Diff | Source/SVN

Download diff

	13		23
4	using System.Text;	4	using System.Text;
5	using Microsoft.Xna.Framework;	5	using Microsoft.Xna.Framework;
6	using Brains.Framework.Utility;	6	using Brains.Framework.Utility;
		7	using Brains.Grouping;
7		8
8	namespace Brains.Framework.Locomotion	9	namespace Brains.Framework.Locomotion
9	{	10	{
...		...
16	private static Random rand = new Random();	17	private static Random rand = new Random();
17	private Vector2 _wanderTarget;	18	private Vector2 _wanderTarget;
18		19
19	public const float WanderRadius = 1.2f;	20	public const float WanderRadius = 20;
20	public const float WanderDistance = 2.0f;	21	public const float WanderDistance = 30;
21	public const float WanderJitter = 80;	22	public const float WanderJitter = 80;
22		23
23	public enum Deceleration	24	public enum Deceleration
...		...
35	Flee= 0x00004,	36	Flee= 0x00004,
36	Arrive= 0x00008,	37	Arrive= 0x00008,
37	Wander = 0x00010,	38	Wander = 0x00010,
38	//Cohesion= 0x00020,	39	Cohesion= 0x00020,
39	//Seperation= 0x00040,	40	Seperation= 0x00040,
40	//Alignment = 0x00080,	41	Alignment = 0x00080,
41	//ObstacleAvoidance= 0x00100,	42	//ObstacleAvoidance= 0x00100,
42	//WallAvoidance = 0x00200,	43	//WallAvoidance = 0x00200,
43	//FollowPath = 0x00400,	44	//FollowPath = 0x00400,
...		...
85	{	86	{
86	TurnOff(BehaviorType.Wander);	87	TurnOff(BehaviorType.Wander);
87	}	88	}
88		89
		90	public void TurnOnSeperation()
		91	{
		92	TurnOn(BehaviorType.Seperation);
		93	}
		94	public void TurnOffSeperation()
		95	{
		96	TurnOff(BehaviorType.Seperation);
		97	}
		98	public void TurnOnCohesion()
		99	{
		100	TurnOn(BehaviorType.Cohesion);
		101	}
		102	public void TurnOffCohesion()
		103	{
		104	TurnOff(BehaviorType.Cohesion);
		105	}
		106	public void TurnOnAlignment()
		107	{
		108	TurnOn(BehaviorType.Alignment);
		109	}
		110	public void TurnOffAlignment()
		111	{
		112	TurnOff(BehaviorType.Alignment);
		113	}
		114
89	public void TurnOnOffsetPursuit(Vector2 seek)	115	public void TurnOnOffsetPursuit(Vector2 seek)
90	{	116	{
91		117
...		...
120	private float ObstacleAvoidanceWeight=10;	146	private float ObstacleAvoidanceWeight=10;
121	private Vector2 SteeringForce = Vector2.Zero;	147	private Vector2 SteeringForce = Vector2.Zero;
122	private Vector2 Heading;	148	private Vector2 Heading;
123	private float MaxForce = 4;	149	private float MaxForce = 2;
124	private Vector2 Velocity;	150	private Vector2 Velocity;
125	private BehaviorType _behaviorFlags;	151	private BehaviorType _behaviorFlags;
126		152
...		...
128	public float SeekWeight = 1;	154	public float SeekWeight = 1;
129	public float ArriveWeight= 1;	155	public float ArriveWeight= 1;
130	public float WanderWeight= 1;	156	public float WanderWeight= 1;
		157	public float SeperationWeight= 2;
		158	public float AlignmentWeight= 1;
		159	public float CohesionWeight = 1;
131		160
132	public Vector2 SeekPos { get; set; }	161	public Vector2 SeekPos { get; set; }
133	public Deceleration DecelerationSpeed { get; set; }	162	public Deceleration DecelerationSpeed { get; set; }
...		...
