void steering_Wandering( Vector2* pos, Vector2* vel, Vector2* currWanderTarget, float radius, float offset, float displacement, Vector2* newWanderTargetOut, Vector2* desiredVelocityOut )
{
assert( pos != NULL );
assert( vel != NULL );
assert( desiredVelocityOut != NULL );
assert( currWanderTarget != NULL );
assert( newWanderTargetOut != NULL );
assert( radius > 0.0f );
// we'll use the circle method, we'll need a target that is stored as an offset from the current position
// find circle center
Vector2 circleCenter = ( *vel );
vec2_Normalize( &circleCenter );
vec2_Scale( &circleCenter, offset, &circleCenter );
// create displaced target
(*newWanderTargetOut) = vec2( rand_GetToleranceFloat( NULL, 0.0f, displacement ), rand_GetToleranceFloat( NULL, 0.0f, displacement ) );
vec2_Add( currWanderTarget, newWanderTargetOut, newWanderTargetOut );
// project displaced target onto circle
Vector2 diff;
vec2_Subtract( newWanderTargetOut, &circleCenter, &diff );
vec2_Normalize( &diff );
vec2_AddScaled( &circleCenter, &diff, radius, newWanderTargetOut );
( *desiredVelocityOut ) = ( *newWanderTargetOut );
vec2_Normalize( desiredVelocityOut );
}
void steering_Flee( Vector2* pos, Vector2* target, Vector2* out )
{
assert( pos != NULL );
assert( target != NULL );
assert( out != NULL );
vec2_Subtract( pos, target, out );
vec2_Normalize( out );
}
void steering_Arrive( Vector2* pos, Vector2* target, float innerRadius, float outerRadius, Vector2* out )
{
assert( pos != NULL );
assert( target != NULL );
assert( out != NULL );
assert( innerRadius <= outerRadius );
vec2_Subtract( target, pos, out );
float dist = vec2_Normalize( out );
float speed = inverseLerp( innerRadius, outerRadius, dist );
vec2_Scale( out, speed, out );
}
static void drawVehicles( )
{
for( size_t i = 0; i < sb_Count( sbVehicles ); ++i ) {
debugRenderer_Circle( 1, sbVehicles[i].pos, sbVehicles[i].radius, sbVehicles[i].clr );
// draw line from the center to the edge for the facing
Vector2 facing;
vec2_NormalFromRot( sbVehicles[i].rotRad, &facing );
vec2_AddScaled( &( sbVehicles[i].pos ), &facing, sbVehicles[i].radius, &facing );
debugRenderer_Line( 1, sbVehicles[i].pos, facing, sbVehicles[i].clr );
// draw a line outward from the edge for the velocity direction
Vector2 normalVel = sbVehicles[i].vel;
Vector2 velLineStart;
Vector2 velLineEnd;
float mag = vec2_Normalize( &normalVel );
vec2_AddScaled( &( sbVehicles[i].pos ), &normalVel, sbVehicles[i].radius, &velLineStart );
vec2_AddScaled( &velLineStart, &normalVel, ( mag / sbVehicles[i].maxSpeed ) * sbVehicles[i].radius, &velLineEnd );
debugRenderer_Line( 1, velLineStart, velLineEnd, sbVehicles[i].clr );
}
}
static void vehiclePhysics( float dt )
{
for( size_t i = 0; i < sb_Count( sbVehicles ); ++i ) {
vec2_AddScaled( &( sbVehicles[i].pos ), &( sbVehicles[i].vel ), dt, &( sbVehicles[i].pos ) );
vec2_AddScaled( &( sbVehicles[i].pos ), &( sbVehicles[i].linearAccel ), 0.5f * dt * dt, &( sbVehicles[i].pos ) );
sbVehicles[i].rotRad += ( sbVehicles[i].rotSpdRad * dt ) + ( 0.5f * dt * dt * sbVehicles[i].angularAccelRad );
