S013010C_Aaron_Smith_Tank::S013010C_Aaron_Smith_Tank(SDL_Renderer* renderer, TankSetupDetails details,bool demoTank)
: BaseTank(renderer, details)
{
mTankTurnDirection = DIRECTION_UNKNOWN;
mTankTurnKeyDown = false;
mTankMoveDirection = DIRECTION_NONE;
mTankMoveKeyDown = false;
mManTurnDirection = DIRECTION_UNKNOWN;
mManKeyDown = false;
mFireKeyDown = false;
mIsSeeking = false;
mSteering = new S013010C_Aaron_Smith_Steering(this,demoTank);
mTargetPos = Vector2D(0, 0);//Vector2D(479.5f,100.0f);
mTargetSprite = new Texture2D(renderer);
mTargetSprite->LoadFromFile("Images\\Target.png");
mDrawTarget = false;
mHasTarget = false;
mRenderer = renderer;
mIsTestTank = demoTank;
mShowingDebug = false;
mLeftFeelers = vector<Vector2D>();
mRightFeelers = vector<Vector2D>();
mStraightFeelers = vector<Vector2D>();
mLeftSideFeelers = vector<Vector2D>();
mRightSideFeelers = vector<Vector2D>();
/*CreateLeftFeelers(mLeftFeelers);
CreateRightFeelers(mRightFeelers);
CreateStraightFeelers(mStraightFeelers);*/
CreateFeelers(mRightSideFeelers, 90, 60, GetCentralPosition());
CreateFeelers(mLeftSideFeelers, -90, 60, GetCentralPosition());
CreateFeelers(mLeftFeelers, -30, 80, mTopLeftCorner);
CreateFeelers(mRightFeelers, 30, 80, mTopRightCorner);
CreateFeelers(mStraightFeelers, 0, 70, mTopLeftCorner);
demoPursuit = false;
cout << "1. Arrive" << endl;
cout << "2. Seek" << endl;
cout << "3. Flee" << endl;
cout << "4. Pursuit" << endl;
}
Vec2 SteeringForce::WallAvoidance(const std::vector<Wall2D> &walls)
{
//创建实体的触须
CreateFeelers();
double DistToThisIp = 0.0;
double DistToClosestIp = MAXFLOAT;
//保存walls的向量的索引
int ClosestWall = -1;
Vec2 SteeringForce,
point,
ClosestPoint;
float s,t;
//逐个检查每条触须
for (int flr = 0; flr<m_feelers.size(); ++flr) {
//跑过每堵墙，检查相交点
for (int w = 0;w<walls.size() ; w++ ) {
if (Vec2::isLineIntersect(walls[w].From ,walls[w].To ,m_feelers[flr],m_pVehicle->getPosition() ,&s,&t)) {
if (s <1&&t<1&&s>0&&t>0) {
ClosestPoint = m_pVehicle->getPosition() + t*(m_feelers[flr] - m_pVehicle->getPosition());
DistToThisIp = (ClosestPoint).length();
if (DistToThisIp < DistToClosestIp) {
DistToClosestIp = DistToThisIp;
ClosestWall = w;
ClosestPoint = point;
}
}
}
}//下一堵墙
if (ClosestWall >=0) {
Vec2 OverShoot = m_feelers[flr]-ClosestPoint;
SteeringForce = walls[ClosestWall].Normal*OverShoot.length();
}
}//下一跳触须
return SteeringForce;
}
ofVec3f SteeringBehaviors::WallAvoidance(const std::vector<Wall*>& _walls)
{
CreateFeelers();
float DistToThisIP = 0.0;
float DistToClosestIP = FLT_MAX;
int ClosestWall = -1;
ofVec3f _steeringForce,
point,
ClosestPoint;
ofVec3f vpos = m_Vehicle->Pos(); // alias
ofxIntersection _ofxIntersection;
IsLine linedFeeler;
IsPlane planedWall;
//examine feelers
for (unsigned int flr = 0; flr < m_Feelers.size(); ++flr)
{
linedFeeler.set(vpos, *m_Feelers[flr]);
//linedFeeler.draw();
//examine walls
for (unsigned int w = 0; w < _walls.size(); ++w)
{
switch (_walls[w]->EntityType())
{
case BaseEntity::wallxz:
planedWall.set(_walls[w]->Pos(), _walls[w]->GetYAxis());
break;
case BaseEntity::wallyz:
planedWall.set(_walls[w]->Pos(), _walls[w]->GetXAxis());
break;
case BaseEntity::wallyx:
planedWall.set(_walls[w]->Pos(), _walls[w]->GetZAxis());
break;
}
IntersectionData Id = _ofxIntersection.LinePlaneIntersection(linedFeeler, planedWall);
if (Id.isIntersection)
{
DistToThisIP = m_Vehicle->Pos().distance(Id.pos);
if (DistToThisIP < DistToClosestIP)
{
DistToClosestIP = DistToThisIP;
ClosestWall = w;
ClosestPoint = Id.pos;
}
break;
}
}//next wall
//if wall found return force
if (ClosestWall >= 0)
{
ofVec3f OverShoot = *m_Feelers[flr] - ClosestPoint;
int _sign = 1;
//create a force in the direction of the wall normal, with a
//magnitude of the overshoot
switch (_walls[ClosestWall]->EntityType())
{
case BaseEntity::wallxz:
if (vpos.y > ClosestPoint.y)
_sign = 1;
else
_sign = -1;
_steeringForce = _walls[ClosestWall]->GetYAxis()*OverShoot.length()*_sign;
break;
case BaseEntity::wallyx:
if (vpos.z > ClosestPoint.z)
_sign = 1;
else
_sign = -1;
_steeringForce = _walls[ClosestWall]->GetZAxis()*OverShoot.length()*_sign;
break;
case BaseEntity::wallyz:
if (vpos.x > ClosestPoint.x)
_sign = 1;
else
_sign = -1;
_steeringForce = _walls[ClosestWall]->GetXAxis()*OverShoot.length()*_sign;
break;
}
}
}//next feeler
DestroyFeelers();
return (_steeringForce);// -m_Vehicle->Velocity());
}
Vector2D B020612E_Steering::ObstacleAvoidance(const std::vector<GameObject*>& obstacles)
{
CreateFeelers();
return Vector2D(0.0f, 0.0f);
}
void S013010C_Aaron_Smith_Tank::MoveInHeadingDirection(float deltaTime)
{
mSteeringForce = mSteering->Calculate(deltaTime);
//Acceleration = Force/Mass
//mSteeringForce.Truncate(GetMaxForce());
Vector2D acceleration = mSteeringForce / GetMass();
//Update velocity.
