public static Vector3 AdvoidObstacleBehaviour(OnlandVehicle tank, Vector3 currentSteering, Map map, float scanRadius = 50)
{
Vector3 originalScanVector = Vector3.Normalize(currentSteering) * scanRadius;
//Vector3 originalSeePoint = currentTransform.Translation + originalScanVector;
// scan around to find moveable position
float rotateAngle = 0;
float rotateStep = MathHelper.PiOver4;
List <float> availableAngles = new List <float>();
Matrix rotateMatrix;
while (rotateAngle < MathHelper.TwoPi)
{
rotateMatrix = Matrix.CreateRotationY(rotateAngle);
Vector3 scanPoint = tank.transformation.Position + Vector3.Transform(originalScanVector, rotateMatrix);
if (tank.Moveable(scanPoint))
{
availableAngles.Add(rotateAngle);
return(Vector3.Transform(currentSteering, rotateMatrix));
}
rotateAngle += rotateStep;
}
if (availableAngles.Count == 0)
{
return(tank.transformation.WorldMatrix.Backward);
}
availableAngles.Sort(new AngleComparer());
rotateMatrix = Matrix.CreateRotationY(availableAngles[0]);
return(Vector3.Transform(currentSteering, rotateMatrix));
}
public void SpawnEnemyTank()
{
for (int i = 0; i < spawnMaxAttempt; i++)
{
Random r = new Random();
int spawnIndex = r.Next(map.SpawnPoints.Count);
Vector3 newTankLocation = map.SpawnPoints[spawnIndex];
newTankLocation.Y = map.GetHeight(newTankLocation);
OnlandVehicle enemyVehicle = VehicleFactory.CreateTank(ModelType.TANK1, 60);
enemyVehicle.Tag = "Enemy";
enemyVehicle.transformation.Position = newTankLocation;
enemyVehicle.AddToGameWorld();
if (enemyVehicle.Moveable(newTankLocation))
{
enemyVehicle.AddComponent(new EnemyTankAI());
break;
}
else
{
enemyVehicle.RemoveFromGameWorld();
}
}
}