Vector2D SteeringBehavior::Wander() {
// This behavior is dependent on the update rate, so this line must
// be included when using time independent framerate.
unsigned int JitterThisTimeSlice = m_dWanderJitter * vehicle_->TimeElapsed();
// First, add a small random vector to the target's position
m_vWanderTarget += Vector2D(RandomClamped() * JitterThisTimeSlice,
RandomClamped() * JitterThisTimeSlice);
// Reproject this new vector back on to a unit circle
m_vWanderTarget.Normalize();
// Increase the length of the vector to the same as the radius
// of the wander circle
m_vWanderTarget *= m_dWanderRadius;
// Move the target into a position WanderDist in front of the agent
Vector2D target = m_vWanderTarget + Vector2D(m_dWanderDistance, 0);
// Project the target into world space
Vector2D Target = PointToWorldSpace(target,
vehicle_->Heading(),
vehicle_->Side(),
vehicle_->Position());
// And steer towards it
return Target - vehicle_->Position();
}
//--------------------------- Wander -------------------------------------
//
// This behavior makes the agent wander about randomly
//------------------------------------------------------------------------
Vector2D SteeringBehavior::Wander(float dt)
{
//this behavior is dependent on the update rate, so this line must
//be included when using time independent framerate.
double JitterThisTimeSlice = WanderJitterPerSec * dt;
//first, add a small random vector to the target's position
m_vWanderTarget += Vector2D(RandomClamped() * JitterThisTimeSlice,
RandomClamped() * JitterThisTimeSlice);
//reproject this new vector back on to a unit circle
m_vWanderTarget.Normalize();
//increase the length of the vector to the same as the radius
//of the wander circle
m_vWanderTarget *= WanderRad;
//move the target into a position WanderDist in front of the agent
Vector2D target = m_vWanderTarget + Vector2D(WanderDist, 0);
//project the target into world space
Vector2D Target = PointToWorldSpace(target,
m_pMovingEntity->Heading(),
m_pMovingEntity->Pos());
//and steer towards it
Vector2D Origin = m_pMovingEntity->Pos();
Vector2D Ret = Target - Origin;
return Ret;
}
Vector2D B020612E_Steering::Wander()
{
float timeElapsed = 0.0;
timeElapsed += _pTank->GetElapsedTime();
double jitterTime = _pWanderJitter * timeElapsed;
_pWanderTarget += Vector2D(RandomClamped() * jitterTime, RandomClamped() * jitterTime);
_pWanderTarget.Normalize();
_pWanderTarget *= _pWanderRadius;
Vector2D target = _pWanderTarget + Vector2D(_pWanderDistance, 0);
Vector2D targetWS = PointToWorldSpace(target, _pTank->GetHeading(), _pTank->GetSide(), _pTank->GetCentrePosition());
return targetWS - _pTank->GetCentrePosition();
}
//------------------------- Offset Pursuit -------------------------------
//
// Produces a steering force that keeps a MovingEntity at a specified offset
// from a leader MovingEntity
//------------------------------------------------------------------------
Vector2D SteeringBehavior::OffsetPursuit(const MovingEntity* leader,
const float offset)
{
Vector2D displacement = leader->Heading() * - offset;
//calculate the offset's position in world space
Vector2D WorldOffsetPos = PointToWorldSpace(displacement,
leader->Heading(),
leader->Pos());
Vector2D ToOffset = WorldOffsetPos - m_pMovingEntity->Pos();
//the lookahead time is propotional to the distance between the leader
//and the pursuer; and is inversely proportional to the sum of both
//agent's velocities
double LookAheadTime = ToOffset.Length() /
(m_pMovingEntity->MaxSpeed() + leader->Speed());
//now Arrive at the predicted future position of the offset
return Arrive(WorldOffsetPos + leader->Velocity() * LookAheadTime, fast);
}
Vector2 TikiSteering::Wander()
{
// first, add a small random vector to the target's position
wanderTarget += Vector2(RandomClamped() * wanderJitter,
RandomClamped() * wanderJitter);
// reproject this TIKI_NEW vector back on to a unit circle
wanderTarget.Normalize();
// increase the length of the vector to the same as the radius of the wander circle
wanderTarget = wanderTarget * wanderRadius;
// move the target into a position WanderDist in front of the agent
Vector2 theTarget = wanderTarget + Vector2(wanderDistance, 0);
// project the target into world space
Vector2 projectedTarget = PointToWorldSpace(theTarget,
tikiBot->Heading(),
tikiBot->Side(),
tikiBot->Pos());
//and steer towards it
return projectedTarget - tikiBot->Pos();
}
