arrival.cxx

Go to the documentation of this file.

/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file arrival.cxx
 * @author Deepak, John, Navin
 * @date 2009-10-24
 */

#include "arrival.h"

Arrival::Arrival(AICharacter *ai_ch, double distance) {
  _ai_char = ai_ch;

  _arrival_distance = distance;
  _arrival_done = false;
}

Arrival::~Arrival() {
}

/**
 * This function performs the arrival and returns an arrival force which is
 * used in the calculate_prioritized function.  In case the steering force =
 * 0, it resets to arrival_activate.  The arrival behavior works only when
 * seek or pursue is active.  This function is not to be used by the user.
 */
LVecBase3 Arrival::do_arrival() {
  LVecBase3 direction_to_target;
  double distance;

  if(_arrival_type) {
    direction_to_target = _ai_char->get_ai_behaviors()->_pursue_obj->_pursue_target.get_pos(_ai_char->_window_render) - _ai_char->_ai_char_np.get_pos(_ai_char->_window_render);
  }
  else {
    direction_to_target = _ai_char->get_ai_behaviors()->_seek_obj->_seek_position - _ai_char->_ai_char_np.get_pos(_ai_char->_window_render);
  }
  distance = direction_to_target.length();

  _arrival_direction = direction_to_target;
  _arrival_direction.normalize();

  if(int(distance) == 0) {
    _ai_char->_steering->_steering_force = LVecBase3(0.0, 0.0, 0.0);
    _ai_char->_steering->_arrival_force = LVecBase3(0.0, 0.0, 0.0);

    if(_ai_char->_steering->_seek_obj != nullptr) {
      _ai_char->_steering->turn_off("arrival");
      _ai_char->_steering->turn_on("arrival_activate");
    }
    _arrival_done = true;
    return(LVecBase3(0.0, 0.0, 0.0));
  }
  else {
    _arrival_done = false;
  }

  double u = _ai_char->get_velocity().length();
  LVecBase3 desired_force = ((u * u) / (2 * distance)) * _ai_char->get_mass();

  if(_ai_char->_steering->_seek_obj != nullptr) {
    return(desired_force);
  }

  if(_ai_char->_steering->_pursue_obj != nullptr) {

    if(distance > _arrival_distance) {
      _ai_char->_steering->turn_off("arrival");
      _ai_char->_steering->turn_on("arrival_activate");
      _ai_char->_steering->resume_ai("pursue");
    }

    return(desired_force);
  }

  std::cout << "Arrival works only with seek and pursue" << std::endl;
  return(LVecBase3(0.0, 0.0, 0.0));
}

/**
 * This function checks for whether the target is within the arrival distance.
 * When this is true, it calls the do_arrival function and sets the arrival
 * direction.  This function is not to be used by the user.
 */
void Arrival::arrival_activate() {
  LVecBase3 dirn;
  if(_arrival_type) {
    dirn = (_ai_char->_ai_char_np.get_pos(_ai_char->_window_render) - _ai_char->get_ai_behaviors()->_pursue_obj->_pursue_target.get_pos(_ai_char->_window_render));
  }
  else {
    dirn = (_ai_char->_ai_char_np.get_pos(_ai_char->_window_render) - _ai_char->get_ai_behaviors()->_seek_obj->_seek_position);
  }
  double distance = dirn.length();

  if(distance < _arrival_distance && _ai_char->_steering->_steering_force.length() > 0) {
    _ai_char->_steering->turn_off("arrival_activate");
    _ai_char->_steering->turn_on("arrival");

    if(_ai_char->_steering->is_on(_ai_char->_steering->_seek)) {
      _ai_char->_steering->turn_off("seek");
    }

    if(_ai_char->_steering->is_on(_ai_char->_steering->_pursue)) {
      _ai_char->_steering->pause_ai("pursue");
    }
  }
}