//Cohesion produces a steering force that moves a vehicle toward the center of mass of its neighbors
//A sheep running after its flock is demonstrating cohesive behavior. Use this force to keep a group of vehicles together.
public static Vector2 Cohesion(ref Vehicle[] allCars, Vehicle me, Vector2 currentPosition, Vector2 velocity, int max_speed, int cohesionRadius)
{
int j = 0;
Vector2 averagePosition = new Vector2(0);
Vector2 distance = new Vector2(0);
for (int i = 0; i < allCars.Length; i++)
{
distance = Vector2.Subtract(currentPosition, allCars[i].CurrentPosition);
if (Vector2.Length(distance) < cohesionRadius && allCars[i] != me)
{
j++;
averagePosition = Vector2.Add(averagePosition, allCars[i].CurrentPosition);
//averagePosition = Vector2.Multiply(averagePosition, 10);
//averagePosition = Vector2.Add(averagePosition, Vector2.Normalize(distance) / Vector2.Length(distance));
}
}
if (j == 0)
{
return None();
}
else
{
averagePosition = averagePosition / j;
return Seek(ref averagePosition, ref currentPosition, ref velocity, max_speed);
}
}
//Alignment attempts to keep a vehicle's heading aligned with its neighbors
//The force is calculated by first iterating through all the neighbors and averaging their heading vectors.
//This value is the desired heading, so we just subtract the vehicle's heading to get the steering force.
public static Vector2 Alignment(ref Vehicle[] allCars, Vehicle me, ref Vector2 currentPosition, ref Vector2 velocity, int max_speed)
{
int j = 0;
Vector2 averageDirection = new Vector2(0);
Vector2 distance = new Vector2(0);
for (int i = 0; i < allCars.Length; i++)
{
distance = Vector2.Subtract(currentPosition, allCars[i].CurrentPosition);
if (Vector2.Length(distance) < 100 && allCars[i] != me)
{
j++;
averageDirection = Vector2.Add(averageDirection, allCars[i].Velocity);
}
}
if (j == 0)
{
return None();
}
else
{
averageDirection = averageDirection / j;
return Vector2.Subtract(averageDirection, velocity);
}
}
public static void SetCarsData(ref Vehicle[] cars)
{
allCars = cars;
}
//initialize all cars including "otherCar"
private void InitializeCars()
{
otherCar = new Vehicle(g, clientSize, SB.Wander, -2);
otherCar.Mass = 2;
otherCar.MaxSpeed = 4;
otherCar.CreateObstacles();
for (int i = 0; i < cars.Length; i++)
{
cars[i] = new Vehicle(g, clientSize, SBs, i + 1);
if (!mainForm.identicalVehicles)
Thread.Sleep(50);
}
Vehicle.SetCarsData(ref cars);
}
//Separation creates a force that steers a vehicle away from those in its neighborhood region.
//When applied to a number of vehicles, they will spread out, trying to maximize their distance from every other vehicle
public static Vector2 Separation(ref Vehicle[] allCars, Vehicle me, ref Vector2 currentPosition, ref Vector2 velocity, int max_speed)
{
int j = 0;
Vector2 separationForce = new Vector2(0);
Vector2 averageDirection = new Vector2(0);
Vector2 distance = new Vector2(0);
for (int i = 0; i < allCars.Length; i++)
{
distance = Vector2.Subtract(currentPosition, allCars[i].CurrentPosition);
if (Vector2.Length(distance) < 100 && allCars[i] != me)
{
j++;
separationForce += Vector2.Subtract(currentPosition, allCars[i].CurrentPosition);
separationForce = Vector2.Normalize(separationForce);
separationForce = Vector2.Multiply(separationForce, 1 / .7f);
averageDirection = Vector2.Add(averageDirection, separationForce);
}
}
if (j == 0)
{
return None();
}
else
{
//averageDirection = averageDirection / j;
return averageDirection;
}
}
