/// <summary>
/// Executes the pursuit behavior.
/// </summary>
/// <param name="quarry">The car that should be pursuited.</param>
/// <returns>The pursuit steering force.</returns>
private Vector2 Pursuit(Car quarry)
{
Vector2 distance = quarry.GPSPosition - this.GPSPosition;
//t is predicted time until interception.
float t = distance.Length() / (this.Velocity - quarry.Velocity).Length();
//Seek predicted position.
return Seek(AutonomousCar.PredictFuturePosition(quarry, t));
}
/// <summary>
/// Executes the leader following behavior.
/// </summary>
/// <param name="leader">The car that is designated as leader.</param>
/// <returns>The leader following steering force.</returns>
private Vector2 FollowLeader(Car leader)
{
float distanceOffset = this.CollisionDist;
return Arrive(leader.GPSPosition - distanceOffset * leader.Velocity);
}
/// <summary>
/// Executes the interpose behavior.
/// </summary>
/// <param name="car1">The first car.</param>
/// <param name="car2">The second car.</param>
/// <returns>The interpose steering force.</returns>
private Vector2 Interpose(Car car1, Car car2)
{
float distance = (((car1.GPSPosition + car2.GPSPosition) / 2) - this.GPSPosition).Length();
float T = distance / this.Velocity.Length();
Vector2 desiredPosition = (PredictFuturePosition(car1, T) + PredictFuturePosition(car2, T)) / 2;
return Seek(desiredPosition);
}
/// <summary>
/// Predicts the position of the specified car after the specified time.
/// </summary>
/// <param name="car">The car of which the position should be predicted.</param>
/// <param name="t">The point in time at which the position should be predicted, in seconds.</param>
/// <returns>The predicted future position.</returns>
private static Vector2 PredictFuturePosition(Car car, float t)
{
return car.GPSPosition + car.Velocity * t;
}
