// ----------------------------------------------------------------------------
// Obstacle Avoidance behavior
//
// Returns a steering force to avoid a given obstacle. The purely lateral
// steering force will turn our vehicle towards a silhouette edge of the
// obstacle. Avoidance is required when (1) the obstacle intersects the
// vehicle's current path, (2) it is in front of the vehicle, and (3) is
// within minTimeToCollision seconds of travel at the vehicle's current
// velocity. Returns a zero vector value (Vector3::zero) when no avoidance is
// required.
//
// XXX The current (4-23-03) scheme is to dump all the work on the various
// XXX Obstacle classes, making them provide a "steer vehicle to avoid me"
// XXX method. This may well change.
//
// XXX 9-12-03: this routine is probably obsolete: its name is too close to
// XXX the new steerToAvoidObstacles and the arguments are reversed
// XXX (perhaps there should be another version of steerToAvoidObstacles
// XXX whose second arg is "const Obstacle& obstacle" just in case we want
// XXX to avoid a non-grouped obstacle)
public Vector3 steerToAvoidObstacle ( float minTimeToCollision, Obstacle obstacle)
{
Vector3 avoidance = obstacle.steerToAvoid (this, minTimeToCollision);
return avoidance;
}
public Vector3 steerToAvoidObstacle(float minTimeToCollision, Obstacle obstacle)
{
return(obstacle.steerToAvoid(this, minTimeToCollision));
}
// ----------------------------------------------------------------------------
// Obstacle Avoidance behavior
//
// Returns a steering force to avoid a given obstacle. The purely lateral
// steering force will turn our vehicle towards a silhouette edge of the
// obstacle. Avoidance is required when (1) the obstacle intersects the
// vehicle's current path, (2) it is in front of the vehicle, and (3) is
// within minTimeToCollision seconds of travel at the vehicle's current
// velocity. Returns a zero vector value (Vector3::zero) when no avoidance is
// required.
//
// XXX The current (4-23-03) scheme is to dump all the work on the various
// XXX Obstacle classes, making them provide a "steer vehicle to avoid me"
// XXX method. This may well change.
//
// XXX 9-12-03: this routine is probably obsolete: its name is too close to
// XXX the new steerToAvoidObstacles and the arguments are reversed
// XXX (perhaps there should be another version of steerToAvoidObstacles
// XXX whose second arg is "const Obstacle& obstacle" just in case we want
// XXX to avoid a non-grouped obstacle)
public Vector3 steerToAvoidObstacle(float minTimeToCollision, Obstacle obstacle)
{
Vector3 avoidance = obstacle.steerToAvoid(this, minTimeToCollision);
return(avoidance);
}
// ----------------------------------------------------------------------------
// Obstacle Avoidance behavior
//
// Returns a steering force to avoid a given obstacle. The purely lateral
// steering force will turn our vehicle towards a silhouette edge of the
// obstacle. Avoidance is required when (1) the obstacle intersects the
// vehicle's current path, (2) it is in front of the vehicle, and (3) is
// within minTimeToCollision seconds of travel at the vehicle's current
// velocity. Returns a zero vector value (Vector3::zero) when no avoidance is
// required.
//
// XXX The current (4-23-03) scheme is to dump all the work on the various
// XXX Obstacle classes, making them provide a "steer vehicle to avoid me"
// XXX method. This may well change.
//
// XXX 9-12-03: this routine is probably obsolete: its name is too close to
// XXX the new steerToAvoidObstacles and the arguments are reversed
// XXX (perhaps there should be another version of steerToAvoidObstacles
// XXX whose second arg is "const Obstacle& obstacle" just in case we want
// XXX to avoid a non-grouped obstacle)
public Vector3 steerToAvoidObstacle ( float minTimeToCollision, Obstacle obstacle)
{
Vector3 avoidance = obstacle.steerToAvoid (this, minTimeToCollision);
// XXX more annotation modularity problems (assumes spherical obstacle)
if (avoidance != Vector3.zero)
annotateAvoidObstacle (minTimeToCollision * Speed);
return avoidance;
}