Validate POC A and POC B foundations
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extends Node3D
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const SonarHudScript = preload("res://src/sonar_hud.gd")
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const SonarModelScript = preload("res://src/sonar_model.gd")
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const SonarSystemScript = preload("res://src/sonar_system.gd")
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const START_POSITION := Vector3(0.0, -25.0, 22.0)
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const METAL_CONTACT_POSITION := Vector3(0.0, -34.0, -45.0)
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var _submarine: SubmarineController
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var _sonar: Node
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var _hud: CanvasLayer
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var _ping_audio: AudioStreamPlayer
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var _ping_audio_time_remaining := 0.0
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func _ready() -> void:
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_ensure_input_actions()
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_build_environment()
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_build_calibration_site()
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_hud = SonarHudScript.new()
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_hud.name = "SonarHud"
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_hud.expanded_changed.connect(_on_sonar_expanded_changed)
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add_child(_hud)
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_submarine = SubmarineController.new()
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_submarine.name = "Submarine"
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_submarine.position = START_POSITION
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_submarine.mission_origin = START_POSITION
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_submarine.telemetry_updated.connect(_hud.update_telemetry)
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add_child(_submarine)
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_sonar = SonarSystemScript.new()
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_sonar.name = "SonarSystem"
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_sonar.ping_started.connect(_on_ping_started)
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_sonar.ping_progress.connect(_on_ping_progress)
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_sonar.ping_completed.connect(_on_ping_completed)
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add_child(_sonar)
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_sonar.setup(_submarine, self)
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_ping_audio = AudioStreamPlayer.new()
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_ping_audio.name = "SonarAudio"
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add_child(_ping_audio)
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func _process(delta: float) -> void:
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_hud.update_sonar_pose(_submarine.global_transform)
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if _ping_audio_time_remaining > 0.0:
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_ping_audio_time_remaining = maxf(0.0, _ping_audio_time_remaining - delta)
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if _ping_audio_time_remaining <= 0.0:
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_ping_audio.stop()
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_ping_audio.stream = null
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func _unhandled_input(event: InputEvent) -> void:
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if event.is_action_pressed("sonar_ping"):
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_sonar.request_ping()
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elif event.is_action_pressed("toggle_sonar_map"):
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_hud.toggle_expanded()
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get_viewport().set_input_as_handled()
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elif event.is_action_pressed("toggle_mouse_capture") and _hud.is_expanded():
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_hud.set_expanded(false)
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get_viewport().set_input_as_handled()
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func _on_ping_started() -> void:
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_hud.show_ping_started(_sonar.max_range)
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_play_sonar_ping()
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func _on_ping_progress(
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current_cells: Array[Dictionary],
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previous_cells: Array[Dictionary],
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progress: float
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) -> void:
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_hud.show_ping_progress(
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current_cells,
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previous_cells,
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_sonar.max_range,
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progress
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)
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func _on_ping_completed(
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current_cells: Array[Dictionary],
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previous_cells: Array[Dictionary]
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) -> void:
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_hud.show_ping_results(current_cells, previous_cells, _sonar.max_range)
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func _on_sonar_expanded_changed(is_expanded: bool) -> void:
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Input.mouse_mode = (
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Input.MOUSE_MODE_VISIBLE
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if is_expanded
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else Input.MOUSE_MODE_CAPTURED
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)
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func _build_environment() -> void:
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var world_environment := WorldEnvironment.new()
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var environment := Environment.new()
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environment.background_mode = Environment.BG_COLOR
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environment.background_color = Color("020d13")
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environment.ambient_light_source = Environment.AMBIENT_SOURCE_COLOR
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environment.ambient_light_color = Color("2b6870")
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environment.ambient_light_energy = 0.46
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environment.fog_enabled = true
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environment.fog_light_color = Color("19434b")
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environment.fog_light_energy = 0.46
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environment.fog_density = 0.010
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world_environment.environment = environment
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add_child(world_environment)
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var light := DirectionalLight3D.new()
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light.rotation_degrees = Vector3(-48.0, -22.0, 0.0)
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light.light_color = Color("86c8cf")
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light.light_energy = 0.34
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add_child(light)
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_add_water_particles()
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func _build_calibration_site() -> void:
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_add_bathymetric_terrain()
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_add_metal_contact()
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func _add_bathymetric_terrain() -> void:
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var terrain := StaticBody3D.new()
