float3
OpenSteer::SteerLibrary::
steerToStayOnPath (const AbstractVehicle& v,
const float predictionTime,
Pathway& path)
{
// predict our future position
const float3 futurePosition = v.predictFuturePosition (predictionTime);
// find the point on the path nearest the predicted future position
float3 tangent;
float outside;
const float3 onPath = path.mapPointToPath (futurePosition,
tangent, // output argument
outside); // output argument
if (outside < 0)
{
// our predicted future position was in the path,
// return zero steering.
return float3_zero();
}
else
{
// our predicted future position was outside the path, need to
// steer towards it. Use onPath projection of futurePosition
// as seek target
annotatePathFollowing (futurePosition, onPath, onPath, outside);
return steerForSeek (v, onPath);
}
}
float3
OpenSteer::SteerLibrary::
steerToFollowPath (const AbstractVehicle& v,
const int direction,
const float predictionTime,
Pathway& path)
{
// our goal will be offset from our path distance by this amount
const float pathDistanceOffset = direction * predictionTime * v.speed();
// predict our future position
const float3 futurePosition = v.predictFuturePosition (predictionTime);
// measure distance along path of our current and predicted positions
const float nowPathDistance =
path.mapPointToPathDistance (make_float3(v.position ()));
const float futurePathDistance =
path.mapPointToPathDistance (futurePosition);
// are we facing in the correction direction?
const bool rightway = ((pathDistanceOffset > 0) ?
(nowPathDistance < futurePathDistance) :
(nowPathDistance > futurePathDistance));
// find the point on the path nearest the predicted future position
// XXX need to improve calling sequence, maybe change to return a
// XXX special path-defined object which includes two float3s and a
// XXX bool (onPath,tangent (ignored), withinPath)
float3 tangent;
float outside;
const float3 onPath = path.mapPointToPath (futurePosition,
// output arguments:
tangent,
outside);
// no steering is required if (a) our future position is inside
// the path tube and (b) we are facing in the correct direction
if ((outside < 0) && rightway)
{
// all is well, return zero steering
return float3_zero();
}
else
{
// otherwise we need to steer towards a target point obtained
// by adding pathDistanceOffset to our current path position
float targetPathDistance = nowPathDistance + pathDistanceOffset;
float3 target = path.mapPathDistanceToPoint (targetPathDistance);
annotatePathFollowing (futurePosition, onPath, target, outside);
// return steering to seek target on path
return steerForSeek (v, target);
}
}
float3
OpenSteer::SteerLibrary::
steerForPursuit (const AbstractVehicle& v,
const AbstractVehicle& quarry,
const float maxPredictionTime)
{
// offset from this to quarry, that distance, unit vector toward quarry
const float3 offset = float3_subtract(make_float3(quarry.position()), make_float3(v.position()));
const float distance = float3_length(offset);
const float3 unitOffset = float3_scalar_divide(offset, distance);
// how parallel are the paths of "this" and the quarry
// (1 means parallel, 0 is pependicular, -1 is anti-parallel)
const float parallelness = float3_dot(make_float3(v.forward()), make_float3(quarry.forward()));
// how "forward" is the direction to the quarry
// (1 means dead ahead, 0 is directly to the side, -1 is straight back)
const float forwardness = float3_dot(make_float3(v.forward()), unitOffset);
const float directTravelTime = distance / v.speed ();
const int f = intervalComparison (forwardness, -0.707f, 0.707f);
const int p = intervalComparison (parallelness, -0.707f, 0.707f);
float timeFactor = 0; // to be filled in below
float3 color; // to be filled in below (xxx just for debugging)
// Break the pursuit into nine cases, the cross product of the
// quarry being [ahead, aside, or behind] us and heading
// [parallel, perpendicular, or anti-parallel] to us.
switch (f)
{
case +1:
switch (p)
{
case +1: // ahead, parallel
timeFactor = 4;
color = gBlack;
break;
case 0: // ahead, perpendicular
timeFactor = 1.8f;
color = gGray50;
break;
case -1: // ahead, anti-parallel
timeFactor = 0.85f;
color = gWhite;
break;
}
break;
case 0:
switch (p)
{
case +1: // aside, parallel
timeFactor = 1;
color = gRed;
break;
case 0: // aside, perpendicular
timeFactor = 0.8f;
color = gYellow;
break;
case -1: // aside, anti-parallel
timeFactor = 4;
color = gGreen;
break;
}
break;
case -1:
switch (p)
{
case +1: // behind, parallel
timeFactor = 0.5f;
color= gCyan;
break;
case 0: // behind, perpendicular
timeFactor = 2;
color= gBlue;
break;
case -1: // behind, anti-parallel
timeFactor = 2;
color = gMagenta;
break;
}
break;
}
// estimated time until intercept of quarry
const float et = directTravelTime * timeFactor;
// xxx experiment, if kept, this limit should be an argument
const float etl = (et > maxPredictionTime) ? maxPredictionTime : et;
// estimated position of quarry at intercept
const float3 target = quarry.predictFuturePosition (etl);
// annotation
annotationLine (make_float3(v.position()),
target,
gaudyPursuitAnnotation ? color : gGray40);
return steerForSeek (v, target);
}
Vector3 SteeringVehicle::calcSeek(const Vector3& target)
{
Vector3 steering = Vec3Utils::setYtoZero(steerForSeek(target));
return steering;
}