Vehicle with force and steering. Tracks a target. More...

Inheritance diagram for Agents.SimpleVehicle:

Public Member Functions
	SimpleVehicle ()
	Create a default vehicle. More...

Public Member Functions inherited from Forces.SimpleMover
	SimpleMover ()
	Create a simple wrapping mover with a circle mesh. More...

	SimpleMover (WrapModeEnum wrapMode)
	Create a simple mover with a custom wrap mode and a circle mesh. More...

virtual void	ApplyForce (Vector2 force)
	Apply force on mover. More...

virtual void	ApplyAngularForce (float force)
	Apply angular force on mover. More...

virtual void	ApplyFriction (float coef)
	Apply friction on mover. More...

virtual void	ApplyAngularFriction (float coef)
	Apply angular friction on mover. More...

virtual void	ApplyDrag (float coef)
	Apply drag on mover. More...

virtual void	ApplyDamping (float coef)
	Apply damping on mover. More...

Public Attributes
SimpleMover	Target
	Target More...

SimpleFlowField	TargetFlow
	Flow target More...

SimplePath	TargetPath
	Path target More...

float	MaxForce = 0.1f
	Max force More...

float	ArriveDistance = -1
	Arrive distance. Use `-1` to disable. More...

float	DetectionScanLength = 25
	Detection scan length More...

float	DetectionTargetOffset = 25
	Detection target offset More...

float	DetectionAlignmentRadius = 50
	Detection alignment radius More...

bool	DebugDraw
	Debug draw More...

bool	SeparationEnabled
	Enable separation group behavior More...

bool	CohesionEnabled
	Enable cohesion group behavior More...

bool	AlignmentEnabled
	Enable alignment group behavior More...

bool	LateralMoveEnabled
	Enable lateral move group behavior More...

List< SimpleVehicle >	VehicleGroupList
	Vehicle group list More...

float	SeekForceFactor = 1
	Seek force factor More...

float	SeparationForceFactor = 1
	Separation force factor More...

float	CohesionForceFactor = 1
	Cohesion force factor More...

float	AlignmentForceFactor = 1
	Alignment force factor More...

float	LateralMoveForceFactor = 1
	Lateral move force factor More...

Public Attributes inherited from Forces.SimpleMover
Vector2	Velocity = Vector2.Zero
	Current velocity More...

Vector2	Acceleration = Vector2.Zero
	Current acceleration More...

float	AngularVelocity
	Current angular velocity More...

float	AngularAcceleration
	Current angular acceleration More...

float	MaxVelocity = 10
	Max velocity More...

float	MaxAngularVelocity = 0.1f
	Max angular velocity More...

float	Mass = 1
	Mass More...

WrapModeEnum	WrapMode
	Wrapping mode More...

bool	DisableForces
	Disable forces More...

bool	SyncRotationOnVelocity
	Synchronize rotation on velocity More...

SimpleMesh	Mesh
	Mesh More...

Protected Member Functions
Vector2	Separate (List< SimpleVehicle > vehicles)
	Separate from other vehicles. More...

Vector2	Regroup (List< SimpleVehicle > vehicles)
	Regroup with other vehicles. More...

virtual Vector2	Seek (Vector2 position)
	Drive and steer towards target position. More...

Vector2	FollowFlow ()
	Drive and steer following a flow field. More...

Vector2	FollowPath ()
	Drive and steer following a path. Always follow the path from A to B. More...

virtual Vector2	Align (List< SimpleVehicle > vehicles)
	Align with other vehicles. More...

virtual Vector2	MoveLaterally (List< SimpleVehicle > vehicles)
	Move laterally from other vehicles. More...

override void	UpdateAcceleration ()
	Update acceleration value. More...

Additional Inherited Members
Public Types inherited from Forces.SimpleMover
enum class	WrapModeEnum { Wrap , Bounce , None }
	Wrapping mode enum. More...

Protected Attributes inherited from Forces.SimpleMover
CollisionShape2D	collisionShape2D
	Collision shape More...

Properties inherited from Forces.SimpleMover
bool	Drawing `[get, set]`
	Draw mesh More...

Vector2	MeshSize `[get, set]`
	Mesh size More...

float	Radius `[get, set]`
	Mesh radius More...

Detailed Description

Vehicle with force and steering. Tracks a target.

Definition at line 15 of file SimpleVehicle.cs.

Constructor & Destructor Documentation

◆ SimpleVehicle()

Agents.SimpleVehicle.SimpleVehicle ( )

inline

Create a default vehicle.

Definition at line 81 of file SimpleVehicle.cs.

