/// <summary>
/// This calculates a force repelling from the other neighbors
/// </summary>
/// <returns></returns>
protected Vector2D calculateSeparationVector()
{
//iterate through all the neighbors and calculate the vector from the
Vector2D steeringForce = new Vector2D();
List <PlayerBase> allPlayers = AutoList <PlayerBase> .GetAllMembers();
for (int playerIndex = 0; playerIndex < allPlayers.Count; playerIndex++)
{
//make sure this agent isn't included in the calculations and that
//the agent is close enough
if (allPlayers[playerIndex] != _player && allPlayers[playerIndex].SteeringBehaviors.Tagged)
{
Vector2D toAgent = _player.Position - allPlayers[playerIndex].Position;
//scale the force inversely proportional to the agents distance
//from its neighbor.
if (Math.Abs(toAgent.Length) > double.Epsilon)
{
steeringForce += Vector2D.Vec2DNormalize(toAgent) / toAgent.Length;
}
}
}
return(steeringForce);
}
/// <summary>
/// Tags any vehicles within a predefined radius
/// </summary>
protected void findNeighbours()
{
List <PlayerBase> allPlayers = AutoList <PlayerBase> .GetAllMembers();
for (int playerIndex = 0; playerIndex < allPlayers.Count; playerIndex++)
{
//first clear any current tag
allPlayers[playerIndex].SteeringBehaviors.Tagged = false;
//work in distance squared to avoid sqrts
Vector2D to = allPlayers[playerIndex].Position - _player.Position;
if (to.LengthSquared < (_viewDistance * _viewDistance))
{
allPlayers[playerIndex].SteeringBehaviors.Tagged = true;
}
}//next
}
public PlayerBase(SoccerTeam homeTeam, int homeRegionIndex, Vector2D heading, Vector2D velocity,
double mass, double maxForce, double maxSpeed, double maxTurnRate, double scale, PlayerRoles role)
: base(homeTeam.Pitch.GetRegion(homeRegionIndex).VectorCenter, scale * 10.0, velocity, maxSpeed, heading, mass, new Vector2D(scale, scale), maxTurnRate, maxForce)
{
_playerRole = role;
_team = homeTeam;
_distanceToBallSquared = double.MaxValue;
_homeRegionIndex = homeRegionIndex;
_kickoffRegionIndex = homeRegionIndex;
Vector2D[] player = new Vector2D[4] {
new Vector2D(-3, 8), new Vector2D(3, 10), new Vector2D(3, -10), new Vector2D(-3, -8)
};
for (int vertexIndex = 0; vertexIndex < 4; vertexIndex++)
{
_vecPlayerVB.Add(player[vertexIndex]);
//set the bounding radius to the length of the
//greatest extent
if (Math.Abs(player[vertexIndex].X) > BoundingRadius)
{
BoundingRadius = Math.Abs(player[vertexIndex].X);
}
if (Math.Abs(player[vertexIndex].Y) > BoundingRadius)
{
BoundingRadius = Math.Abs(player[vertexIndex].Y);
}
}
//set up the steering behavior class
_steeringBehaviors = new SteeringBehaviors(this, Ball);
//a player's start target is its start position (because it's just waiting)
_steeringBehaviors.Target = _team.Pitch.GetRegion(_homeRegionIndex).VectorCenter;
AutoList <PlayerBase> .GetAllMembers().Add(this);
_defaultHomeRegionIndex = _homeRegionIndex;
}
public override void Update()
{
//run the logic for the current state
_stateMachine.Update();
//calculate the combined force from each steering behavior
Vector2D SteeringForce = _steeringBehaviors.CalculateSteeringForce();
//Acceleration = Force/Mass
Vector2D Acceleration = SteeringForce / Mass;
//update velocity
Velocity += Acceleration;
//make sure player does not exceed maximum velocity
Velocity.Truncate(MaxSpeed);
//update the position
Position += Velocity;
//enforce a non-penetration constraint if desired
if (ParameterManager.Instance.NonPenetrationConstraint)
{
EntityManager.EnforceNonPenetrationContraint <PlayerBase>(this, AutoList <PlayerBase> .GetAllMembers());
}
//update the heading if the player has a non zero velocity
if (!Velocity.IsZero)
{
Heading = Vector2D.Vec2DNormalize(Velocity);
Side = Heading.Perp;
}
//look-at vector always points toward the ball
if (!Team.Pitch.GoalKeeperHasBall)
{
_lookAt = Vector2D.Vec2DNormalize(Ball.Position - Position);
}
}
public override void Update()
{
//run the logic for the current state
_stateMachine.Update();
//calculate the combined steering force
_steeringBehaviors.CalculateSteeringForce();
//if no steering force is produced decelerate the player by applying a
//braking force
if (_steeringBehaviors.SteeringForce.IsZero)
{
double brakingRate = 0.8;
Velocity = Velocity * brakingRate;
}
//the steering force's side component is a force that rotates the
//player about its axis. We must limit the rotation so that a player
//can only turn by PlayerMaxTurnRate rads per update.
double TurningForce = _steeringBehaviors.SideComponent;
if (TurningForce < -ParameterManager.Instance.PlayerMaxTurnRate)
{
TurningForce = -ParameterManager.Instance.PlayerMaxTurnRate;
}
if (TurningForce > ParameterManager.Instance.PlayerMaxTurnRate)
{
TurningForce = ParameterManager.Instance.PlayerMaxTurnRate;
}
//rotate the heading vector
Transformations.Vec2DRotateAroundOrigin(Heading, TurningForce);
//make sure the velocity vector points in the same direction as
//the heading vector
Velocity = Heading * Velocity.Length;
//and recreate m_vSide
Side = Heading.Perp;
//now to calculate the acceleration due to the force exerted by
//the forward component of the steering force in the direction
//of the player's heading
Vector2D accel = Heading * _steeringBehaviors.ForwardComponent / Mass;
Velocity += accel;
//make sure player does not exceed maximum velocity
Velocity.Truncate(MaxSpeed);
//update the position
Position += Velocity;
//enforce a non-penetration constraint if desired
if (ParameterManager.Instance.NonPenetrationConstraint)
{
EntityManager.EnforceNonPenetrationContraint(this, AutoList <PlayerBase> .GetAllMembers());
}
}
public void Dispose()
{
AutoList <PlayerBase> .GetAllMembers().Remove(this);
}