public void setNextPursuitTarget()
{
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
objSharkie.Steering().ArriveOff();
objSharkie.Steering().FollowPathOff();
if (m_Vehicles.Count > 1)
{
bool blnSearch = true;
while (blnSearch)
{
int tempNum = Utils.RandInt(0, (m_Vehicles.Count - 1));
if (m_Vehicles[tempNum].ID() != m_intSharkieID)
{
m_intVictimID = m_Vehicles[tempNum].ID();
blnSearch = false;
}
}
MovingEntity objVictim = getVehicleByID(m_intVictimID);
objSharkie.Steering().PursuitOn(objVictim);
}
}
public void setTarget(int x, int y)
{
GameWorld.Instance.TargetPos = new Vector2D(x, y);
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
objSharkie.Steering().PursuitOff();
objSharkie.Steering().FollowPathOff();
objSharkie.Steering().ArriveOn();
}
public void setFollowPathOn()
{
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
objSharkie.Steering().PursuitOff();
objSharkie.Steering().ArriveOff();
objSharkie.Steering().FollowPathOn();
if (objSharkie.Steering().GetPath().Finished())
{
ReCreatePath();
}
}
private void renderDetectionBox(MovingEntity objVehicle, Graphics objGraphics, Pen objPen)
{
List <Vector2D> points = new List <Vector2D>();
points.Add(new Vector2D(0, objVehicle.BRadius));
points.Add(new Vector2D(objVehicle.Steering().DBoxLength(), objVehicle.BRadius));
points.Add(new Vector2D(objVehicle.Steering().DBoxLength(), -objVehicle.BRadius));
points.Add(new Vector2D(0, -objVehicle.BRadius));
if (UseSmoothing)
{
points = Utils.WorldTransform(points, objVehicle.Pos, objVehicle.SmoothedHeading(), objVehicle.SmoothedHeading().Perp());
}
else
{
points = Utils.WorldTransform(points, objVehicle.Pos, objVehicle.Heading(), objVehicle.Side());
}
objGraphics.DrawLine(objPen, (PointF)points[0], (PointF)points[1]);
objGraphics.DrawLine(objPen, (PointF)points[1], (PointF)points[2]);
objGraphics.DrawLine(objPen, (PointF)points[2], (PointF)points[3]);
}
public SteeringScenario(int cx, int cy)
{
m_cxClient = cx;
m_cyClient = cy;
m_Vehicles.Clear();
m_Obstacles.Clear();
m_Walls.Clear();
GameWorld.Instance.cxClient = m_cxClient;
GameWorld.Instance.cyClient = m_cyClient;
GameWorld.Instance.Wrap = true;
GameWorld.Instance.SpacePartitioningOn = true;
objVehiclePen = new Pen(Color.Black);
objDarkPen = new Pen(Color.SeaGreen, 2);
objWallPen = new Pen(Color.DarkOrange);
objObstaclePen = new Pen(Color.Orange);
objTargetPen = new Pen(Color.Blue, 1);
objRedPen = new Pen(Color.Red, 2);
objCellPen = new Pen(Color.LightSkyBlue, 1);
objGrayPen = new Pen(Color.LightSlateGray, 2);
objPathPen = new Pen(Color.Blue, 2);
objPathPen.EndCap = System.Drawing.Drawing2D.LineCap.ArrowAnchor;
objPathPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
m_pCellSpace = new CellSpacePartition(m_cxClient, m_cyClient, SteerParams.Instance.NumCellsX, SteerParams.Instance.NumCellsY, SteerParams.Instance.NumAgents);
CreateObstacles();
CreateWalls();
CreateRandomPath();
//setup the agents
for (int a = 0; a < SteerParams.Instance.NumAgents; ++a)
{
//determine a random starting position
Vector2D SpawnPos = new Vector2D(cx / 2.0 + Utils.RandomClamped() * cx / 2.0, cy / 2.0 + Utils.RandomClamped() * cy / 2.0);
double rotation = Utils.RandFloat() * Utils.TwoPi;
MovingEntity pVehicle = new MovingEntity(SpawnPos, //initial position
SteerParams.Instance.VehicleScale,
new Vector2D(0, 0),
SteerParams.Instance.MaxSpeed,
new Vector2D(Math.Sin(rotation), -Math.Cos(rotation)),
SteerParams.Instance.VehicleMass,
new Vector2D(SteerParams.Instance.VehicleScale, SteerParams.Instance.VehicleScale),
SteerParams.Instance.MaxTurnRatePerSecond,
SteerParams.Instance.AppliedMaxSteeringForce());
pVehicle.Steering().FlockingOn();
pVehicle.Steering().WallAvoidanceOn();
pVehicle.Steering().ObstacleAvoidanceOn();
m_Vehicles.Add(pVehicle);
//add it to the cell subdivision
m_pCellSpace.AddEntity(pVehicle);
}
// Turn the last one into a shark!
