public Vector3 XXXSteerToEvadeAllDefenders()
{
// sum up weighted evasion
Vector3 evade = Vector3.Zero;
for (int i = 0; i < Globals.CtfEnemyCount; i++)
{
CtfEnemy e = Globals.CtfEnemies[i];
Vector3 eOffset = e.Position - Position;
float eDistance = eOffset.Length();
// xxx maybe this should take into account e's heading? xxx
float timeEstimate = 0.5f * eDistance / e.Speed; //xxx
Vector3 eFuture = e.PredictFuturePosition(timeEstimate);
// annotation
annotation.CircleXZ(e.Radius, eFuture, Globals.EvadeColor, 20);
// steering to flee from eFuture (enemy's future position)
Vector3 flee = xxxSteerForFlee(eFuture);
float eForwardDistance = Vector3.Dot(Forward, eOffset);
float behindThreshold = Radius * -2;
float distanceWeight = 4 / eDistance;
float forwardWeight = ((eForwardDistance > behindThreshold) ? 1.0f : 0.5f);
Vector3 adjustedFlee = flee * distanceWeight * forwardWeight;
evade += adjustedFlee;
}
return(evade);
}
public Vector3 SteerToEvadeAllDefenders()
{
Vector3 evade = Vector3.Zero;
float goalDistance = Vector3.Distance(Globals.HomeBaseCenter, Position);
// sum up weighted evasion
for (int i = 0; i < Globals.CtfEnemyCount; i++)
{
CtfEnemy e = Globals.CtfEnemies[i];
Vector3 eOffset = e.Position - Position;
float eDistance = eOffset.Length();
float eForwardDistance = Vector3.Dot(Forward, eOffset);
float behindThreshold = Radius * 2;
bool behind = eForwardDistance < behindThreshold;
if ((!behind) || (eDistance < 5))
{
if (eDistance < (goalDistance * 1.2)) //xxx
{
// const float timeEstimate = 0.5f * eDistance / e.speed;//xxx
float timeEstimate = 0.15f * eDistance / e.Speed; //xxx
Vector3 future = e.PredictFuturePosition(timeEstimate);
annotation.CircleXZ(e.Radius, future, Globals.EvadeColor, 20); // xxx
Vector3 offset = future - Position;
Vector3 lateral = Vector3Helpers.PerpendicularComponent(offset, Forward);
float d = lateral.Length();
float weight = -1000 / (d * d);
evade += (lateral / d) * weight;
}
}
}
return(evade);
}
// is there a clear path to the goal?
public bool IsPathToGoalClear()
{
float sideThreshold = Radius * 8.0f;
float behindThreshold = Radius * 2.0f;
Vector3 goalOffset = Globals.HomeBaseCenter - Position;
float goalDistance = goalOffset.Length();
Vector3 goalDirection = goalOffset / goalDistance;
bool goalIsAside = IsAside(Globals.HomeBaseCenter, 0.5f);
// for annotation: loop over all and save result, instead of early return
bool xxxReturn = true;
// loop over enemies
for (int i = 0; i < Globals.CtfEnemyCount; i++)
{
// short name for this enemy
CtfEnemy e = Globals.CtfEnemies[i];
float eDistance = Vector3.Distance(Position, e.Position);
float timeEstimate = 0.3f * eDistance / e.Speed; //xxx
Vector3 eFuture = e.PredictFuturePosition(timeEstimate);
Vector3 eOffset = eFuture - Position;
float alongCorridor = Vector3.Dot(goalDirection, eOffset);
bool inCorridor = ((alongCorridor > -behindThreshold) && (alongCorridor < goalDistance));
float eForwardDistance = Vector3.Dot(Forward, eOffset);
// xxx temp move this up before the conditionals
annotation.CircleXZ(e.Radius, eFuture, Globals.ClearPathColor, 20); //xxx
// consider as potential blocker if within the corridor
if (inCorridor)
{
Vector3 perp = eOffset - (goalDirection * alongCorridor);
float acrossCorridor = perp.Length();
if (acrossCorridor < sideThreshold)
{
// not a blocker if behind us and we are perp to corridor
float eFront = eForwardDistance + e.Radius;
//annotation.annotationLine (position, forward*eFront, gGreen); // xxx
//annotation.annotationLine (e.position, forward*eFront, gGreen); // xxx
// xxx
// std::ostringstream message;
// message << "eFront = " << std::setprecision(2)
// << std::setiosflags(std::ios::fixed) << eFront << std::ends;
// draw2dTextAt3dLocation (*message.str(), eFuture, gWhite);
bool eIsBehind = eFront < -behindThreshold;
bool eIsWayBehind = eFront < (-2 * behindThreshold);
bool safeToTurnTowardsGoal = ((eIsBehind && goalIsAside) || eIsWayBehind);
if (!safeToTurnTowardsGoal)
{
// this enemy blocks the path to the goal, so return false
annotation.Line(Position, e.Position, Globals.ClearPathColor);
// return false;
xxxReturn = false;
}
}
}
}
// no enemies found along path, return true to indicate path is clear
// clearPathAnnotation (sideThreshold, behindThreshold, goalDirection);
// return true;
//if (xxxReturn)
ClearPathAnnotation(sideThreshold, behindThreshold, goalDirection);
return(xxxReturn);
}