Vector3 SteeringVehicle::calcWander(const float elapsedTime)
{
Vector3 steering = mForwardVector;
steering += Vec3Utils::setYtoZero(steerForWander(elapsedTime/12.0f));
mDebugWander = steering;
return steering;
}
//-----------------------------------------------------------------------------
// compute combined steering force: move forward, avoid obstacles
// or neighbors if needed, otherwise follow the path and wander
osVector3 Pedestrian::determineCombinedSteering (const float elapsedTime)
{
// note: to enable a better view on a remote vehicle we just
// skip computing a steering force for these guys
// it is the model to use anyways
// AI code has nothing todo on the remote side
if( isRemoteObject() ) {
return osVector3::zero;
}
// move forward
osVector3 steeringForce = forward();
// probability that a lower priority behavior will be given a
// chance to "drive" even if a higher priority behavior might
// otherwise be triggered.
// const float leakThrough = 0.1f;
// no random behaviour for network samples
const float leakThrough = -1.0f;
// determine if obstacle avoidance is required
osVector3 obstacleAvoidance;
if (leakThrough < frandom01()) {
const float oTime = 6; // minTimeToCollision = 6 seconds
// ------------------------------------ xxxcwr11-1-04 fixing steerToAvoid
// just for testing
// obstacleAvoidance = steerToAvoidObstacles (oTime, gObstacles);
// obstacleAvoidance = steerToAvoidObstacle (oTime, gObstacle1);
// obstacleAvoidance = steerToAvoidObstacle (oTime, gObstacle3);
obstacleAvoidance = steerToAvoidObstacles (oTime, gObstacles);
// ------------------------------------ xxxcwr11-1-04 fixing steerToAvoid
}
// if obstacle avoidance is needed, do it
if (obstacleAvoidance != osVector3::zero) {
steeringForce += obstacleAvoidance;
}
else {
// otherwise consider avoiding collisions with others
osVector3 collisionAvoidance;
const float caLeadTime = 3;
// find all neighbors within maxRadius using proximity database
// (radius is largest distance between vehicles traveling head-on
// where a collision is possible within caLeadTime seconds.)
const float maxRadius = caLeadTime * maxSpeed() * 2;
if( _proximityToken != nullptr) {
_neighbors.clear();
_proximityToken->findNeighbors (position(), maxRadius, _neighbors);
}
// allways avoid neighbors
// if (leakThrough < frandom01())
{
collisionAvoidance = steerToAvoidNeighbors (caLeadTime, _neighbors) * 10;
}
// if collision avoidance is needed, do it
if (collisionAvoidance != osVector3::zero) {
steeringForce += collisionAvoidance;
}
else {
#if 0
NetPedestrianPlugin* netPedestrianPlugin = dynamic_cast<NetPedestrianPlugin*>(getParentEntity());
// add in wander component (according to user switch)
if (netPedestrianPlugin->m_bWanderSwitch)
steeringForce += steerForWander (elapsedTime);
#endif
// do (interactively) selected type of path following
const float pfLeadTime = 3;
const bool useDirectPathFollowing(true);
const osVector3 pathFollow =
(useDirectPathFollowing ? //(netPedestrianPlugin->m_bUseDirectedPathFollowing ?
steerToFollowPath (pathDirection, pfLeadTime, *path) :
steerToStayOnPath (pfLeadTime, *path));
// add in to steeringForce
steeringForce += pathFollow * 0.5;
}
}
#if OPENSTEER_Z_ISUP
// return steering constrained to global XY "ground" plane
return steeringForce.setZtoZero();
#else
// return steering constrained to global XZ "ground" plane
return steeringForce.setYtoZero();
#endif
}