int sharkie = SteerParams.Instance.NumAgents - 1;
m_Vehicles[sharkie].Steering().FlockingOff();
m_Vehicles[sharkie].SetScale(new Vector2D(6, 6));
m_Vehicles[sharkie].MaxSpeed = 80;
m_intSharkieID = m_Vehicles[sharkie].ID();
setNextPursuitTarget();
for (int a = 0; a < SteerParams.Instance.NumAgents - 1; ++a)
{
m_Vehicles[a].Steering().EvadeOn(m_Vehicles[sharkie]);
}
GameWorld.Instance.Agents = m_Vehicles;
GameWorld.Instance.Walls = m_Walls;
GameWorld.Instance.Obstacles = m_Obstacles;
GameWorld.Instance.CellSpaces = m_pCellSpace;
}
public bool isFollowPathOn()
{
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
return(objSharkie.Steering().isFollowPathOn());
}
public void ReCreatePath()
{
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
objSharkie.Steering().GetPath().Set(CreateRandomPath());
}
public void Render(Graphics objGraphics)
{
if (isFollowPathOn())
{
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
RenderPath2D(objSharkie.Steering().GetPath(), objGraphics, objPathPen);
}
foreach (MovingEntity objVehicle in m_Vehicles)
{
Pen objDrawPen = objVehiclePen;
if (isPursuitOn() && (objVehicle.ID() == m_intVictimID))
{
objDrawPen = objTargetPen;
}
if (m_blnNonePenetrationOn)
{
List <MovingEntity> ListTouched = MovingEntity.EnforceNonPenetrationConstraint(objVehicle, m_Vehicles);
if (ListTouched.Count > 0)
{
if (objVehicle.ID() == m_intSharkieID)
{
objDrawPen = objRedPen;
}
else
{
objDrawPen = objDarkPen;
}
}
}
RenderVehicle(objVehicle, objGraphics, objDrawPen);
if (m_blnRenderAids)
{
if ((objVehicle.ID() == m_intSharkieID))
{
Vector2D vecForce = (Vector2D)(objVehicle.Steering().Force() / SteerParams.Instance.SteeringForceTweaker);
vecForce.X = (vecForce.X * 2) * objVehicle.Scale().X;
vecForce.Y = (vecForce.Y * 2) * objVehicle.Scale().Y;
objGraphics.DrawLine(objRedPen, (PointF)objVehicle.Pos, (PointF)(objVehicle.Pos + vecForce));
objGraphics.DrawEllipse(objVehiclePen, (int)(objVehicle.Pos.X - SteerParams.Instance.ViewDistance), (int)(objVehicle.Pos.Y - SteerParams.Instance.ViewDistance),
(int)SteerParams.Instance.ViewDistance * 2, (int)SteerParams.Instance.ViewDistance * 2);
renderDetectionBox(objVehicle, objGraphics, objVehiclePen);
}
else if ((objVehicle.ID() == m_intVictimID) && GameWorld.Instance.SpacePartitioningOn && isPursuitOn())
{
InvertedAABBox2D box = new InvertedAABBox2D(objVehicle.Pos - new Vector2D(SteerParams.Instance.ViewDistance, SteerParams.Instance.ViewDistance),
objVehicle.Pos + new Vector2D(SteerParams.Instance.ViewDistance, SteerParams.Instance.ViewDistance));
renderBox(box, objGraphics, objTargetPen);
GameWorld.Instance.CellSpaces.CalculateNeighbors(objVehicle.Pos, SteerParams.Instance.ViewDistance);
foreach (MovingEntity objNeighbour in GameWorld.Instance.CellSpaces.ListOfNeighbours())
{
if (objNeighbour.ID() != m_intSharkieID)
{
RenderObstacle(objNeighbour, objGraphics, objGrayPen);
}
}
objGraphics.DrawEllipse(objGrayPen, (int)(objVehicle.Pos.X - SteerParams.Instance.ViewDistance), (int)(objVehicle.Pos.Y - SteerParams.Instance.ViewDistance),
(int)SteerParams.Instance.ViewDistance * 2, (int)SteerParams.Instance.ViewDistance * 2);
}
}
}
if (GameWorld.Instance.SpacePartitioningOn)
{
foreach (Cell objCell in m_pCellSpace.ListOfCells())
{
renderCell(objCell, objGraphics, objCellPen, true);
}
}
foreach (Wall2D objWall in m_Walls)
{
RenderWall2D(objWall, objGraphics, objWallPen, true);
}
foreach (BaseGameEntity objObs in m_Obstacles)
{
RenderObstacle(objObs, objGraphics, objObstaclePen);
}
if (!isPursuitOn() && !isFollowPathOn())
{
RenderTarget(GameWorld.Instance.TargetPos, objGraphics, objTargetPen);
}
}
