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;
}