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- /*
- * Copyright (C) 2021 Christopher J. Howard
- *
- * This file is part of Antkeeper source code.
- *
- * Antkeeper source code is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Antkeeper source code is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #include "ai/steering/behavior/wander.hpp"
- #include "ai/steering/behavior/seek.hpp"
- #include "math/random.hpp"
- #include "math/quaternion-functions.hpp"
- #include "math/quaternion-operators.hpp"
-
- namespace ai {
- namespace steering {
- namespace behavior {
-
- float3 wander_2d(const agent& agent, float noise, float distance, float radius, float& angle)
- {
- // Shift wander angle
- angle += math::random(-noise, noise);
-
- // Calculate center of wander circle
- const float3 center = agent.position + agent.forward * distance;
-
- // Decompose orientation into swing and twist rotations
- math::quaternion<float> swing, twist;
- math::swing_twist(agent.orientation, agent.up, swing, twist);
-
- // Calculate offset to point on wander circle
- const float3 offset = math::conjugate(twist) * (math::angle_axis(angle, agent.up) * agent.forward * radius);
-
- // Seek toward point on wander circle
- return seek(agent, center + offset);
- }
-
- float3 wander_3d(const agent& agent, float noise, float distance, float radius, float& theta, float& phi)
- {
- // Shift wander angles
- theta += math::random(-noise, noise);
- phi += math::random(-noise, noise);
-
- // Calculate center of wander sphere
- const float3 center = agent.position + agent.forward * distance;
-
- // Convert spherical coordinates to Cartesian point on wander sphere
- const float r_cos_theta = radius * std::cos(theta);
- const float3 offset =
- {
- r_cos_theta * std::cos(phi),
- r_cos_theta * std::sin(phi),
- radius * std::sin(theta)
- };
-
- // Seek toward point on wander sphere
- return seek(agent, center + offset);
- }
-
- } // namespace behavior
- } // namespace steering
- } // namespace ai
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