public override SteeringOutput getSteering()
{
base.getSteering();
// Create the structure to hold the output
SteeringOutput steering = new SteeringOutput();
// Get the naive direction to target
float rotation = target.orientation - character.orientation;
// Map the result to the (-pi,pi) interval
rotation = mapToRange(rotation);
float rotationAngle = Math.Abs(rotationDirection);
// Check if we are there, return no steering
if (rotationAngle < targetRadius)
return null;
// If we are outside the slowRadius, then use
// maximum rotation
if (rotationAngle > slowRadius)
{
targetRotation = maxRotation;
}
else
{
targetRotation = maxRotation * rotationAngle / slowRadius;
}
// The final target rotation combines
// speed (already in the variable) and direction
targetRotation *= rotation / rotationAngle;
// Acceleration tries to get to the target rotation
steering.angular = targetRotation - character.rotation;
steering.angular /= timeToTarget;
// Check if the acceleration is too great
float angularAcceleration = Math.Abs(steering.angular);
if (angularAcceleration > maxAngularAcceleration)
{
steering.angular /= angularAcceleration;
steering.angular *= maxAngularAcceleration;
}
// Output the steering
steering.linear = new Vector2(0.f,0.f);
return steering;
}
public SteeringOutput getSteering()
{
// create the structure for output
SteeringOutput steering = new SteeringOutput();
// get velocity from the vector form of the orientation
steering.linear = maxSpeed * character.orientation.asVector();
// change our orientation randomly
steering.angular = randomBinomial() * maxRotation;
// output steering
return steering;
}
public SteeringOutput getSteering()
{
// create the structure for output
SteeringOutput steering = new SteeringOutput();
// get the direction to the target
steering.linear = target.position - character.position;
// the velocity is along this direction, at full speed
steering.linear.Normalize();
steering.linear *= maxSpeed;
// face in the direction we want to move
character.orientation = getNewOrientation(character.orientation,
steering.linear);
// output the steering
steering.angular = 0;
return steering;
}
// implements steering so that character arrives
// at prescribed radius to the target.
public SteeringOutput getSteering()
{
// create structure for output
SteeringOutput steering = new SteeringOutput();
// get the direction to target
steering.linear = target.position - character.position;
// check if we're within radius
if (steering.linear.Length() < radius)
{
return null;
}
// we need to move to our target, we'd like to
// get there in timeToTarget seconds
steering.linear /= timeToTarget;
// if this is too fast clip it to the max speed
if (steering.linear.Length() > maxSpeed)
{
steering.linear.Normalize();
steering.linear *= maxSpeed;
}
// face in the direction we want to move
character.orientation = getNewOrientation(character.orientation,
steering.linear);
// output steering
steering.angular = 0.f;
return steering;
}
/// <summary>
/// This uses Newton-Euler update, which works fine
/// for small time intervals.
/// </summary>
/// <param name="steering"></param>
/// <param name="time"></param>
public void updateEuler(SteeringOutput steering, float time)
{
// Update the position and orientation
position += velocity * time;
orientation += rotation * time;
// and the velocity and rotation
velocity += steering.linear * time;
rotation += steering.angular * time;
}
// Returns the desired steering output
public SteeringOutput getSteering()
{
// create the structure to hold our output
SteeringOutput steering = new SteeringOutput();
// get the direction to the target
steering.linear = target.position - character.position;
// give full aceleration is along this direction
steering.linear.Normalize();
steering.linear *= maxAcceleration;
// output the steering
steering.angular = 0;
return steering;
}
public override SteeringOutput getSteering()
{
// Create the structure to hold our output
SteeringOutput steering = new SteeringOutput();
// Get the direction to the target
Vector2 direction = target.position - character.position;
float distance = direction.Length();
// Check if we are there return no steering
if (distance < targetRadius)
return null;
// If we are outside the slowRadius,the go max speed
if (distance > slowRadius)
{
targetSpeed = maxSpeed;
}
else
{
targetSpeed = maxSpeed * distance / slowRadius;
}
// The target velocity combines speed and direction
Vector2 targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity *= targetSpeed;
// Acceleration tries to get to target velocity
steering.linear = targetVelocity - character.velocity;
steering.linear /= timeToTarget;
// Check if the acceleration is too fast
if (steering.linear.Length() > maxAcceleration)
{
steering.linear.Normalize();
steering.linear *= maxAcceleration;
}
// Output the steering
steering.angular = 0.f;
return steering;
}
