//=========================================================//
//calculate force and update position
private void UpdatePosition(ref Vector2 targetPosition)
{
heading = Vector2.Normalize(velocity);
switch (SB)
{
case SB.None:
steerForce = Vector2.Zero;
break;
case SB.Seek:
steerForce = SteeringBehaviours.Seek(ref targetPosition, ref currentPosition, ref velocity, max_speed);
break;
case SB.Flee:
steerForce = SteeringBehaviours.Flee(ref targetPosition, ref currentPosition, ref velocity, max_speed, FOV, vehicleNo);
break;
case SB.Arrive:
steerForce = SteeringBehaviours.Arrive(ref targetPosition, ref currentPosition, ref velocity, ArriveRadius, max_speed, vehicleNo);
break;
case SB.Pursuit:
break;
case SB.Evade:
break;
case SB.Wander:
steerForce = SteeringBehaviours.Wander(ref wanderTarget, ref currentPosition, ref velocity, ref heading, WanderRadius, WanderDistance, WanderJitter);
break;
case SB.PathFollowing:
if (!enableSpecialPath)
{
steerForce = SteeringBehaviours.PathFollowing(ref targetPosition, ref currentPosition, ref velocity, ref pathPoints, ref currentPathPoint, maxPathPoints, max_speed);
}
else
{
steerForce = SteeringBehaviours.PathFollowing(ref targetPosition, ref currentPosition, ref velocity, ref specialPathPoints, ref currentPathPoint, maxSpecialPathPoints, max_speed);
}
break;
case SB.Cohesion:
steerForce = SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius);
break;
case SB.Alignment:
steerForce = SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed);
break;
case SB.Separation:
steerForce = SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed);
break;
case SB.CF:
steerForce = Vector2.Add(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), SteeringBehaviours.Flee(ref targetPosition, ref currentPosition, ref velocity, max_speed, FOV, vehicleNo));
break;
case SB.CA:
if (weightedSum)
{
steerForce += Vector2.Multiply(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), .2f);
steerForce += Vector2.Multiply(SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed), .1f);
}
else
{
steerForce = Vector2.Add(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed));
}
break;
case SB.CAS:
if (weightedSum)
{
steerForce = Vector2.Add(SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed), Vector2.Add(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed)));
}
else
{
steerForce = Vector2.Multiply(SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed), .3f);
steerForce += Vector2.Multiply(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), .2f);
steerForce += Vector2.Multiply(SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed), .5f);
}
break;
case SB.CS:
if (weightedSum)
{
steerForce = Vector2.Add(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed));
}
else
{
steerForce = Vector2.Multiply(SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed), .8f);
steerForce += Vector2.Multiply(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), .2f);
}
break;
case SB.FCAS:
if (weightedSum)
{
steerForce = Vector2.Add(SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed), Vector2.Add(SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed), Vector2.Add(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), SteeringBehaviours.Flee(ref targetPosition, ref currentPosition, ref velocity, max_speed, FOV, vehicleNo))));
}
else
{
steerForce = Vector2.Multiply(SteeringBehaviours.Flee(ref targetPosition, ref currentPosition, ref velocity, max_speed, FOV, vehicleNo), .4f);
steerForce += Vector2.Multiply(SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed), .3f);
steerForce += Vector2.Multiply(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), .2f);
steerForce += Vector2.Multiply(SteeringBehaviours.Alignment(ref allCars, this, ref currentPosition, ref velocity, max_speed), .5f);
}
break;
case SB.FCS:
steerForce = Vector2.Add(SteeringBehaviours.Separation(ref allCars, this, ref currentPosition, ref velocity, max_speed), Vector2.Add(SteeringBehaviours.Cohesion(ref allCars, this, currentPosition, velocity, max_speed, CohesionRadius), SteeringBehaviours.Flee(ref targetPosition, ref currentPosition, ref velocity, max_speed, FOV, vehicleNo)));
break;
default:
break;
}
steerForce = VectorHelpers.Truncate(steerForce, max_force);
acceleration = steerForce / mass;
velocity = VectorHelpers.Truncate(velocity + acceleration, max_speed);
currentPosition = Vector2.Add(velocity, currentPosition);
var mirrored = true;
if (!mirrored)
{
if (currentPosition.X > clientSize.Width)
{
currentPosition.X = 0;
}
if (currentPosition.Y > clientSize.Height)
{
currentPosition.Y = 0;
}
if (currentPosition.X < 0)
{
currentPosition.X = clientSize.Width;
}
if (currentPosition.Y < 0)
{
currentPosition.Y = clientSize.Height;
}
}
else
{
if (currentPosition.X > clientSize.Width)
{
velocity.X *= -1;
}
if (currentPosition.Y > clientSize.Height)
{
velocity.Y *= -1;
}
if (currentPosition.X < 0)
{
velocity.X *= -1;
}
;
if (currentPosition.Y < 0)
{
velocity.Y *= -1;
}
;
}
currentPosition = new Vector2(MathHelper.Clamp(currentPosition.X, 0, clientSize.Width),
MathHelper.Clamp(currentPosition.Y, 0, clientSize.Height));
targetChanged = false;
}