         {
             Mesh.MeshType = SimpleMesh.TypeEnum.Square;
             Mesh.MeshSize = new Vector2(40, 20);
  
             SyncRotationOnVelocity = true;
             MaxVelocity = 4;
             MaxForce = 0.4f;
  
             Name = "SimpleVehicle";
  
             // Disable physics logic
             collisionShape2D.Disabled = true;
         }

Member Function Documentation

◆ Align()

virtual Vector2 Agents.SimpleVehicle.Align ( List< SimpleVehicle > vehicles )

inlineprotectedvirtual

Align with other vehicles.

Parameters

vehicles Other vehicles

Returns: Steer force

Definition at line 273 of file SimpleVehicle.cs.

         {
             var sum = Vector2.Zero;
             int count = 0;
             foreach (var vehicle in vehicles)
             {
                 var d = GlobalPosition.DistanceSquaredTo(vehicle.GlobalPosition);
                 if (d > 0 && d < DetectionAlignmentRadius * DetectionAlignmentRadius)
                 {
                     sum += vehicle.Velocity;
                     count++;
                 }
             }
  
             if (count > 0)
             {
                 sum = (sum / count).Normalized() * MaxVelocity;
                 return (sum - Velocity).Clamped(MaxForce);
             }
             else
             {
                 return Vector2.Zero;
             }
         }

◆ FollowFlow()

Vector2 Agents.SimpleVehicle.FollowFlow ( )

inlineprotected

Drive and steer following a flow field.

Returns: Steer force

Definition at line 187 of file SimpleVehicle.cs.

         {
             var tgtDirection = TargetFlow.Lookup(GlobalPosition);
             if (tgtDirection == Vector2.Zero)
             {
                 // Ignore empty lookup
                 return Vector2.Zero;
             }
  
             var target = tgtDirection * MaxVelocity;
             return (target - Velocity).Clamped(MaxForce);
         }

◆ FollowPath()

Vector2 Agents.SimpleVehicle.FollowPath ( )

inlineprotected

Drive and steer following a path. Always follow the path from A to B.

Returns: Steer force

Definition at line 205 of file SimpleVehicle.cs.

         {
             var minDist = float.MaxValue;
  
             var predict = Velocity.Normalized() * DetectionScanLength;
             var predictPos = GlobalPosition + predict;
  
             Vector2? target = null;
             Vector2? targetNormalPoint = null;
             var pointCount = TargetPath.Points.Count;
  
             for (int i = 0; i < pointCount; ++i)
             {
                 // Ignore last iteration if not looping
                 if (!TargetPath.Looping && i == pointCount - 1)
                 {
                     break;
                 }
  
                 var a = TargetPath.Points[i];
                 var b = TargetPath.Points[(i + 1) % pointCount];
                 var normalPoint = predictPos.GetNormalPoint(a, b);
                 var dir = b - a;
  
                 // Out of bounds
                 if (normalPoint.x < Mathf.Min(a.x, b.x) || normalPoint.x > Mathf.Max(a.x, b.x)
                   || normalPoint.y < Mathf.Min(a.y, b.y) || normalPoint.y > Mathf.Max(a.y, b.y))
                 {
                     normalPoint = b;
  
                     if (TargetPath.Looping || i != pointCount - 2)
                     {
                         // Get two next points
                         var a2 = b;
                         var b2 = TargetPath.Points[(i + 2) % pointCount];
                         dir = b2 - a2;
                     }
                 }
  
                 var dist = normalPoint.DistanceTo(predictPos);
                 if (dist < minDist)
                 {
                     minDist = dist;
                     targetNormalPoint = normalPoint;
                     target = targetNormalPoint + (dir.Normalized() * DetectionTargetOffset);
                 }
             }
  
             // Set debug values
             debugNormalPoint = targetNormalPoint;
             debugPredictPos = predictPos;
             debugTargetPoint = target;
  
             if (target.HasValue)
             {
                 return Seek(target.Value);
             }
             else
             {
                 return Vector2.Zero;
             }
         }

◆ MoveLaterally()

virtual Vector2 Agents.SimpleVehicle.MoveLaterally ( List< SimpleVehicle > vehicles )

inlineprotectedvirtual

Move laterally from other vehicles.

Parameters

vehicles Other vehicles

Returns: Steer force

Definition at line 303 of file SimpleVehicle.cs.

