Vector3 SteeringVehicle::calcAvoidObstacles(const float minTimeToCollision) { ObstacleGroup obstacles = getObstacles(); Vector3 steering = Vec3Utils::setYtoZero(steerToAvoidObstacles(minTimeToCollision, obstacles)); mDebugAvoidObstacles = steering; return steering; }
void Robot::refresh() { // Refresh Sensors buffers _playerClient->Read(); // Handle new Obstacles vector<Point> obstacles; getObstacles(obstacles); Map& map = *_map; map.handleObstacles(*this, obstacles); }
void ServerWorldModel::updatePlayerObjMovements() { MovePlayerObj move(&getObstacles(), moveAlignedToAngle); ForEach(getPlayerObjs().begin(), getPlayerObjs().end(), move); }