Vector wallAvoidance()
{
//Same as above.
this.createEntityFeelers();
double distanceToThis = 0;
double distanceToClosest = 9999999;
int closestWallIndex = -1;
Vector force = new Vector();
Vector tempPoint = new Vector();
Vector closestPoint = new Vector();
ObjectBounds[] walls = WorldColliders.getObjectBoundsArray();
for(int i = 0; i < 3; ++i){
for(int j = 0; j < walls.length; j++){
for(int k = 0; k < 4; k++){
Vector2D points = walls[j].getVertices();
Vector from = new Vector(points[k].x, points[k].y);
Vector to = new Vector(points[(k+1)&3].x, points[(k+1)&3].y);
Storage mathStore = MathExtension.lineIntersects2dObject(owner.getPosition(), feeler[i],
from, to,
distanceToThis, tempPoint);
if(mathStore.wasItTrue == true){
if(mathStore.dist < distanceToClosest){
closestWallIndex = j;
closestPoint.setValues(tempPoint.x(), tempPoint.y());
}
}
distanceToThis = mathStore.dist;
}
if(closestWallIndex >= 0){
Vector difference = feelers[i] - closestPoint;
Vector tempVec = to -from;
tempVec.normalise();
tempVec.setVectorToNormal();
force = tempVec * Math.sqrt(difference.lengthSquared());
}
}
}
return force;
}
Vector obstacleAvoidance()
{
//The obstacles for this are taken from the global object
boxLength = SteeringBehaviour.minimumDetectionLength +
(Math.sqrt(owner.getCurrentSpeedSquared()/owner.getMaxSpeed())) *
SteeringBehaviour.minimumDetectionLength;
ArrayList<AIEntity> list = EntityManager.globalInstance().getNeighboursInRange(owner, boxLength);
AIEntity closestEntity = null;
double distanceOfClosestEntity = 9999999;
Vector positionOfClosestEntity = new Vector();
foreach(AIEntity listIter in list){
Vector localPosition = MathExtension.convertPointToLocalPosition(listIter.getPosition(),owner.getHeadingDirection(),owner.getPerpendicularHeading(), owner.getPosition());
if(localPosition.x() >= 0){
double rad = listIter.boundingRadius() + owner.boundingRadius();
if(Math.fabs(localPosition.y()) < rad){
double dX = localPosition.x();
double dY = localPosition.y();
double sqrRoot = Math.sqrt(rad*rad - dY*dY);
double temp = dX - sqrRoot;
if(temp <= 0) temp = dX + sqrRoot;
if(temp < distanceOfClosestEntity){
distanceOfClosestEntity = temp;
closestEntity = listIter;
positionOfClosestEntity = localPosition;
}
}
}
}
Vector steeringRequiredToAvoid = new Vector(0,0);
if(closestEntity != null){
double mult = 1 + (SteeringBehaviour.minimumDetectionLength - positionOfClosestEntity.x()) /
SteeringBehaviour.minimumDetectionLength;
steeringRequiredToAvoid.setValues(steeringRequiredToAvoid.x(),
(closestEntity.boundingRadius() - positionOfClosestEntity.y()) * mult);
double brakeVal = 0.15;
steeringRequiredToAvoid.setValues((closestEntity.boundingRadius() - positionOfClosestEntity.x()) * brakeVal,
steeringRequiredToAvoid.y());
}
//This may need a conversion into global space, it may not.
return steeringRequiredToAvoid;
}
