separationScl = 1f, flockMult = 0.5f;
+
+    //TODO ひどい
+    Vec2 calculateFlock(){
+        if(local.isEmpty()) return flockVec.setZero();
+
+        flockVec.setZero();
+        separation.setZero();
+        cohesion.setZero();
+        massCenter.set(unit);
+
+        float rad = unit.hitSize;
+        float sepDst = rad * separationRad, cohDst = rad * cohesionRad;
+
+        //"cohesed" isn't even a word smh
+        int separated = 0, cohesed = 1;
+
+        for(var other : local){
+            float dst = other.dst(unit);
+            if(dst < sepDst){
+                separation.add(Tmp.v1.set(unit).sub(other).scl(1f / sepDst));
+                separated ++;
+            }
+
+            if(dst < cohDst){
+                massCenter.add(other);
+                cohesed ++;
+            }
+        }
+
+        if(separated > 0){
+            separation.scl(1f / separated);
+            flockVec.add(separation.scl(separationScl));
+        }
+
+        if(cohesed > 1){
+            massCenter.scl(1f / cohesed);
+            flockVec.add(Tmp.v1.set(massCenter).sub(unit).limit(cohesionScl * unit.type.speed));
+            //seek mass center?
+        }
+
+        return flockVec;
+    }
+
     @Override
     public boolean keepState(){
         return true;
@@ -107,6 +182,7 @@ public class CommandAI extends AIController{
 
     public void commandPosition(Vec2 pos){
         targetPos = pos;
+        lastTargetPos = pos;
         attackTarget = null;
         pathId = Vars.controlPath.nextTargetId();
     }

core/src/mindustry/entities/units/AIController.java

@@ -256,10 +256,10 @@ public class AIController implements UnitController{
     }
 
     public void moveTo(Position target, float circleLength, float smooth){
-        moveTo(target, circleLength, smooth, unit.isFlying());
+        moveTo(target, circleLength, smooth, unit.isFlying(), null);
     }
 
-    public void moveTo(Position target, float circleLength, float smooth, boolean keepDistance){
+    public void moveTo(Position target, float circleLength, float smooth, boolean keepDistance, @Nullable Vec2 offset){
         if(target == null) return;
 
         vec.set(target).sub(unit);
@@ -267,6 +267,7 @@ public class AIController implements UnitController{
         float length = circleLength <= 0.001f ? 1f : Mathf.clamp((unit.dst(target) - circleLength) / smooth, -1f, 1f);
 
         vec.setLength(unit.speed() * length);
+
         if(length < -0.5f){
             if(keepDistance){
                 vec.rotate(180f);
@@ -277,6 +278,11 @@ public class AIController implements UnitController{
             vec.setZero();
         }
 
+        if(offset != null){
+            vec.add(offset);
+            vec.setLength(unit.speed() * length);
+        }
+
         //do not move when infinite vectors are used.
         if(vec.isNaN() || vec.isInfinite()) return;