// Sets up the behaviors that this agent uses. Should be called by implementing classes
public void initialize()
{
this.smellFollower = new SmellFollower();
this.wallAvoider = new WallAvoider(MAIN_RAY_LENGTH, SIDE_RAY_LENGTH, transform, MAX_ACCEL);
this.collisionAvoider = new CollisionAvoider(COLLISION_AVOIDANCE_RAD, transform, rigidBody, MAX_ACCEL);
this.arriver = new Arriver(ARRIVE_RADIUS, SLOW_RADIUS, MAX_SPEED, rigidBody);
this.aligner = new Aligner(ROTATE_ARRIVE_RAD, ROTATE_SLOW_RAD, MAX_ANGULAR_ACC, transform, rigidBody);
this.fleer = new Fleer(FLEE_TAG_RAD, transform, MAX_ACCEL);
this.seeker = new Seeker(MAX_ACCEL, transform);
this.pursuer = new Pursuer(MAX_ACCEL, rigidBody);
this.wanderer = new Wanderer(MAX_ACCEL, transform);
this.mover = new Mover(MAX_ACCEL, MAX_ANGULAR_ACC, MAX_SPEED, MAX_ROTATION, rigidBody);
}
//public Vector2D Calculate()
//{
// Vector2D force; // My force will be stored here
// Vector2D pos = _me.Pos; // Position of the agent
// // For each wall
// for (int j = 0; j < _me.Walls.Count(); j++)
// {
// var wall = _me.Walls[j];
// var x = (wall.Center.X + _me.Pos.X) / 2;
// var y = (wall.Center.Y + _me.Pos.Y) / 2;
// Vector2D distance = new Vector2D(x, y);
// // If the wall is visible, calculate the force to apply
// double dotProduct = distance * partsList[j]->normal();
// if (dotProduct < 0)
// {
// force += partsList[j]->normal() / (distance.length() * distance.length() + 1);
// }
// }
// // Returned the calculated force
// return force;
//}
public IWall GetClosestWall(IWallAvoider ME)
{
IWall mostThreatening = null;
for (int i = 0; i < ME.Walls.Count(); i++)
{
IWall wall = ME.Walls[i];
bool collision = findSensorCollision(wall);
if (collision && (mostThreatening == null || VectorMath.DistanceBetweenPositions(ME.Pos, wall.Center) < VectorMath.DistanceBetweenPositions(ME.Pos, mostThreatening.Center)))
{
mostThreatening = wall;
}
}
return(mostThreatening);
}
public WallAvoidance(IWallAvoider me, double maxSeeAhead = 15, double maxAvoidForce = 35)
{
_me = me;
MaxSeeAhead = maxSeeAhead;
MaxAvoidForce = maxAvoidForce;
}