public override void Run(float deltaTime)
{
float angle = 0.0f;
// NOTE: since MonoAGS has Y axis pointing up, we need to invert the lookup array's Y index
float x = _veh.Position.X;
float y = _veh.Position.Y;
y = _regionMask.Height - y;
Color color = _regionMask.GetPixel((int)Math.Round(x), (int)Math.Round(y));
_regionAngles.TryGetValue(color, out angle);
// Steering
_targetAngle = angle;
float dirAngle = _veh.Direction.Angle();
float angleBetween = MathEx.AnglePiFast(_targetAngle - MathEx.Angle2Pi(dirAngle));
// HACK: reduce "jittering" when AI is trying to follow strict direction:
// if the necessary angle is very close to the angle car will turn in one tick, then just adjust yourself
float steeringDT = SteeringAngle * deltaTime * 1.1f;
if (Math.Abs(angleBetween) <= Math.Abs(steeringDT))
{
_veh.SteeringWheelAngle = 0.0f;
_veh.Direction = Vectors.Rotate(new Vector2(1.0f, 0.0f), _targetAngle);
}
// ...otherwise turn properly, without cheating
else if (angleBetween > 0.0f)
{
_veh.SteeringWheelAngle = SteeringAngle;
}
else if (angleBetween < 0.0f)
{
_veh.SteeringWheelAngle = -SteeringAngle;
}
else
{
_veh.SteeringWheelAngle = 0.0f;
}
// Always accelerating
_veh.Accelerator = 1.0f;
_veh.Brakes = 0.0f;
}
private bool testShouldChooseNewTarget()
{
if (!_targetValid)
{
return(true);
}
// Choose next path node if inside the check radius for current one, or closer to next one.
if (_currentNode != null)
{
AIPathNode prevNode = _currentNode.prev;
AIPathNode nextNode = _currentNode.next;
if (nextNode != null &&
(prevNode == null || Vectors.Distance(_veh.Position, prevNode.pt) > Vectors.Distance(_currentNode.pt, prevNode.pt)) &&
Vectors.Distance(_veh.Position, nextNode.pt) < Vectors.Distance(_currentNode.pt, nextNode.pt))
{
return(true);
}
}
return(Vectors.Distance(_veh.Position, _targetPos) <= _targetCheckRadius);
}