         {
             var sum = Vector2.Zero;
             int count = 0;
  
             // Use an arbitrary target position on the radius circle
             var detectedPos = GlobalPosition + new Vector2(DetectionAlignmentRadius, 0).Rotated(GlobalRotation);
  
             foreach (var vehicle in vehicles)
             {
                 var dp = detectedPos.DistanceSquaredTo(vehicle.GlobalPosition);
  
                 // Compare the distance between the target position and the neighbor
                 if (dp > 0 && dp < (DetectionAlignmentRadius * DetectionAlignmentRadius) / 2)
                 {
                     var diff = vehicle.GlobalPosition - GlobalPosition;
                     sum += diff.Rotated(Mathf.Pi / 2);
                     count++;
                 }
             }
  
             if (count > 0)
             {
                 sum = (sum / count).Normalized() * MaxVelocity;
                 return (sum - Velocity).Clamped(MaxForce);
             }
             else
             {
                 return Vector2.Zero;
             }
         }

◆ Regroup()

Vector2 Agents.SimpleVehicle.Regroup ( List< SimpleVehicle > vehicles )

inlineprotected

Regroup with other vehicles.

Parameters

vehicles Other vehicles

Returns: Steer force

Definition at line 133 of file SimpleVehicle.cs.

         {
             float separationLimit = Radius * 2;
             var sum = Vector2.Zero;
             int count = 0;
  
             foreach (var vehicle in vehicles)
             {
                 float d = GlobalPosition.DistanceSquaredTo(vehicle.GlobalPosition);
                 if (d > 0 && d > separationLimit * separationLimit)
                 {
                     sum += (GlobalPosition - vehicle.GlobalPosition).Normalized() / Mathf.Sqrt(d);
                     count++;
                 }
             }
  
             if (count > 0)
             {
                 sum = (sum / count).Normalized() * -MaxVelocity;
                 return (sum - Velocity).Clamped(MaxForce);
             }
             else
             {
                 return Vector2.Zero;
             }
         }

◆ Seek()

virtual Vector2 Agents.SimpleVehicle.Seek ( Vector2 position )

inlineprotectedvirtual

Drive and steer towards target position.

Parameters

position Target position

Returns: Steer force

Definition at line 165 of file SimpleVehicle.cs.

         {
             var targetDiff = position - GlobalPosition;
             var targetDist = targetDiff.Length();
             targetDiff = targetDiff.Normalized();
  
             if (ArriveDistance > 0 && targetDist < ArriveDistance)
             {
                 targetDiff *= MathUtils.Map(targetDist, 0, ArriveDistance, 0, MaxVelocity);
             }
             else
             {
                 targetDiff *= MaxVelocity;
             }
  
             return (targetDiff - Velocity).Clamped(MaxForce);
         }

◆ Separate()

Vector2 Agents.SimpleVehicle.Separate ( List< SimpleVehicle > vehicles )

inlineprotected

Separate from other vehicles.

Parameters

vehicles Other vehicles

Returns: Steer force

Definition at line 101 of file SimpleVehicle.cs.

         {
             float desiredSeparation = Radius * 4;
             var sum = Vector2.Zero;
             int count = 0;
  
             foreach (var vehicle in vehicles)
             {
                 float d = GlobalPosition.DistanceSquaredTo(vehicle.GlobalPosition);
                 if (d > 0 && d < desiredSeparation * desiredSeparation)
                 {
                     sum += (GlobalPosition - vehicle.GlobalPosition).Normalized() / Mathf.Sqrt(d);
                     count++;
                 }
             }
  
             if (count > 0)
             {
                 sum = (sum / count).Normalized() * MaxVelocity;
                 return (sum - Velocity).Clamped(MaxForce);
             }
             else
             {
                 return Vector2.Zero;
             }
         }

◆ UpdateAcceleration()

override void Agents.SimpleVehicle.UpdateAcceleration ( )

inlineprotectedvirtual

Update acceleration value.

Reimplemented from Forces.SimpleMover.

Definition at line 335 of file SimpleVehicle.cs.

         {
             var forces = Vector2.Zero;
  
             if (Target != null)
             {
                 forces += Seek(Target.GlobalPosition) * SeekForceFactor;
             }
  
             if (TargetFlow != null)
             {
                 forces += FollowFlow() * SeekForceFactor;
             }
  
             if (TargetPath != null)
             {
                 forces += FollowPath() * SeekForceFactor;
             }
  
             if (VehicleGroupList?.Count > 0)
             {
                 if (SeparationEnabled)
                 {
                     forces += Separate(VehicleGroupList) * SeparationForceFactor;
                 }
  
                 if (AlignmentEnabled)
                 {
                     forces += Align(VehicleGroupList) * AlignmentForceFactor;
                 }
  
                 if (CohesionEnabled)
                 {
                     forces += Regroup(VehicleGroupList) * CohesionForceFactor;
                 }
  
                 if (LateralMoveEnabled)
                 {
                     forces += MoveLaterally(VehicleGroupList) * LateralMoveForceFactor;
                 }
             }
  
             ApplyForce(forces);
         }

Member Data Documentation

◆ AlignmentEnabled

bool Agents.SimpleVehicle.AlignmentEnabled

Enable alignment group behavior

Definition at line 51 of file SimpleVehicle.cs.

