Vector2D B020612E_Steering::CalculatePrioritised() { Vector2D force; if (On(STEERING_OBSTACLEAVOIDANCE)) { force = ObstacleAvoidance(ObstacleManager::Instance()->GetObstacles()) * 10.0f; if (!AccumulateForce(_pSteeringForce, force)) return _pSteeringForce; } if (On(STEERING_FLEE)) { force = Flee(_pTank->GetClick()) * 1.0f; if (!AccumulateForce(_pSteeringForce, force)) return _pSteeringForce; } if (On(STEERING_SEEK)) { force = Seek(_pTank->GetClick()) * 1.0f; if (!AccumulateForce(_pSteeringForce, force)) return _pSteeringForce; } if (On(STEERING_WANDER)) { force = Wander() * 1.0f; if (!AccumulateForce(_pSteeringForce, force)) return _pSteeringForce; } if (On(STEERING_ARRIVE)) { force = Arrive(_pTank->GetClick(), _pDeceleration) * 1.0f; if (!AccumulateForce(_pSteeringForce, force)) return _pSteeringForce; } return _pSteeringForce; }
Vector2 TikiSteering::CalculatePrioritized() { Vector2 force = Vector2::Zero; if (On(separation)) { force = Separation() * weightSeparation; if (!AccumulateForce(steeringForce, force)) return steeringForce; } if(On(seek)) { force = Seek(target) * weightSeek; if (!AccumulateForce(steeringForce, force)) return steeringForce; } if (On(arrive)) { force = Arrive(target, deceleration) * weightArrive; if (!AccumulateForce(steeringForce, force)) return steeringForce; } if (On(wander)) { force = Wander() * weightWander; if (!AccumulateForce(steeringForce, force)) return steeringForce; } return steeringForce; }
Vector3 SteeringBehaviors::Calculate() { this->_steeringForce.zero(); Vector3 force; if(On(obstacle_avoidance)) { double weightObstacleAvoidance = 10; force = ObstacleAvoidance(((Agent*)this->_vehicle)->world->obstacles) * weightObstacleAvoidance; if (!AccumulateForce(_steeringForce, force)) return _steeringForce; } if(On(flee)) { force = Flee(_vehicle->target); if (!AccumulateForce(_steeringForce, force)) return _steeringForce; } if(On(seek)) { force = Seek(_vehicle->target); if (!AccumulateForce(_steeringForce, force)) return _steeringForce; } if(On(arrive)) { force = Arrive(_vehicle->target, _deceleration); if (!AccumulateForce(_steeringForce, force)) return _steeringForce; } if(On(pursue)) { force = Pursue(this->evador1); if (!AccumulateForce(_steeringForce, force)) return _steeringForce; } if(On(evade)) { force = Evade(this->pursuer1); if (!AccumulateForce(_steeringForce, force)) return _steeringForce; } if(On(wander)) { force = Wander(); if(!AccumulateForce(_steeringForce, force)) return _steeringForce; } return _steeringForce; };
Vector2D S013010C_Aaron_Smith_Steering::Calculate(float deltaTime) { Vector2D force; Vector2D totalForce; if (mIsObstacleAvoiding) { force = ObstacleAvoidance() * mObstacleAvoidanceWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } if (mIsWallAvoided) { force = WallAvoidance() * mWallAvoidWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } if (mIsWandering) { force = Wander(deltaTime) * mSeekWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } if (mIsPursuing) { force = Pursuing() * mPursuitWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } if (mIsSeeking) { force = Seek(mTank->GetTarget()) * mSeekWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } if (mIsArriving) { force = Arrive(mTank->GetTarget(), Deceleration::NORMAL) * mArriveWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } if (mIsFleeing) { force = Flee(mTank->GetTarget()) * mFleeWeight; if (!AccumulateForce(totalForce, force)) return totalForce; } return totalForce; //if (isFleeing) Flee(mTank->GetTarget()); //Vector2D totalForce; /*for (Vector2D vec : mSteeringForces) { totalForce += vec; } mSteeringForces.clear(); return totalForce;*/ }
//---------------------- CalculatePrioritized ---------------------------- // // this method calls each active steering behavior in order of priority // and acumulates their forces until the max steering force magnitude // is reached, at which time the function returns the steering force // accumulated to that point //------------------------------------------------------------------------ ofVec3f SteeringBehaviors::CalculatePrioritized() { ofVec3f force; if (On(wall_avoidance)) { force = WallAvoidance(m_Vehicle->GameWorld()->getWalls()) * m_WeightObstacleAvoidance; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(obstacle_avoidance)) { force = ObstacleAvoidance(m_Vehicle->GameWorld()->getObstacles()) * m_WeightObstacleAvoidance; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(flee)) { force = Flee(m_Vehicle->Target()->Pos()) * m_WeightFlee; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(repulsion)) { //need to retage the guys! force = Repulsion(m_Vehicle->oGroup()) * m_WeightRepulsion; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (!isSpacePartioningOn()) { if (On(separation)) { force = Separation(m_Vehicle->rGroup()) * m_WeightSeparation; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(alignment)) { force = Alignment(m_Vehicle->rGroup()) * m_WeightAlignment; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(cohesion)) { force = Cohesion(m_Vehicle->rGroup()) * m_WeightCohesion; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } } else { if (On(separation)) { force = SeparationPlus(m_Vehicle->rGroup()) * m_WeightSeparation; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(alignment)) { force = AlignmentPlus(m_Vehicle->rGroup()) * m_WeightAlignment; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(cohesion)) { force = CohesionPlus(m_Vehicle->rGroup()) * m_WeightCohesion; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } } if (On(seek)) { force = Seek(m_Vehicle->Target()->Pos()) * m_WeightSeek; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(arrive)) { force = Arrive(m_Vehicle->Target()->Pos(), normal) * m_WeightArrive; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(wander)) { force = Wander() * m_WeightWander; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } if (On(follow_path)) { force = FollowPath() * m_WeightFollowPath; if (!AccumulateForce(m_SteeringForce, force)) return m_SteeringForce; } return m_SteeringForce; }
Vector2D SteeringBehavior::CalculatePrioritized() { Vector2D force; //if (On(wall_avoidance)) //{ // force = WallAvoidance(m_pVehicle->World()->Walls()) * // m_dWeightWallAvoidance; // if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; //} //if (On(obstacle_avoidance)) //{ // force = ObstacleAvoidance(m_pVehicle->World()->Obstacles()) * // m_dWeightObstacleAvoidance; // if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; //} //if (On(evade)) //{ // assert(m_pTargetAgent1 && "Evade target not assigned"); // force = Evade(m_pTargetAgent1) * m_dWeightEvade; // if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; //} if (On(flee)) { force = Flee(vehicle_->GetGameWorld()->Agents()) * m_dWeightFlee; if (!AccumulateForce(steering_force_, force)) return steering_force_; } // The next three can be combined for flocking behavior (wander is // Also a good behavior to add into this mix) if (On(separation)) { force = Separation(vehicle_->GetGameWorld()->Agents()) * m_dWeightSeparation; if (!AccumulateForce(steering_force_, force)) return steering_force_; } if (On(alignment)) { force = Alignment(vehicle_->GetGameWorld()->Agents()) * m_dWeightAlignment; if (!AccumulateForce(steering_force_, force)) return steering_force_; } if (On(cohesion)) { force = Cohesion(vehicle_->GetGameWorld()->Agents()) * m_dWeightCohesion; if (!AccumulateForce(steering_force_, force)) return steering_force_; } //if (On(seek)) //{ // force = Seek(m_pVehicle->World()->Crosshair()) * m_dWeightSeek; // if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; //} //if (On(arrive)) //{ // force = Arrive(m_pVehicle->World()->Crosshair(), m_Deceleration) * m_dWeightArrive; // if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; //} if (On(wander)) { force = Wander() * weight_wander_; if (!AccumulateForce(steering_force_, force)) return steering_force_; } if (On(pursuit)) { //assert(target_agent_ && "pursuit target not assigned"); force = Pursuit(target_agent_) * m_dWeightPursuit; if (!AccumulateForce(steering_force_, force)) return steering_force_; } /* if (On(offset_pursuit)) { assert(m_pTargetAgent1 && "pursuit target not assigned"); assert(!m_vOffset.isZero() && "No offset assigned"); force = OffsetPursuit(m_pTargetAgent1, m_vOffset); if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(interpose)) { assert(m_pTargetAgent1 && m_pTargetAgent2 && "Interpose agents not assigned"); force = Interpose(m_pTargetAgent1, m_pTargetAgent2) * m_dWeightInterpose; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(hide)) { assert(m_pTargetAgent1 && "Hide target not assigned"); force = Hide(m_pTargetAgent1, m_pVehicle->World()->Obstacles()) * m_dWeightHide; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(follow_path)) { force = FollowPath() * m_dWeightFollowPath; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; }*/ return steering_force_; }