mVelocity += acceleration * deltaTime;
//Don't allow the tank does not go faster than max speed.
mVelocity.Truncate(GetMaxSpeed());
//cout << "mVelocity " << mVelocity.x << ":" << mVelocity.y << endl;
//cout << "VELOCITY " << mVelocity.Length() << endl;
if (mVelocity.Length() > 0.0001)
{
if (mVelocity.x != mVelocity.x || mVelocity.y != mVelocity.y) return;
Vector2D newPosition = GetPosition();
newPosition.x += mVelocity.x*deltaTime;
newPosition.y += (mVelocity.y)*deltaTime; //Y flipped as adding to Y moves down screen.
SetPosition(newPosition);
Vector2D ahead = Vec2DNormalize(mVelocity);
if (ahead.Length() == 0)
ahead = mHeading;
Vector2D cenPos = GetCentrePosition();
Vector2D aheadDistance = cenPos + ahead * 10 ;
RotateHeadingToTarget(aheadDistance);
// double dynamicLength = mVelocity.Length() / GetMaxSpeed();
Vector2D left = (mHeading - mSide) * 0.5;
Vector2D right = (mHeading + mSide) * 0.5;
mTopLeftCorner.x = left.x;
mTopLeftCorner.y = left.y;
mTopLeftCorner = Vec2DNormalize(mTopLeftCorner) * -10;
mTopLeftCorner += GetCentralPosition();
mTopRightCorner.x = right.x;
mTopRightCorner.y = right.y;
mTopRightCorner = Vec2DNormalize(mTopRightCorner) * -10;
mTopRightCorner += GetCentralPosition();
/*double angle = 70;
int ahead2Amount = 40;
int ahead1Amount = ahead2Amount / 2;
int side2Amount = 30;
int side1Amount = side2Amount / 2;
Vector2D fannedLeftAhead;
fannedLeftAhead.x = ahead.x * cos(DegsToRads(-angle)) - ahead.y * sin(DegsToRads(-angle));
fannedLeftAhead.y = ahead.x * sin(DegsToRads(-angle)) + ahead.y * cos(DegsToRads(-angle));
Vector2D fannedRightAhead;
fannedRightAhead.x = ahead.x * cos(DegsToRads(angle)) - ahead.y * sin(DegsToRads(angle));
fannedRightAhead.y = ahead.x * sin(DegsToRads(angle)) + ahead.y * cos(DegsToRads(angle));
mLeftAhead2Distance = (mTopLeftCorner) + (fannedLeftAhead * dynamicLength * side2Amount);
mLeftAhead1Distance = (mTopLeftCorner) + (fannedLeftAhead * dynamicLength * side1Amount);
mRightAhead2Distance = (mTopRightCorner)+(fannedRightAhead * dynamicLength * side2Amount);
mRightAhead1Distance = (mTopRightCorner)+(fannedRightAhead * dynamicLength * side1Amount);
mAhead1Distance = GetCentrePosition() + (ahead * dynamicLength * ahead1Amount );
mAhead2Distance = GetCentrePosition() + (ahead * dynamicLength * (ahead2Amount + 50));*/
//cout << "AHEAD " << mLeftAhead2Distance.x << ":" << mLeftAhead2Distance.y << endl;
//mAhead1Distance = mAhead2Distance * 0.5;
}
CreateFeelers(mRightSideFeelers, 90, 30, GetCentralPosition());
CreateFeelers(mLeftSideFeelers, -90, 30, GetCentralPosition());
CreateFeelers(mLeftFeelers, -40, 30, mTopLeftCorner);
CreateFeelers(mRightFeelers, 40, 30, mTopRightCorner); // 70
CreateFeelers(mStraightFeelers, 0, 40, mTopLeftCorner);
}