private Vector2 Alignment(MovingEntity entity, List <MovingEntity> neighbours)
{
Vector2 averageHeading = new Vector2(0, 0);
int neighbourCount = 0;
foreach (MovingEntity neighbour in neighbours)
{
if (neighbour.Tag == false)
{
continue;
}
averageHeading += neighbour.Heading;
neighbourCount++;
}
if (neighbourCount > 0)
{
// Average heading vectors
averageHeading /= neighbourCount;
averageHeading -= entity.Heading;
}
return(averageHeading);
}
private Vector2 Cohesion(MovingEntity me, List <MovingEntity> neighbours)
{
Vector2 centerOfMass = new Vector2(0, 0);
Vector2 steeringForce = new Vector2(0, 0);
int neighbourCount = 0;
foreach (MovingEntity neighbour in neighbours)
{
if (neighbour.Tag == false)
{
continue;
}
centerOfMass += neighbour.Pos;
neighbourCount++;
}
if (neighbourCount > 0)
{
centerOfMass /= neighbourCount;
steeringForce = Seek(me, centerOfMass);
}
return(steeringForce);
}
private Vector2 Seek(MovingEntity entity, Vector2 target)
{
Vector2 toTarget = Vector2.Subtract(target, entity.Pos);
Vector2 desiredVelocity = Vector2.Multiply(Vector2.Normalize(toTarget), entity.MaxSpeed);
return(Vector2.Subtract(desiredVelocity, entity.Velocity));
}
private Vector2 Wander(MovingEntity entity, float wanderRadius, float wanderDistance, float wanderJitter)
{
Random random = new Random();
Vector2 wanderTarget = new Vector2(RandomDirection(random) * wanderJitter, RandomDirection(random) * wanderJitter);
// Reproject this new vector back onto a unit circle.
wanderTarget.Normalize();
// Increase the length of the vector to the same as the radius of the wander circle.
wanderTarget = Vector2.Multiply(wanderTarget, wanderRadius);
// Add the wanderdistance
wanderTarget.X += wanderDistance;
// rotation matrix from localheading to world
Matrix2D matrix2D = new Matrix2D();
matrix2D.M11 = entity.Heading.X;
matrix2D.M12 = entity.Heading.Y;
matrix2D.M21 = entity.Side.X;
matrix2D.M22 = entity.Side.Y;
// translate Matrix relative to local pos
Matrix2D translateMatrix = new Matrix2D();
translateMatrix.M11 = 1;
translateMatrix.M22 = 1;
translateMatrix.M31 = entity.Pos.X;
translateMatrix.M32 = entity.Pos.Y;
Vector2 targetWorld = translateMatrix.Transform(matrix2D.Transform(wanderTarget));
return(Vector2.Subtract(targetWorld, entity.Pos));
}
public FlockingBehaviour(MovingEntity me) : base(me)
{
maxSteeringForce = 50.0F;
separationAmount = 10.0F;
cohesionAmount = 3.0F;
alignmentAmount = 15.0F;
wanderAmount = 10.0F;
}
private Vector2 Separation(MovingEntity entity, List <MovingEntity> neighbours)
{
Vector2 steeringForce = new Vector2(0, 0);
foreach (MovingEntity neighbour in neighbours)
{
if (neighbour.Tag == false || entity.Pos == neighbour.Pos)
{
continue;
}
Vector2 ToAgent = Vector2.Subtract(entity.Pos, neighbour.Pos);
//scale the force inversely proportional to the agent's distance from its neighbor
steeringForce += Vector2.Divide(Vector2.Normalize(ToAgent), ToAgent.Length());
}
return(steeringForce);
}
public ArriveBehaviour(MovingEntity me, Vector2 target, Deceleration deceleration) : base(me, target)
{
this.deceleration = deceleration;
}
public SeekBehaviour(MovingEntity me, Vector2 target) : base(me, target)
{
}
public SteeringBehaviour(MovingEntity me)
{
ME = me;
Target = new Vector2(0, 0);
}
public SteeringBehaviour(MovingEntity me, Vector2 target)
{
ME = me;
Target = target;
}