139	public override void Update(Microsoft.Xna.Framework.GameTime gameTime)	168	public override void Update(Microsoft.Xna.Framework.GameTime gameTime)
140	{	169	{
141	timeElapsed = gameTime.GetElapsed();	170	timeElapsed = gameTime.GetElapsed();
		171
142	SteeringUpdate(gameTime.GetElapsed());	172	SteeringUpdate(gameTime.GetElapsed());
143	}	173	}
144		174
145
146
147	private void SteeringUpdate(float elapsed)	175	private void SteeringUpdate(float elapsed)
148	{	176	{
149	Vector2 OldPos = Owner.Position;	177	Vector2 OldPos = Owner.Position;
...		...
159	SetHeading(Vector2.Normalize(Velocity));	187	SetHeading(Vector2.Normalize(Velocity));
160	}	188	}
161	Owner.Position += Velocity * elapsed;	189	Owner.Position += Velocity * elapsed;
162	Owner.Orientation = Heading;// (float)Math.Atan2(Heading.Y, Heading.X);	190	if(Heading!=Vector2.Zero)
		191	Owner.Orientation = Heading;// (float)Math.Atan2(Heading.Y, Heading.X);
163	}	192	}
164		193
165	private void SetHeading(Vector2 new_heading)	194	private void SetHeading(Vector2 new_heading)
...		...
207		236
208	private Vector2 CalculatePrioritized()	237	private Vector2 CalculatePrioritized()
209	{	238	{
210		239
211	Vector2 force = Vector2.Zero;	240	Vector2 force = Vector2.Zero;
212		241
		242	if (On(BehaviorType.Seperation))
		243	{
		244	force = Separation() * SeperationWeight;
		245
		246	if (!AccumulateForce(ref _steeringForce, force)) return _steeringForce;
		247	}
		248	if (On(BehaviorType.Alignment))
		249	{
		250	force = Alignment() * AlignmentWeight;
		251
		252	if (!AccumulateForce(ref _steeringForce, force)) return _steeringForce;
		253	}
		254	if (On(BehaviorType.Cohesion))
		255	{
		256	force = Cohesion() * CohesionWeight;
		257
		258	if (!AccumulateForce(ref _steeringForce, force)) return _steeringForce;
		259	}
		260
213	if (On(BehaviorType.Seek))	261	if (On(BehaviorType.Seek))
214	{	262	{
215	force = Seek(SeekPos);	263	force = Seek(SeekPos);
...		...
237	return _steeringForce;	285	return _steeringForce;
238	}	286	}
239		287
		288	private Vector2 Cohesion()
		289	{
		290	if (Owner.GetLabel(AIConsts.ISGROUPMEMBER) == 0)
		291	return Vector2.Zero;
		292	Group g = Owner.ParentWorld.GetGroup(Owner.GetLabel(AIConsts.GROUPID));
		293
		294	//first find the center of mass of all the agents
		295	Vector2 CenterOfMass=Vector2.Zero;
		296	Vector2 SteeringForce=Vector2.Zero;
		297
		298	int NeighborCount = 0;
		299
		300	//iterate through the neighbors and sum up all the position vectors
		301	for (int a = 0; a < g.Agents.Count; ++a)
		302	{
		303	//make sure this agent isn't included in the calculations and that
		304	//the agent being examined is a neighbor
		305	if ((g.Agents[a] != Owner))// && neighbors[a]->IsTagged())
		306	{
		307	CenterOfMass += g.Agents[a].Position;
		308
		309	++NeighborCount;
		310	}
		311	}
		312
		313	if (NeighborCount > 0)
		314	{
		315	//the center of mass is the average of the sum of positions
		316	CenterOfMass /= (float)NeighborCount;
		317
		318	//now seek toward that position
		319	SteeringForce = Seek(CenterOfMass);
		320	}
		321
		322	return SteeringForce;
		323
		324	}
		325
		326	private Vector2 Alignment()
		327	{
		328	if (Owner.GetLabel(AIConsts.ISGROUPMEMBER) == 0)
		329	return Vector2.Zero;
		330	Group g = Owner.ParentWorld.GetGroup(Owner.GetLabel(AIConsts.GROUPID));
		331
		332
		333	//used to record the average heading of the neighbors
		334	Vector2 AverageHeading = Vector2.Zero;
		335
		336	//used to count the number of vehicles in the neighborhood
		337	int NeighborCount = 0;
		338
		339	//iterate through all the tagged vehicles and sum their heading vectors
		340	for (int a = 0; a < g.Agents.Count; ++a)
		341	{
		342	//make sure this agent isn't included in the calculations and that
		343	//the agent being examined is close enough
		344	if ((g.Agents[a] != Owner))// && g.Agents[a]->IsTagged)
		345	{
		346	AverageHeading += g.Agents[a].Orientation;
		347
		348	++NeighborCount;
		349	}
		350	}
		351
		352	//if the neighborhood contained one or more vehicles, average their
		353	//heading vectors.
