public override AINode getNextNode(Character body)
{
GameObject other = this.getNeighborOfType(body, this.itsTypeToCheck);
double forwardDist, lateralDist, speed;
if (other == null)
{
return(base.chooseRightChild());
//forwardDist = lateralDist = 0;
}
else
{
// This is an approximation based on the assumption that both body and other are circles.
// Eventually I'll make it better
// calculate relative positions
double[] myPosition = body.getCenter();
double[] theirPosition = other.getCenter();
double dx = theirPosition[0] - myPosition[0];
double dy = theirPosition[1] - myPosition[1];
double dist = Math.Sqrt(dx * dx + dy * dy);
// calculate relative velocity
double[] myVelocity = body.getVelocity();
double[] theirVelocity = other.getVelocity();
double vx = myVelocity[0] - theirVelocity[0];
double vy = myVelocity[1] - theirVelocity[1];
speed = Math.Sqrt(vx * vx + vy * vy);
// calculate sizes. If the shapes aren't actually circles, then we kind of make something up for the moment
GameShape myShape = body.getShape();
double myRadius = Math.Max(myShape.getWidth() / 2, myShape.getHeight() / 2);
GameShape theirShape = other.getShape();
double theirRadius = Math.Max(theirShape.getWidth() / 2, theirShape.getHeight() / 2);
// Compute the point at which the objects will be closest to each other
if (vx == 0 && vy == 0)
{
forwardDist = dist - myRadius - theirRadius;
lateralDist = dist - myRadius - theirRadius;
}
else
{
forwardDist = (dx * vx + dy * vy) / speed - myRadius - theirRadius;
lateralDist = Math.Abs((dx * vy - dy * vx) / speed) - myRadius - theirRadius;
}
}
// At faster speeds it's easier for there to be a collision, so scale the threshold by the speed (Therefore, the threshold represents a number of seconds)
if (forwardDist * this.itsForwardScale + lateralDist * this.itsLateralScale < itsThreshold * speed)
{
return(base.chooseLeftChild());
}
else
{
return(base.chooseRightChild());
}
}
public void setShape(GameShape newShape)
{
this.shape = newShape;
this.image.Width = newShape.getWidth();
this.image.Height = newShape.getHeight();
}
