💿🐜 Antkeeper source code
https://antkeeper.com
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73 lines
2.3 KiB
73 lines
2.3 KiB
/*
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* Copyright (C) 2021 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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#include "ai/steering/behavior/wander.hpp"
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#include "ai/steering/behavior/seek.hpp"
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#include "math/random.hpp"
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#include "math/quaternion-functions.hpp"
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#include "math/quaternion-operators.hpp"
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namespace ai {
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namespace steering {
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namespace behavior {
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float3 wander_2d(const agent& agent, float noise, float distance, float radius, float& angle)
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{
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// Shift wander angle
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angle += math::random(-noise, noise);
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// Calculate center of wander circle
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const float3 center = agent.position + agent.forward * distance;
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// Decompose orientation into swing and twist rotations
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math::quaternion<float> swing, twist;
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math::swing_twist(agent.orientation, agent.up, swing, twist);
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// Calculate offset to point on wander circle
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const float3 offset = math::conjugate(twist) * (math::angle_axis(angle, agent.up) * agent.forward * radius);
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// Seek toward point on wander circle
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return seek(agent, center + offset);
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}
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float3 wander_3d(const agent& agent, float noise, float distance, float radius, float& theta, float& phi)
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{
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// Shift wander angles
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theta += math::random(-noise, noise);
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phi += math::random(-noise, noise);
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// Calculate center of wander sphere
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const float3 center = agent.position + agent.forward * distance;
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// Convert spherical coordinates to Cartesian point on wander sphere
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const float r_cos_theta = radius * std::cos(theta);
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const float3 offset =
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{
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r_cos_theta * std::cos(phi),
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r_cos_theta * std::sin(phi),
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radius * std::sin(theta)
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};
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// Seek toward point on wander sphere
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return seek(agent, center + offset);
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}
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} // namespace behavior
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} // namespace steering
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} // namespace ai
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