public DeterministicVector2 Steer(Unit unit, List <Unit> neighbors, List <NavigationEdge> path, Map map)
{
if (path == null || path.Count == 0)
{
return(new DeterministicVector2());
}
bool isLastMovementPossible = unit.LastSteering.GetLengthSquared() != 0;
DeterministicVector2 naiveNewPosition = unit.Position;
DeterministicVector2 lastSteering = unit.LastSteering;
if (isLastMovementPossible)
{
lastSteering = lastSteering.Normalize();
naiveNewPosition += lastSteering;
}
DeterministicFloat shortestDistance = new DeterministicFloat(long.MaxValue, false);
NavigationEdge nearestEdge = new NavigationEdge();
DeterministicVector2 closestPoint = new DeterministicVector2();
for (var i = 0; i < path.Count; i++)
{
var pathEdge = path[i];
var distanceResult = pathEdge.GetDistance(naiveNewPosition);
if (distanceResult.Distance < shortestDistance)
{
shortestDistance = distanceResult.Distance;
nearestEdge = pathEdge;
closestPoint = distanceResult.ClosestPoint;
if (i > 0)
{
unit.RecalcPathOnNextUpdate = true;
}
// naive positioning is on path, we don't need to steer
if (isLastMovementPossible && shortestDistance <= PathSize)
{
return(lastSteering);
}
}
}
var dir = nearestEdge.B - nearestEdge.A;
return(closestPoint + dir.Normalize() - unit.Position);
}
private void Steering(List <ISteerBehaviour> behaviours, bool applySpeed)
{
DeterministicVector2 newSteering = new DeterministicVector2();
foreach (var steeringBehaviour in behaviours)
{
newSteering += steeringBehaviour.Steer(this, Neighbours, Path, map);
}
if (applySpeed)
{
newSteering = newSteering.Normalize();
newSteering *= Speed;
}
newPosition += newSteering;
}
