/// <summary>
/// Makes the peon avoid terrain. THIS IS F****D, DON'T USE IT
/// </summary>
/// <param name="terrain"></param>
/// <returns></returns>
public Vector2 avoidTerrain(Terrain terrain, float lookaheadDistance)
{
// we shouldn't be colliding now
Debug.Assert(!terrain.CheckCollision(position));
if (velocity == Vector2.Zero)
{
if (terrain.CheckCollision(position))
{
throw new Exception("peon stuck in terrain w/ 0 velocity");
}
return(Vector2.Zero);
}
Vector2 nextPos = position + Vector2.Normalize(velocity) * lookaheadDistance;
if (terrain.CheckCollision(nextPos))
{
// future intersection, try to avoid
// brute force to find a resolution :/
PolarVector2 solver = new PolarVector2();
solver.Cartesian = nextPos - position;
float startAngle = solver.angle;
// search left and then right alternatley until we find a resolution
// to the collision - we can only check if a single pixel is colliding,
// we don't know the actual areas of bounds
int limit = (int)Math.Ceiling(Math.PI / CRAPPY_COLLISION_SEARCH_RESOLUTION);
for (int count = 0, alternator = 0; count <= limit; alternator = ++alternator % 2)
{
solver.angle = startAngle;
float delta = CRAPPY_COLLISION_SEARCH_RESOLUTION * count;
if (alternator == 1)
{
// search backwards around the circle
solver.angle = solver.angle + -startAngle;
++count;
}
// see if we don't have a collision
if (!terrain.CheckCollision(position + solver.Cartesian))
{
// no collision
return(seek(solver.Cartesian));
}
}
// failed to find a resolution, not good
Debug.WriteLine(String.Format("Failed to resolve collision at: {0}, lookahead: {1}",
position, lookaheadDistance));
Debug.Assert(false);
}
Debug.WriteLine(String.Format("No collision at: {0}", position));
return(Vector2.Zero);
}
public Vector2 wander(float deviation, float distance, float maxAngleDelta)
{
lastWanderAngle += (float)(Engine.RND.NextDouble() * (maxAngleDelta * 2)) - maxAngleDelta;
Vector2 rndPoint = new PolarVector2(deviation, lastWanderAngle).Cartesian;
Vector2 offset = new PolarVector2(distance, Angle).Cartesian;
Vector2 target = (rndPoint + offset);
target.Normalize();
target *= distance;
return(seek(position + target));
}