vec2_AddScaled( &( sbVehicles[i].vel ), &( sbVehicles[i].linearAccel ), dt, &( sbVehicles[i].vel ) );
if( vec2_MagSqrd( &(sbVehicles[i].vel) ) > ( sbVehicles[i].maxSpeed * sbVehicles[i].maxSpeed ) ) {
vec2_Normalize( &(sbVehicles[i].vel) );
vec2_Scale( &(sbVehicles[i].vel), sbVehicles[i].maxSpeed, &(sbVehicles[i].vel) );
}
sbVehicles[i].rotSpdRad += sbVehicles[i].angularAccelRad * dt;
if( fabsf( sbVehicles[i].rotSpdRad ) > sbVehicles[i].maxRotSpeedRad ) {
sbVehicles[i].rotSpdRad = sbVehicles[i].maxRotSpeedRad * sign( sbVehicles[i].rotSpdRad );
}
sbVehicles[i].pos.x = clamp( bordersMin.x + sbVehicles[i].radius, bordersMax.x - sbVehicles[i].radius, sbVehicles[i].pos.x );
sbVehicles[i].pos.y = clamp( bordersMin.y + sbVehicles[i].radius, bordersMax.y - sbVehicles[i].radius, sbVehicles[i].pos.y );
}
}
void ai_getDistances(int player, AI_Distances *distances) {
enum { eFront = 0, eLeft, eRight, eBackleft, eMax };
segment2 segments[eMax];
vec2 v, vPos;
Data *data = game->player[player].data;
int dirLeft = (data->dir + 3) % 4;
int dirRight = (data->dir + 1) % 4;
int i, j;
float *front = &distances->front;
float *right = &distances->right;
float *left = &distances->left;
float *backleft = &distances->backleft;
getPositionFromIndex(vPos.v + 0, vPos.v + 1, player);
for(i = 0; i < eMax; i++) {
vec2_Copy(&segments[i].vStart, &vPos);
}
segments[eFront].vDirection.v[0] = (float) dirsX[data->dir];
segments[eFront].vDirection.v[1] = (float) dirsY[data->dir];
segments[eLeft].vDirection.v[0] = (float) dirsX[dirLeft];
segments[eLeft].vDirection.v[1] = (float) dirsY[dirLeft];
segments[eRight].vDirection.v[0] = (float) dirsX[dirRight];
segments[eRight].vDirection.v[1] = (float) dirsY[dirRight];
segments[eBackleft].vDirection.v[0] = (float) dirsX[dirLeft] - dirsX[data->dir];
segments[eBackleft].vDirection.v[1] = (float) dirsY[dirLeft] - dirsY[data->dir];
vec2_Normalize(&segments[eBackleft].vDirection,
&segments[eBackleft].vDirection);
*front = FLT_MAX;
*left = FLT_MAX;
*right = FLT_MAX;
*backleft = FLT_MAX;
// loop over all segment
for(i = 0; i < game->players; i++) {
segment2 *wall = game->player[i].data->trails;
if(game->player[i].data->trail_height < TRAIL_HEIGHT)
continue;
for(j = 0; j < game->player[i].data->trailOffset + 1; j++) {
float t1, t2;
if(i == player && j == game->player[i].data->trailOffset)
break;
if(segment2_Intersect(&v, &t1, &t2, segments + eFront, wall) &&
t1 > 0 && t1 < *front && t2 >= 0 && t2 <= 1)
*front = t1;
if(segment2_Intersect(&v, &t1, &t2, segments + eLeft, wall) &&
t1 > 0 && t1 < *left && t2 >= 0 && t2 <= 1)
*left = t1;
if(segment2_Intersect(&v, &t1, &t2, segments + eRight, wall) &&
t1 > 0 && t1 < *right && t2 >= 0 && t2 <= 1)
*right = t1;
if(segment2_Intersect(&v, &t1, &t2, segments + eBackleft, wall) &&
t1 > 0 && t1 < *backleft && t2 >= 0 && t2 <= 1)
*backleft = t1;
wall++;
}
}
for(i = 0; i < game2->level->nBoundaries; i++) {
float t1, t2;
segment2* wall = game2->level->boundaries + i;
if(segment2_Intersect(&v, &t1, &t2, segments + eFront, wall) &&
t1 > 0 && t1 < *front && t2 >= 0 && t2 <= 1)
*front = t1;
