Ejemplo n.º 1
0
        public Vector2 GetCurrentSample(Agent agent)
        {
            int commonSampleCount = this.layerCount * this.outerLayerSampleCount;
            Vector2 oldVelocity = agent.SuggestedVel / agent.Characteristics.MaxSpeed;

            // this can happen if the max speed changed during the last update
            if (oldVelocity.LengthSquared > 1f)
                oldVelocity.Normalize();

            if (this.currentSampleIdx >= commonSampleCount + 1)
                return Vector2.Zero;
            if (this.currentSampleIdx >= commonSampleCount)
                return oldVelocity;

            int layerIdx = this.currentSampleIdx % this.layerCount;
            int directionIdx = (this.currentSampleIdx / this.layerCount) % this.outerLayerSampleCount;

            float undistortedSpeedFactor = (float)(layerIdx + 1) / this.layerCount;
            float undistortedAngle = MathF.Lerp(-1.0f, 1.0f, ((float)directionIdx / this.outerLayerSampleCount));

            float speedFactor = undistortedSpeedFactor;
            float angle = MathF.Atan2(oldVelocity.Y, oldVelocity.X) + MathF.Pow(Math.Abs(undistortedAngle), 0.8f) * undistortedAngle * MathF.RadAngle180;

            return new Vector2(MathF.Cos(angle) * speedFactor, MathF.Sin(angle) * speedFactor);
        }
Ejemplo n.º 2
0
        public Vector2 GetCurrentSample(Agent agent)
        {
            if (this.currentSampleIdx >= this.layerCount * this.outerLayerSampleCount)
                return Vector2.Zero;

            var layerIdx = this.currentSampleIdx % layerCount;
            var directionIdx = (this.currentSampleIdx / this.layerCount) % this.outerLayerSampleCount;

            float angle = ((float)directionIdx / this.outerLayerSampleCount) * MathF.RadAngle360;
            float speedFactor = (float)(layerIdx + 1) / this.layerCount;
            return new Vector2(MathF.Cos(angle) * speedFactor, MathF.Sin(angle) * speedFactor);
        }
Ejemplo n.º 3
0
        public float CalculateVelocityCost(Agent agent, Vector2 sampleVelocity, float toiPenality)
        {
            if (this.updateBaseImplParams)
            {
                // [aggressiveness]
                // interpretation: aggressive agents are likely to ignore other agents more => avoid them only if absolutly necessary
                // implementation:
                // we use a function which is
                // - zero if aggressiveness == 0
                // - one if aggressiveness == 0.5
                // - infinity if aggressiveness == 1 [to prevent numerical problem we don't actually use infinity but just a high value]
                // ... and use it as toi exponent. This will lead to a toi-cost-function which is very steep close to one
                // => the agent will avoid other agents in the last moment
                // => if aggressiveness is 0 the opposit happens - the agent avoids other agents very early
                this.baseImpl.ToiExponent = AdvancedAgentCharacteristics.DEFAULT_TOI_EXPONENT * (1f / (1f - MathF.Lerp(0.01f, 0.99f, this.aggressiveness)) - 1f);

                this.updateBaseImplParams = false;
            }
            return this.baseImpl.CalculateVelocityCost(agent, sampleVelocity, toiPenality);
        }
Ejemplo n.º 4
0
 public float CalculateCost(Agent agent, Vector2 sampleDirection)
 {
     var agentPos = agent.GameObj.Transform.Pos.Xy;
     var posDelta = this.location - agentPos;
     return 0.5f * (1f - Vector2.Dot(posDelta.Normalized, sampleDirection));
 }
Ejemplo n.º 5
0
 public float CalculateCost(Agent agent, Vector2 sampleDirection)
 {
     float dirLen = this.direction.Length;
     return 0.5f * (1.0f - Vector2.Dot(this.direction / (dirLen > 0.0f ? dirLen : 1.0f), sampleDirection));
 }
Ejemplo n.º 6
0
 public IEnumerable<Agent> FindNeighborAgents(Agent referenceAgent)
 {
     // ToDo: Performance Optimization when necessary.
     return Scene.Current.FindComponents<Agent>().Where(a => a != referenceAgent);
 }
Ejemplo n.º 7
0
        public float CalculateVelocityCost(Agent agent, Vector2 sampleVelocity, float toiPenality)
        {
            float score = 0.0f;

            float deltaVelocityPenality = (sampleVelocity - agent.GameObj.Transform.Vel.Xy).Length / (2.0f * this.MaxSpeed);
            score += this.velocityPreservationFactor * deltaVelocityPenality;

            if (agent.Target != null)
            {
                if (sampleVelocity.LengthSquared > float.Epsilon)
                    score += this.directionFactor * agent.Target.CalculateCost(agent, sampleVelocity.Normalized);
                score += this.speedFactor * (this.prefSpeed - sampleVelocity.Length) / this.MaxSpeed;
            }
            score += this.toiFactor * MathF.Pow(toiPenality, this.toiExponent);

            score /= this.velocityPreservationFactor + this.speedFactor + this.directionFactor + this.toiFactor;
            return score;
        }