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terrain.name = "ContinuousCalibrationSeafloor"
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terrain.set_meta("sonar_material", SonarModelScript.MaterialCategory.ROCK)
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terrain.set_meta("sonar_reflectivity", 0.72)
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add_child(terrain)
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var mesh := _build_bathymetric_terrain_mesh()
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var mesh_instance := MeshInstance3D.new()
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mesh_instance.mesh = mesh
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var material := StandardMaterial3D.new()
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material.albedo_color = Color("315f5c")
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material.roughness = 0.96
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mesh_instance.material_override = material
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terrain.add_child(mesh_instance)
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var collision := CollisionShape3D.new()
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var shape := ConcavePolygonShape3D.new()
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shape.set_faces(mesh.get_faces())
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shape.backface_collision = true
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collision.shape = shape
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terrain.add_child(collision)
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func _build_bathymetric_terrain_mesh() -> ArrayMesh:
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var column_count := 61
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var row_count := 69
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var terrain_width := 150.0
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var terrain_length := 170.0
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var terrain_center_z := -28.0
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var vertices: Array[Vector3] = []
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var normals: Array[Vector3] = []
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var indices: Array[int] = []
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for row in row_count:
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var z := terrain_center_z + lerpf(
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terrain_length * 0.5,
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-terrain_length * 0.5,
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float(row) / float(row_count - 1)
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)
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for column in column_count:
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var x := lerpf(
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-terrain_width * 0.5,
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terrain_width * 0.5,
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float(column) / float(column_count - 1)
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)
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vertices.append(Vector3(x, _terrain_height_at(x, z), z))
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normals.append(Vector3.ZERO)
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for row in row_count - 1:
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for column in column_count - 1:
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var near_left := row * column_count + column
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var near_right := near_left + 1
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var far_left := (row + 1) * column_count + column
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var far_right := far_left + 1
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_append_terrain_triangle(
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near_left,
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near_right,
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far_left,
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vertices,
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normals,
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indices
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)
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_append_terrain_triangle(
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near_right,
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far_right,
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far_left,
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vertices,
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normals,
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indices
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)
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for normal_index in normals.size():
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normals[normal_index] = normals[normal_index].normalized()
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var arrays: Array = []
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arrays.resize(Mesh.ARRAY_MAX)
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arrays[Mesh.ARRAY_VERTEX] = PackedVector3Array(vertices)
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arrays[Mesh.ARRAY_NORMAL] = PackedVector3Array(normals)
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arrays[Mesh.ARRAY_INDEX] = PackedInt32Array(indices)
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var mesh := ArrayMesh.new()
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mesh.add_surface_from_arrays(Mesh.PRIMITIVE_TRIANGLES, arrays)
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return mesh
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func _append_terrain_triangle(
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first: int,
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second: int,
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third: int,
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vertices: Array[Vector3],
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normals: Array[Vector3],
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indices: Array[int]
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) -> void:
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var normal := (vertices[second] - vertices[first]).cross(
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vertices[third] - vertices[first]
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).normalized()
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if normal.y < 0.0:
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var swapped := second
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second = third
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third = swapped
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normal = -normal
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indices.append_array([first, second, third])
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normals[first] += normal
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normals[second] += normal
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normals[third] += normal
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func _terrain_height_at(x: float, z: float) -> float:
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var base := -39.4 + (z + 12.0) * 0.018
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base += sin(x * 0.11) * 0.28 + cos(z * 0.085) * 0.24
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var height := base
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height += _gaussian_height(x, z, -12.0, -8.0, 9.2, 6.0, 8.0)
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height += _gaussian_height(x, z, 14.0, -15.0, 8.2, 6.5, 8.5)
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height += _gaussian_height(x, z, -10.0, -42.0, 16.0, 7.5, 14.0)
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height += _gaussian_height(x, z, 10.0, -42.0, 16.0, 7.5, 14.0)
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height += _gaussian_height(x, z, 0.0, -53.0, 12.0, 15.0, 7.5)
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# This narrow negative ridge cuts a readable entrance into the mound. It is
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# intentionally a bathymetric approximation rather than an impossible
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# overhang in a height field.
