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steer to avoid
author zzzzrrr <mason.green@gmail.com>
date Wed, 25 Mar 2009 14:44:47 -0400
parents 7f74e064dad5
children 6efd0830715b
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Mason Green <mason.green@gmail.com>
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1 /*
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2 * Copyright (c) 2009, Mason Green (zzzzrrr)
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3 * http://www.dsource.org/projects/openmelee
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4 *
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5 * All rights reserved.
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6 *
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7 * Redistribution and use in source and binary forms, with or without modification,
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8 * are permitted provided that the following conditions are met:
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9 *
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10 * * Redistributions of source code must retain the above copyright notice,
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11 * this list of conditions and the following disclaimer.
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12 * * Redistributions in binary form must reproduce the above copyright notice,
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13 * this list of conditions and the following disclaimer in the documentation
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14 * and/or other materials provided with the distribution.
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15 * * Neither the name of the polygonal nor the names of its contributors may be
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16 * used to endorse or promote products derived from this software without specific
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17 * prior written permission.
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18 *
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19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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20 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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21 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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22 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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24 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LED TO,
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25 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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26 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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27 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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28 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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29 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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30 */
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31 module openmelee.ai.ai;
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32
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33 import tango.io.Stdout : Stdout;
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34 import tango.math.Math : atan2, abs, PI;
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35
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36 import blaze.common.bzMath: bzVec2, bzClamp;
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37 import blaze.bzWorld : bzWorld;
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38
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39 import openmelee.ai.steer : Steer;
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40 import openmelee.ships.ship : Ship;
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41
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42 class AI {
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43
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45 Steer steer;
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46 Ship ship;
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47 float maxPredictionTime = 0.1f;
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48 bzWorld m_world;
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49 bzVec2 st;
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50
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51 this(Ship ship, bzWorld world) {
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52 m_world = world;
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53 this.ship = ship;
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54 steer = new Steer(ship);
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55 }
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56
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57 void move(Ship enemy) {
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58
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59 // Elementary steering AI
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60 steer.update();
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61 st = steer.steerToAvoidObstacles(5, m_world.bodyList);
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63 if(st == bzVec2.zeroVect) {
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64 st = steer.steerForPursuit(enemy.state, maxPredictionTime);
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65 chase(enemy);
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66 } else {
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67 avoid();
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68 }
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69 }
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71 void chase(Ship enemy) {
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72
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73 ship.state.target = st;
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74 st = ship.rBody.localPoint(st);
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75 float x = st.x;
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76 float y = st.y;
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77 st = -bzVec2(y,-x);
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78 float angle = atan2(st.x, st.y);
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80 if(abs(angle) > 0.05) {
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81 if(!ship.state.turn) {
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82 if(st.x >= 0) {
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83 ship.turnRight();
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84 ship.state.turn = true;
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85 } else {
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86 ship.state.turn = true;
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87 ship.turnLeft();
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88 }
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89 }
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90 } else {
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91 ship.rBody.angularVelocity = 0.0f;
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92 ship.state.turn = false;
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93 }
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94
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95 float range = (ship.state.position - enemy.state.position).length;
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96 if(range > 2 && abs(angle) < PI/4) {
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97 ship.thrust();
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98 }
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99 }
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100
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101 void avoid() {
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102
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103 st = ship.rBody.localPoint(st);
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104 float x = st.x;
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105 float y = st.y;
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106 st = -bzVec2(y,-x);
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107 float angle = atan2(st.x, st.y);
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108
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109 if(st.x >= 0) {
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110 ship.turnRight();
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111 } else {
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112 ship.turnLeft();
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113 }
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114
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115 ship.state.turn = true;
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116
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117 if(abs(angle) > PI/4) {
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118 ship.thrust();
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119 }
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120 }
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122 }