if(segment2_Intersect(&v, &t1, &t2, segments + eLeft, wall) &&
t1 > 0 && t1 < *left && t2 >= 0 && t2 <= 1)
*left = t1;
if(segment2_Intersect(&v, &t1, &t2, segments + eRight, wall) &&
t1 > 0 && t1 < *right && t2 >= 0 && t2 <= 1)
*right = t1;
if(segment2_Intersect(&v, &t1, &t2, segments + eBackleft, wall) &&
t1 > 0 && t1 < *backleft && t2 >= 0 && t2 <= 1)
*backleft = t1;
}
// update debug render segments
{
AI *ai = game->player[player].ai;
vec2_Copy(&ai->front.vStart, &vPos);
vec2_Copy(&ai->left.vStart, &vPos);
vec2_Copy(&ai->right.vStart, &vPos);
vec2_Copy(&ai->backleft.vStart, &vPos);
ai->front.vDirection.v[0] = *front * dirsX[data->dir];
ai->front.vDirection.v[1] = *front * dirsY[data->dir];
ai->left.vDirection.v[0] = *left * dirsX[dirLeft];
ai->left.vDirection.v[1] = *left * dirsY[dirLeft];
ai->right.vDirection.v[0] = *right * dirsX[dirRight];
ai->right.vDirection.v[1] = *right * dirsY[dirRight];
ai->backleft.vDirection.v[0] = (float) (dirsX[dirLeft] - dirsX[data->dir]);
ai->backleft.vDirection.v[1] = (float) (dirsY[dirLeft] - dirsY[data->dir]);
vec2_Normalize(&ai->backleft.vDirection,
&ai->backleft.vDirection);
vec2_Scale(&ai->backleft.vDirection,
&ai->backleft.vDirection,
*backleft);
}
// printf("%.2f, %.2f, %.2f\n", *front, *right, *left);
return;
}
void ai_getConfig(int player, int target,
AI_Configuration *config) {
Data *data;
getPositionFromIndex(config->player.vStart.v + 0,
config->player.vStart.v + 1,
player);
getPositionFromIndex(config->opponent.vStart.v + 0,
config->opponent.vStart.v + 1,
target);
data = game->player[player].data;
config->player.vDirection.v[0] = dirsX[ data->dir ] * data->speed;
config->player.vDirection.v[1] = dirsY[ data->dir ] * data->speed;
data = game->player[target].data;
config->opponent.vDirection.v[0] = dirsX[ data->dir ] * data->speed;
config->opponent.vDirection.v[1] = dirsY[ data->dir ] * data->speed;
// compute sector
{
vec2 diff;
vec3 v1, v2, v3;
vec3 up = { { 0, 0, 1 } };
float cosphi;
float phi;
int i;
vec2_Sub(&diff, &config->player.vStart, &config->opponent.vStart);
v1.v[0] = diff.v[0];
v1.v[1] = diff.v[1];
v1.v[2] = 0;
v2.v[0] = config->opponent.vDirection.v[0];
v2.v[1] = config->opponent.vDirection.v[1];
v2.v[2] = 0;
vec3_Normalize(&v1, &v1);
vec3_Normalize(&v2, &v2);
vec3_Cross(&v3, &v1, &v2);
vec3_Normalize(&v3, &v3);
cosphi = vec3_Dot(&v1, &v2);
nebu_Clamp(&cosphi, -1, 1);
phi = (float) acos(cosphi);
if(vec3_Dot(&v3, &up) > 0)
phi = 2 * (float) M_PI - phi;
for(i = 0; i < 8; i++) {
phi -= (float) M_PI / 4;
if(phi < 0) {
config->location = i;
break;
}
}
}
// compute intersection
{
segment2 seg1;
segment2 seg2;
seg1.vStart = config->opponent.vStart;
seg1.vDirection = config->opponent.vDirection;
seg2.vStart = config->player.vStart;
vec2_Orthogonal( &seg2.vDirection, &config->opponent.vDirection );
vec2_Normalize( &seg2.vDirection, &seg2.vDirection );
vec2_Scale( &seg2.vDirection,
&seg2.vDirection,
vec2_Length( &config->player.vDirection )
);
segment2_Intersect( &config->intersection,
&config->t_opponent, &config->t_player,
&seg1, &seg2 );
if(config->t_player < 0)
config->t_player *= -1;
}
}
