public override SteeringForce Calculate(BaseEntity entity)
{
var fleeFromEntities = GameWorld.Instance.EntitiesInArea(entity.Location, Radius);
SteeringForce force = new SteeringForce();
int forcesCount = 0;
foreach (var fleeFromEntity in fleeFromEntities)
{
if (fleeFromEntity.Type == FleeFrom)
{
var direction = Utility.Direction(entity.Location, fleeFromEntity.Location) - Math.PI;
var distance = Utility.Distance(entity.Location, fleeFromEntity.Location);
force += new SteeringForce(direction, (1 / distance) * Multiplier);
forcesCount++;
}
}
if (forcesCount == 0)
{
return(force);
}
force = force / forcesCount;
return(force);
}
private SteeringForce Alignment(BaseEntity entity, List <BaseEntity> closeEntities)
{
var force = new SteeringForce();
foreach (var closeEntity in closeEntities)
{
force += new SteeringForce(closeEntity.Direction, AlignmentStrength);
}
return(force / closeEntities.Count);
}
private SteeringForce Seperation(BaseEntity entity, List <BaseEntity> closeEntities)
{
var force = new SteeringForce();
foreach (var closeEntity in closeEntities)
{
var direction = Utility.Direction(entity.Location, closeEntity.Location);
var distance = Utility.Distance(entity.Location, closeEntity.Location);
force += new SteeringForce(direction + Math.PI, (searchRadius - distance) * SeperationStrength);
}
return(force / closeEntities.Count);
}
public override SteeringForce Calculate(BaseEntity entity)
{
avoidedObstacles = new List <ObstacleCircle>();
var force = new SteeringForce();
var obstacles = GameWorld.Instance.ObstaclesInArea(entity.Location, searchArea);
double totalForce = 0;
int forceCounterL = 0;
int forceCounterR = 0;
foreach (var obstacle in obstacles)
{
var distance = Utility.Distance(obstacle.Location, entity.Location);
var angle = Utility.Direction(entity.Location, obstacle.Location);
var angleDiff = angle - entity.Direction;
var offset = Math.Sin(angleDiff) * distance;
while (angleDiff > Math.PI)
{
angleDiff -= Math.PI * 2;
}
while (angleDiff < -Math.PI)
{
angleDiff += Math.PI * 2;
}
// ignore obstacles behind the entity
if (Math.Abs(angleDiff) < Math.PI / 2)
{
if (Math.Abs(offset) < offsetMargin + obstacle.Radius)
{
avoidedObstacles.Add(obstacle);
var amountToSteer = obstacle.Radius - Math.Abs(offset) + offsetMargin;
var steeringNeed = distance;
if (offset < 0)
{
force += new SteeringForce(entity.Direction + Math.PI / 2, avoidanceFactor / steeringNeed * amountToSteer);
forceCounterL++;
}
else
{
force += new SteeringForce(entity.Direction - Math.PI / 2, avoidanceFactor / steeringNeed * amountToSteer);
forceCounterR++;
}
totalForce += force.Amount;
}
}
}
if (forceCounterL + forceCounterR > 1)
{
force = new SteeringForce(forceCounterL > forceCounterR ? entity.Direction + Math.PI / 2 : entity.Direction - Math.PI / 2, totalForce);
}
return(force);
}