◆ AlignmentForceFactor

float Agents.SimpleVehicle.AlignmentForceFactor = 1

Alignment force factor

Definition at line 69 of file SimpleVehicle.cs.

◆ ArriveDistance

float Agents.SimpleVehicle.ArriveDistance = -1

Arrive distance. Use -1 to disable.

Definition at line 30 of file SimpleVehicle.cs.

◆ CohesionEnabled

bool Agents.SimpleVehicle.CohesionEnabled

Enable cohesion group behavior

Definition at line 48 of file SimpleVehicle.cs.

◆ CohesionForceFactor

float Agents.SimpleVehicle.CohesionForceFactor = 1

Cohesion force factor

Definition at line 66 of file SimpleVehicle.cs.

◆ DebugDraw

bool Agents.SimpleVehicle.DebugDraw

Debug draw

Definition at line 42 of file SimpleVehicle.cs.

◆ DetectionAlignmentRadius

float Agents.SimpleVehicle.DetectionAlignmentRadius = 50

Detection alignment radius

Definition at line 39 of file SimpleVehicle.cs.

◆ DetectionScanLength

float Agents.SimpleVehicle.DetectionScanLength = 25

Detection scan length

Definition at line 33 of file SimpleVehicle.cs.

◆ DetectionTargetOffset

float Agents.SimpleVehicle.DetectionTargetOffset = 25

Detection target offset

Definition at line 36 of file SimpleVehicle.cs.

◆ LateralMoveEnabled

bool Agents.SimpleVehicle.LateralMoveEnabled

Enable lateral move group behavior

Definition at line 54 of file SimpleVehicle.cs.

◆ LateralMoveForceFactor

float Agents.SimpleVehicle.LateralMoveForceFactor = 1

Lateral move force factor

Definition at line 72 of file SimpleVehicle.cs.

◆ MaxForce

float Agents.SimpleVehicle.MaxForce = 0.1f

Max force

Definition at line 27 of file SimpleVehicle.cs.

◆ SeekForceFactor

float Agents.SimpleVehicle.SeekForceFactor = 1

Seek force factor

Definition at line 60 of file SimpleVehicle.cs.

◆ SeparationEnabled

bool Agents.SimpleVehicle.SeparationEnabled

Enable separation group behavior

Definition at line 45 of file SimpleVehicle.cs.

◆ SeparationForceFactor

float Agents.SimpleVehicle.SeparationForceFactor = 1

Separation force factor

Definition at line 63 of file SimpleVehicle.cs.

◆ Target

SimpleMover Agents.SimpleVehicle.Target

Target

Definition at line 18 of file SimpleVehicle.cs.

◆ TargetFlow

SimpleFlowField Agents.SimpleVehicle.TargetFlow

Flow target

Definition at line 21 of file SimpleVehicle.cs.

◆ TargetPath

SimplePath Agents.SimpleVehicle.TargetPath

Path target

Definition at line 24 of file SimpleVehicle.cs.

◆ VehicleGroupList

List<SimpleVehicle> Agents.SimpleVehicle.VehicleGroupList

Vehicle group list

Definition at line 57 of file SimpleVehicle.cs.

The documentation for this class was generated from the following file:

scripts/agents/SimpleVehicle.cs

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimpleVehicle()

Member Function Documentation

◆ Align()

◆ FollowFlow()

◆ FollowPath()

◆ MoveLaterally()

◆ Regroup()

◆ Seek()

◆ Separate()

◆ UpdateAcceleration()

Member Data Documentation

◆ AlignmentEnabled

◆ AlignmentForceFactor

◆ ArriveDistance

◆ CohesionEnabled

◆ CohesionForceFactor

◆ DebugDraw

◆ DetectionAlignmentRadius

◆ DetectionScanLength

◆ DetectionTargetOffset

◆ LateralMoveEnabled

◆ LateralMoveForceFactor

◆ MaxForce

◆ SeekForceFactor

◆ SeparationEnabled

◆ SeparationForceFactor

◆ Target

◆ TargetFlow

◆ TargetPath

◆ VehicleGroupList