b2Vec2 MapController::steeringBehaviourSeparation(Agent &agent)
{
b2Vec2 totalForce = b2Vec2_zero;
int neighboursCount = 0;
for (int i = 0; i < agents.size(); i++) {
Agent &a = agents[i];
if (&a != &agent) {
float32 distance = B2Vec2DHelper::distanceTo(agent.getPosition(), a.getPosition());
if (distance < agent.minSeparation && distance > 0) {
b2Vec2 pushForce = agent.getPosition() - a.getPosition();
float32 length = pushForce.Normalize(); //Normalize returns the original length
float32 r = (Agent::radius + Agent::radius);
totalForce += pushForce * (1 - ((length - r) / (Agent::minSeparation - r)));//agent.minSeparation)));
neighboursCount++;
}
}
}
if (neighboursCount == 0) {
return totalForce; //Zero
}
return totalForce * (Agent::maxForce / neighboursCount);
}
b2Vec2 MapController::steeringBehaviourFlowField(Agent &agent)
{
b2Vec2 floor = B2Vec2DHelper::floorV(agent.getPosition());
int x = floor.x;
int y = floor.y;
b2Vec2 f00 = isValid(x, y) ? flow[x][y] : b2Vec2_zero;
b2Vec2 f01 = isValid(x, y + 1) ? flow[x][y + 1] : b2Vec2_zero;
b2Vec2 f10 = isValid(x + 1, y) ? flow[x + 1][y] : b2Vec2_zero;
b2Vec2 f11 = isValid(x + 1, y + 1) ? flow[x + 1][y + 1] : b2Vec2_zero;
//Do the x interpolations
float32 xWeight = agent.getPosition().x - floor.x;
b2Vec2 top = f00 * (1 - xWeight) + f10 * xWeight;
b2Vec2 bottom = f01 * (1 - xWeight) + f11 * xWeight;
//Do the y interpolation
float32 yWeight = agent.getPosition().y - floor.y;
//This is now the direction we want to be travelling in (needs to be normalized)
b2Vec2 desiredDirection = top * (1 - yWeight) + bottom * yWeight;
desiredDirection.Normalize();
//If we are centered on a grid square with no vector this will happen
/*if (isnan(desiredDirection.LengthSquared())) {
return b2Vec2_zero;
}*/
return steerTowards(agent, desiredDirection);
}
b2Vec2 MapController::steeringBehaviourSeek(Agent &agent, b2Vec2 dest)
{
if (dest.x == agent.getPosition().x && dest.y == agent.getPosition().y) {
return b2Vec2_zero;
}
b2Vec2 desired = dest - agent.getPosition();
desired *= (Agent::maxSpeed / desired.Length());
b2Vec2 velocityChange = desired - agent.getVelocity();
return velocityChange * (Agent::maxForce / Agent::maxSpeed);
}
b2Vec2 MapController::steeringBehaviourAlignment(Agent &agent)
{
b2Vec2 averageHeading = b2Vec2_zero;
int neighboursCount = 0;
//for each of our neighbours (including ourself)
for (int i = 0; i < agents.size(); i++) {
Agent &a = agents[i];
float32 distance = B2Vec2DHelper::distanceTo(agent.getPosition(), a.getPosition());
//That are within the max distance and are moving
if (distance < Agent::maxCohesion && a.getVelocity().Length() > 0 && a.group == agent.group) {
//Sum up our headings
b2Vec2 head = a.getVelocity();
head.Normalize();
averageHeading += head;
neighboursCount++;
}
}
if (neighboursCount == 0) {
return averageHeading; //Zero
}
//Divide to get the average heading
averageHeading *= (1 / neighboursCount);
//Steer towards that heading
return steerTowards(agent, averageHeading);
}
b2Vec2 MapController::steeringBehaviourCohesion(Agent &agent)
{
b2Vec2 centerOfMass = b2Vec2_zero;//agent.position().Copy();
int neighboursCount = 0;
for (int i = 0; i < agents.size(); i++) {
Agent &a = agents[i];
if (&a != &agent && a.group == agent.group) {
float32 distance = B2Vec2DHelper::distanceTo(agent.getPosition(), a.getPosition());
if (distance < Agent::maxCohesion) {
//sum up the position of our neighbours
centerOfMass += a.body->GetPosition();
neighboursCount++;
}
}
}
if (neighboursCount == 0) {
return b2Vec2_zero;
}
//Get the average position of ourself and our neighbours
centerOfMass *= (1 / neighboursCount);
//seek that position
return steeringBehaviourSeek(agent, centerOfMass);
}
/**
* Agent removes agent in location in group from world and takes resources
* It also removes links to agents killed by combat (lenders, borrowers, etc.)
* @param loc :Pointer to Location of the winning agent
* @param grp : Pointer to Group containing location of losing agent (or possibly an empty location)
* @see Combat Rule
* @return true if agent exists at loc else false
* @exception none
*/
bool AgentCombat::executeAction(Location *loc, group *grp)
{
if (loc->hasAgent()) {
Agent *winner = grp->getPrimeMover()->getAgent(); //must equal loc->getAgent()!
if (grp->getMembers().size()!=0)/*!< we are moving somewhere */
{
if (grp->getMembers()[0]->hasAgent()==false) {/*!< moving to empty location */
loc->getAgent()->incSugar(grp->getMembers()[0]->getSugar());/*!< eat sugar at destination */
grp->getMembers()[0]->setSugar(0);/*!< sugar at location is consumed */
}
else{
//std::cout <<"COMBAT!"<<std::endl;
//1. Update victorious agent resources
Agent *loser = grp->getMembers()[0]->getAgent();//only one member in group - the loser
winner->incSugar(grp->getMembers()[0]->getReward());//*WHAT IF WE ADD SPICE?*
grp->getMembers()[0]->setSugar(0);/*!< sugar at location is consumed */
//2. Kill vanquished agent
std::pair<int,int> currPosition=loser->getPosition();
if (loser!=sim->killAgent(currPosition))
{
std::cerr << "Delete of agent failed"<<std::endl;
}
}
//Move agent to new position
std::pair<int,int> currPosition=winner->getPosition();
sim->setAgent(currPosition, nullptr);//remove old location ptr to agent
winner->setPosition(grp->getMembers()[0]->getPosition());//set new position to new location
sim->setAgent(grp->getMembers()[0]->getPosition(),winner);//add ptr to agent at new location
}
else{/*!< we are staying put-not moving */
loc->getAgent()->incSugar(loc->getSugar());/*!< eat sugar at destination */
loc->setSugar(0);/*!< sugar at location is consumed */
}
for(auto ag:winner->getChildren())/*!< Remove any links to killed children */
{
if (ag->isKilled()) {
winner->removeChild(ag);
}
}
winner->removeKilledLoans();/*!< remove loans with killed agents */
winner->removeKilledFather();/*!< remove father link if he is killed */
winner->removeKilledMother();/*!< remove mother link if she is killed */
return true;
}else{
return false;/*!< no agent present so did nothing */
}
}