Vec2 SteeringForce::Calculate() { m_vSteeringForce = Vec2::ZERO; Vec2 force; std::vector<Vehicle*> neighbors; if (On(allignment)||On(separation)||On(cohesion)) { if (m_pVehicle->isCellSpaceOn()) { CellSpacePartition<Vehicle*>* cellSpace = GameData::Instance()->getCellSpace(); neighbors = cellSpace->getNeighbors(); }else{ auto data = GameData::Instance()->getEntityVector(); neighbors = tagNeighbors(m_pVehicle,data,SearchRad); } } if (On(wall_avoidance)) { auto data = GameData::Instance()->getWallls(); force = WallAvoidance(data); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(obstacle_avoidance)) { auto data = GameData::Instance()->getObstacle(); force = ObstacleAvoidance(data); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(separation)) { force = Separation(neighbors); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(cohesion)) { force = Cohesion(neighbors); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(allignment)) { force = Alignment(neighbors); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(hide)) { CCASSERT(m_pVehicle->getHideTarget()!=nullptr, "不存在躲避目标"); auto data = GameData::Instance()->getEntityVector(); force = Hide(m_pVehicle->getHideTarget(),data); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(follow_path)) { force = PathFollow(); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(seek)) { force = Seek(m_pVehicle->getTarget()); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(flee)) { force = Flee(m_pVehicle->getTarget()); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(arrive)) { force = Arrive(m_pVehicle->getTarget(), fast); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(offset_pursuit)) { force = OffsetPursuit(m_pVehicle->getLeader(), m_pVehicle->getOffsetToLeader()); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(pursuit)) { force = Pursuit(m_pVehicle->getEvaderv()); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(evade)) { force = Evade(m_pVehicle->getPursuer()); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(wander)) { force = Wander(); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } if (On(interpose)) { force = Interpose(m_pVehicle->getInterposeA(), m_pVehicle->getInterposeB()); if (!AccumulateForce(m_vSteeringForce, force)) { return m_vSteeringForce; } } return m_vSteeringForce; }
//---------------------- CalculatePrioritized ---------------------------- // // this method calls each active steering behavior in order of priority // and acumulates their forces until the max steering force magnitude // is reached, at which time the function returns the steering force // accumulated to that point //------------------------------------------------------------------------ Vector2D SteeringBehavior::CalculatePrioritized(float dt) { //reset the steering force m_vSteeringForce.Zero(); Vector2D force; if (On(bounds_avoidance)) { force = BoundsAvoidance() * m_dWeightBoundsAvoidance; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(obstacle_avoidance)) { force = ObstacleAvoidance() * m_dWeightObstacleAvoidance; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(flee)) { assert(fleeTarget && "Flee target not assigned"); force = Flee(fleeTarget->Pos()) * m_dWeightFlee; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(seek)) { assert(seekTarget && "Seek target not assigned"); force = Seek(seekTarget->Pos()) * m_dWeightSeek; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(arrive)) { assert(seekTarget && "Arrive target not assigned"); force = Arrive(seekTarget->Pos(), m_Deceleration) * m_dWeightArrive; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(wander)) { force = Wander(dt) * m_dWeightWander; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(pursuit)) { assert(pursuitTarget && "pursuit target not assigned"); force = Pursuit(pursuitTarget) * m_dWeightPursuit; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(offset_pursuit)) { assert (pursuitTarget && "pursuit target not assigned"); force = OffsetPursuit(pursuitTarget, m_vOffset); if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(hide)) { assert(hideTarget && "Hide target not assigned"); force = Hide() * m_dWeightHide; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } if (On(forward)) { force = Forward() * m_dWeightForward; if (!AccumulateForce(m_vSteeringForce, force)) return m_vSteeringForce; } return m_vSteeringForce; }