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height -= _gaussian_height(x, z, 0.0, -41.0, 19.0, 4.2, 16.0)
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return maxf(height, base - 1.0)
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func _gaussian_height(
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x: float,
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z: float,
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center_x: float,
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center_z: float,
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amplitude: float,
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width_x: float,
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width_z: float
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) -> float:
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var normalized_x := (x - center_x) / maxf(width_x, 0.001)
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var normalized_z := (z - center_z) / maxf(width_z, 0.001)
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return amplitude * exp(-0.5 * (normalized_x * normalized_x + normalized_z * normalized_z))
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func _add_rock_box(
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node_name: String,
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box_position: Vector3,
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box_size: Vector3,
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box_rotation_degrees: Vector3 = Vector3.ZERO
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) -> StaticBody3D:
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var body := StaticBody3D.new()
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body.name = node_name
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body.position = box_position
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body.rotation_degrees = box_rotation_degrees
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body.set_meta("sonar_material", SonarModelScript.MaterialCategory.ROCK)
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body.set_meta("sonar_reflectivity", 0.68)
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add_child(body)
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var mesh_instance := MeshInstance3D.new()
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var mesh := BoxMesh.new()
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mesh.size = box_size
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mesh_instance.mesh = mesh
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var material := StandardMaterial3D.new()
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material.albedo_color = Color("315b59")
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material.roughness = 0.92
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mesh_instance.material_override = material
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body.add_child(mesh_instance)
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var collision := CollisionShape3D.new()
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var shape := BoxShape3D.new()
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shape.size = box_size
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collision.shape = shape
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body.add_child(collision)
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return body
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func _add_metal_contact() -> void:
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var contact := StaticBody3D.new()
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contact.name = "MetalCalibrationObject"
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contact.position = Vector3(
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METAL_CONTACT_POSITION.x,
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_terrain_height_at(METAL_CONTACT_POSITION.x, METAL_CONTACT_POSITION.z) + 2.5,
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METAL_CONTACT_POSITION.z
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)
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contact.rotation_degrees.y = 16.0
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contact.set_meta("sonar_material", SonarModelScript.MaterialCategory.METAL)
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contact.set_meta("sonar_reflectivity", 1.0)
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add_child(contact)
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var mesh_instance := MeshInstance3D.new()
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var mesh := BoxMesh.new()
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mesh.size = Vector3(8.0, 5.0, 7.0)
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mesh_instance.mesh = mesh
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var material := StandardMaterial3D.new()
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material.albedo_color = Color("855a35")
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material.metallic = 0.88
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material.roughness = 0.30
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mesh_instance.material_override = material
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contact.add_child(mesh_instance)
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var collision := CollisionShape3D.new()
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var shape := BoxShape3D.new()
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shape.size = Vector3(8.0, 5.0, 7.0)
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collision.shape = shape
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contact.add_child(collision)
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func _add_water_particles() -> void:
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var particles := GPUParticles3D.new()
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particles.name = "CalibrationWaterParticles"
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particles.position = Vector3(0.0, -28.0, -15.0)
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particles.amount = 280
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particles.lifetime = 13.0
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particles.preprocess = 13.0
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particles.visibility_aabb = AABB(
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Vector3(-55.0, -24.0, -65.0),
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Vector3(110.0, 48.0, 130.0)
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)
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var motion := ParticleProcessMaterial.new()
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motion.emission_shape = ParticleProcessMaterial.EMISSION_SHAPE_BOX
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motion.emission_box_extents = Vector3(50.0, 20.0, 58.0)
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motion.direction = Vector3(0.2, 0.08, 0.05)
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motion.spread = 45.0
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motion.initial_velocity_min = 0.02
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motion.initial_velocity_max = 0.09
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motion.gravity = Vector3.ZERO
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motion.scale_min = 0.035
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motion.scale_max = 0.10
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particles.process_material = motion
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var quad := QuadMesh.new()
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quad.size = Vector2(0.07, 0.07)
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var material := StandardMaterial3D.new()
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material.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
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material.billboard_mode = BaseMaterial3D.BILLBOARD_ENABLED
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material.albedo_color = Color(0.58, 0.86, 0.90, 0.35)
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quad.material = material
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particles.draw_pass_1 = quad
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add_child(particles)
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func _play_sonar_ping() -> void:
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var generator := AudioStreamGenerator.new()
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generator.mix_rate = 22050.0
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generator.buffer_length = 0.5
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_ping_audio.stream = generator
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_ping_audio.play()
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var playback := _ping_audio.get_stream_playback() as AudioStreamGeneratorPlayback
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if playback == null:
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return
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var duration := 0.42
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_ping_audio_time_remaining = duration + 0.08
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var frame_count := int(generator.mix_rate * duration)
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for frame_index in frame_count:
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var time := float(frame_index) / generator.mix_rate
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var frequency := lerpf(1180.0, 640.0, time / duration)
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var envelope := exp(-time * 7.5) * minf(time * 80.0, 1.0)
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var sample := sin(TAU * frequency * time) * envelope * 0.22
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playback.push_frame(Vector2(sample, sample))
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func _ensure_input_actions() -> void:
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_register_key_action("move_forward", KEY_W)
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_register_key_action("move_backward", KEY_S)
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_register_key_action("move_left", KEY_A)
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_register_key_action("move_right", KEY_D)
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_register_key_action("ascend", KEY_SPACE)
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_register_key_action("descend", KEY_CTRL)
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_register_key_action("boost", KEY_SHIFT)
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_register_key_action("abandon_vehicle", KEY_X)
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_register_key_action("toggle_mouse_capture", KEY_ESCAPE)
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_register_key_action("sonar_ping", KEY_F)
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_register_key_action("toggle_sonar_map", KEY_TAB)
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func _register_key_action(action_name: StringName, physical_keycode: Key) -> void:
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if not InputMap.has_action(action_name):
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InputMap.add_action(action_name)
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if InputMap.action_get_events(action_name).is_empty():
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var key_event := InputEventKey.new()
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key_event.physical_keycode = physical_keycode
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InputMap.action_add_event(action_name, key_event)
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