💿🐜 Antkeeper source code
https://antkeeper.com
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209 lines
4.5 KiB
209 lines
4.5 KiB
/*
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* Copyright (C) 2017 Christopher J. Howard
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*
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* This file is part of Antkeeper Source Code.
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*
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* Antkeeper Source Code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper Source Code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper Source Code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AGENT_HPP
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#define AGENT_HPP
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#include "navmesh.hpp"
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#include <vector>
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#include <emergent/emergent.hpp>
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using namespace Emergent;
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class Obstacle;
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/*************88
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Ant is an agent.
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Ant combines steering behaviors with different weights.
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I.E.
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seek pheromones * 0.5
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separation * 0.1
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alignment * 0.1
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cohesion * 0.1
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followWall * 0.2
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*/
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/**
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* An agent which navigates on a navmesh.
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*/
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class Agent
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{
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public:
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Agent();
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/**
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* Adds a force to the agent's acceleration vector.
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*
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* @param force Acceleration force
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*/
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void applyForce(const Vector3& force);
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/**
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* Calculates velocity based on current acceleration vector, then resets acceleration to zero.
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*/
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void updateVelocity();
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/**
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* Calculates steering force for the wander behavior.
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*/
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Vector3 wander(float dt);
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/**
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* Calculates steering force for the seek behavior.
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*/
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Vector3 seek(const Vector3& target) const;
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/**
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* Calculates steering force for the flee behavior.
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*/
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Vector3 flee(const Vector3& target) const;
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Vector3 containment(const Vector3& probe) const;
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Vector3 separation(const std::list<Agent*>& neighbors) const;
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Vector3 forage(const Vector3& leftProbe, const Vector3& rightProbe);
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void setMaxSpeed(float speed);
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void setVelocity(const Vector3& velocity);
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void setMaxAcceleration(float acceleration);
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void setMass(float mass);
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void setWanderCircleDistance(float distance);
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void setWanderCircleRadius(float radius);
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void setWanderRate(float angle);
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void setSeparationRadius(float radius);
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/**
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* Sets the position of the agent on a navmesh.
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*
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* @param triangle Navmesh triangle on which the agent resides
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* @param position Barycentric position on the specified triangle
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*/
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void setPosition(Navmesh::Triangle* triangle, const Vector3& position);
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/**
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* Sets the orientation of the agent. This effectively updates the agent's vector basis and rotation quaternion.
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*
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* @param forward Normalized forward vector
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* @param up Normalized up vector
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*/
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void setOrientation(const Vector3& newForward, const Vector3& newUp);
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/*
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Vector3 followWall();
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// or
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Vector3 followEdge();
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Vector3 avoidObstacle(const Obstacle* obstacle);
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Vector3 alignment(const std::vector<const Agent*>* neighbors);
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Vector3 cohesion(const std::vector<const Agent*>* neighbors);
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*/
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const Navmesh::Triangle* getNavmeshTriangle() const;
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Navmesh::Triangle* getNavmeshTriangle();
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const Vector3& getBarycentricPosition() const;
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const Vector3& getPosition() const;
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const Vector3& getForward() const;
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const Vector3& getUp() const;
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const Vector3& getRight() const;
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const Quaternion& getRotation() const;
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const Vector3& getVelocity() const;
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private:
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Navmesh::Triangle* navmeshTriangle;
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Vector3 barycentricPosition;
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Vector3 position;
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Vector3 forward;
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Vector3 up;
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Vector3 right;
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Quaternion rotation;
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// Limits
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float maxSpeed;
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float maxAcceleration;
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// Steering forces
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float mass;
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Vector3 acceleration;
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Vector3 velocity;
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// Wander variables
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float wanderCircleDistance;
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float wanderCircleRadius;
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float wanderRate;
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Vector3 wanderDirection;
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float separationRadius;
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float separationRadiusSquared;
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};
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inline const Navmesh::Triangle* Agent::getNavmeshTriangle() const
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{
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return navmeshTriangle;
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}
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inline Navmesh::Triangle* Agent::getNavmeshTriangle()
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{
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return navmeshTriangle;
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}
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inline const Vector3& Agent::getBarycentricPosition() const
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{
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return barycentricPosition;
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}
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inline const Vector3& Agent::getPosition() const
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{
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return position;
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}
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inline const Vector3& Agent::getForward() const
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{
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return forward;
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}
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inline const Vector3& Agent::getUp() const
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{
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return up;
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}
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inline const Vector3& Agent::getRight() const
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{
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return right;
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}
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inline const Quaternion& Agent::getRotation() const
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{
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return rotation;
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}
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inline const Vector3& Agent::getVelocity() const
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{
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return velocity;
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}
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#endif // AGENT_HPP
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