public override SteeringOutput getSteering()
{
SteeringOutputDynamic steering = new SteeringOutputDynamic();
steering.linear = character.position - target.position;
steering.linear = steering.linear.Normalize(2);
steering.linear *= maxAcceleration;
steering.angular = 0;
return(steering);
}
public override SteeringOutput getSteering()
{
SteeringOutputDynamic steering = new SteeringOutputDynamic();
steering.linear = target.velocity - character.velocity;
steering.linear /= timeToTarget;
if (steering.linear.L2Norm() > maxAcceleration)
{
steering.linear = steering.linear.Normalize(2) * maxAcceleration;
}
steering.angular = 0;
return(steering);
}
public override SteeringOutput getSteering()
{
SteeringOutputDynamic steering = new SteeringOutputDynamic();
Vector <float> direction = target.position - character.position;
float distance = (float)direction.L2Norm();
// Check if we are there, return no steering
if (distance < targetRadius)
{
return(steering);
}
float targetSpeed = 0;
// If we are outside the slowRadius, then go max speed
if (distance > slowRadius)
{
targetSpeed = maxSpeed;
}
// Otherwise calculate a scaled speed
else
{
targetSpeed = maxSpeed * (distance / slowRadius);
}
Vector <float> targetVelocity = direction.Normalize(2) * targetSpeed;
steering.linear = targetVelocity - character.velocity;
steering.linear /= timeToTarget;
if (steering.linear.L2Norm() > maxAcceleration)
{
steering.linear = steering.linear.Normalize(2) * maxAcceleration;
}
steering.angular = 0;
return(steering);
}
public override SteeringOutput getSteering()
{
SteeringOutputDynamic steering = new SteeringOutputDynamic();
float rotation = target.orientation - character.orientation;
while (rotation > Math.PI)
{
rotation -= 2 * (float)Math.PI;
}
while (rotation < -Math.PI)
{
rotation += 2 * (float)Math.PI;
}
float rotationSize = Math.Abs(rotation);
if (rotationSize < targetRadius)
{
return(steering);
}
float targetRotation = rotationSize > slowRadius ? maxRotation : maxRotation * (rotationSize / slowRadius);
targetRotation *= rotation / rotationSize;
steering.angular = targetRotation - character.rotation;
steering.angular /= timeToTarget;
float angularAcceleration = Math.Abs(steering.angular);
if (angularAcceleration > maxAngularAcceleration)
{
steering.angular /= angularAcceleration;
steering.angular *= maxAngularAcceleration;
}
steering.linear = Vector <float> .Build.Dense(2);
return(steering);
}