CFVec2 CSteeringAgent::GetRepulsionBearingEffect() const
{
CFVec2 vCumulativeRepulsionEffect = fv2EMPTY;
const vector<CCircle>& krRepulsionZones = CBlackboard::GetInstance().GetRepulsionZones();
for (unsigned int uiIndex = 0; uiIndex < krRepulsionZones.size(); uiIndex++)
{
CFVec2 vRepulsionEffect = m_krCat.GetPosition() - krRepulsionZones.at(uiIndex).Centre();
FLOAT32 fDistanceBetweenCenters = vRepulsionEffect.Magnitude();
FLOAT32 fDistanceBetweenBorders = fDistanceBetweenCenters - m_krCat.GetRadius() -
krRepulsionZones.at(uiIndex).Radius();
if (m_krCat.GetHeadingVector().DotProduct(vRepulsionEffect) < 0.0f &&
fDistanceBetweenBorders < m_fRepulsionBufferStatic)
{
FLOAT32 fDistanceIntoRepulsionBuffer = (m_fRepulsionBufferStatic - fDistanceBetweenBorders) /
m_fRepulsionBufferStatic;
vRepulsionEffect.Normalise();
vRepulsionEffect *= fDistanceIntoRepulsionBuffer;
vCumulativeRepulsionEffect += vRepulsionEffect;
}
}
const vector<const CCat*>& krCats = CBlackboard::GetInstance().GetCats();
for (unsigned int uiIndex = 0; uiIndex < krCats.size(); uiIndex++)
{
CFVec2 vRepulsionEffect = m_krCat.GetPosition() - krCats.at(uiIndex)->GetPosition();
FLOAT32 fDistanceBetweenCenters = vRepulsionEffect.Magnitude();
// We don't want the cat to repel itself...
if (fDistanceBetweenCenters == 0.0f)
{
continue;
}
FLOAT32 fDistanceBetweenBorders = fDistanceBetweenCenters - m_krCat.GetRadius() * 2.0f;
if (m_krCat.GetHeadingVector().DotProduct(vRepulsionEffect) < 0.0f &&
fDistanceBetweenBorders < m_fRepulsionBufferDynamic)
{
FLOAT32 fDistanceIntoRepulsionBuffer = (m_fRepulsionBufferDynamic - fDistanceBetweenBorders) /
m_fRepulsionBufferDynamic;
vRepulsionEffect.Normalise();
vRepulsionEffect *= fDistanceIntoRepulsionBuffer;
vCumulativeRepulsionEffect += vRepulsionEffect;
}
}
if (vCumulativeRepulsionEffect.Magnitude() > 1.0f)
{
vCumulativeRepulsionEffect.Normalise();
}
return vCumulativeRepulsionEffect;
}
CFVec2 CSteeringAgent::GetAbsoluteWhiskerStart(const CFVec2& _krvRelativeWhisker) const
{
CFVec2 vAbsoluteWhiskerStart = GetAdjustedWhisker(_krvRelativeWhisker);
if (vAbsoluteWhiskerStart.Magnitude() != 0.0f)
{
vAbsoluteWhiskerStart.Normalise();
vAbsoluteWhiskerStart *= m_krCat.GetRadius();
}
vAbsoluteWhiskerStart += m_krCat.GetPosition();
return vAbsoluteWhiskerStart;
}