		354	if (NeighborCount > 0)
		355	{
		356	AverageHeading /= (float)NeighborCount;
		357	AverageHeading -= Owner.Orientation;
		358	}
		359
		360	return AverageHeading;
		361
		362	}
		363
		364	private Vector2 Separation()
		365	{
		366	if (Owner.GetLabel(AIConsts.ISGROUPMEMBER) == 0)
		367	return Vector2.Zero;
		368	Group g = Owner.ParentWorld.GetGroup(Owner.GetLabel(AIConsts.GROUPID));
		369
		370	Vector2 SteeringForce = Vector2.Zero;
		371
		372	for (int a = 0; a < g.Agents.Count; ++a)
		373	{
		374	//make sure this agent isn't included in the calculations and that
		375	//the agent being examined is close enough.
		376	if ((g.Agents[a] != Owner)) // && g.Agents[a]->IsTagged())
		377	{
		378	Vector2 ToAgent = Owner.Position - g.Agents[a].Position;
		379	if (ToAgent == Vector2.Zero)
		380	continue;
		381	//scale the force inversely proportional to the agent's distance
		382	//from its neighbor.
		383	SteeringForce +=Vector2.Normalize(ToAgent) / ToAgent.Length();
		384	}
		385	}
		386
		387	return SteeringForce;
		388
		389	}
		390
240		391
241		392
242	private bool AccumulateForce(ref Vector2 sf, Vector2 ForceToAdd)	393	private bool AccumulateForce(ref Vector2 sf, Vector2 ForceToAdd)
...		...
313		464
314	public Vector2 Wander()	465	public Vector2 Wander()
315	{	466	{
316	double JitterThisTimeSlice = WanderJitter * timeElapsed;	467	float JitterThisTimeSlice = WanderJitter * timeElapsed;
317		468
318	//first, add a small random vector to the target's position (RandomClamped	469	//first, add a small random vector to the target's position (RandomClamped
319	//returns a value between -1 and 1)	470	//returns a value between -1 and 1)
320	_wanderTarget+= new Vector2(RandomClamped() * WanderJitter,	471	_wanderTarget += new Vector2(RandomClamped() * JitterThisTimeSlice,
321	RandomClamped() * WanderJitter);	472	RandomClamped() * JitterThisTimeSlice);
322		473
323	if (_wanderTarget != Vector2.Zero) //reproject this new vector back on to a unit circle	474	if (_wanderTarget != Vector2.Zero) //reproject this new vector back on to a unit circle
324	_wanderTarget.Normalize();	475	_wanderTarget.Normalize();
...		...
382	float RandomClamped()	533	float RandomClamped()
383	{	534	{
384	return rand.Next() - rand.Next();	535	return rand.Next() - rand.Next();
385	}	536	}
		537
386	}	538	}
387	}	539	}

BRAINS

root/src/BRAINSFramework/Locomotion/LocomtionSteering.cs