AITest.Box2DSteeringEntity.java Source code

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Here is the source code for AITest.Box2DSteeringEntity.java

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package AITest;

import com.badlogic.gdx.ai.steer.Steerable;
import com.badlogic.gdx.ai.steer.SteeringAcceleration;
import com.badlogic.gdx.ai.steer.SteeringBehavior;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.physics.box2d.Body;

/**
 *
 * @author Dalliny
 */
public class Box2DSteeringEntity implements Steerable<Vector2> {
    Body body;

    boolean tagged;

    float boundingRadius;
    float maxLinearSpeed;
    float maxLinearAcceleration;

    float maxAngularSpeed;
    float maxAngularAcceleration;

    SteeringBehavior<Vector2> behavior;
    SteeringAcceleration<Vector2> steeringOutput;

    public void update(float delta) {
        if (behavior != null) {
            behavior.calculateSteering(steeringOutput);
            applySteering(delta);
        } else
            System.out.println("no behavior set!");
    }

    private void applySteering(float delta) {
        boolean anyAccelerations = false;
        if (!steeringOutput.isZero()) {
            Vector2 force = steeringOutput.linear.scl(delta);
            body.applyForceToCenter(force, true);
            anyAccelerations = true;
        }
        if (steeringOutput.angular != 0) {
            body.applyTorque(steeringOutput.angular * delta, true);
            anyAccelerations = true;
        }
        //        else { 
        //            Vector2 linVel = getLinearVelocity();
        //            if(!linVel.isZero())
        //            {
        //                float newOrientation = vectorToAngle(linVel);
        //                body.setAngularVelocity(newOrientation - getAngularVelocity() * delta);
        //                body.setTransform(body.getPosition(), newOrientation);
        //            }}

        if (anyAccelerations) {
            Vector2 velocity = body.getLinearVelocity();
            float currentSpeedSquare = velocity.len2();
            if (currentSpeedSquare > maxLinearSpeed * maxLinearSpeed) {
                body.setLinearVelocity(velocity.scl(maxLinearSpeed / (float) Math.sqrt(currentSpeedSquare)));
            }
            if (body.getAngularVelocity() > maxAngularSpeed) {
                body.setAngularVelocity(maxAngularSpeed);
            }
        }
    }

    public Box2DSteeringEntity(Body body, float boundingRadius) {
        this.body = body;
        this.boundingRadius = boundingRadius;
        this.maxAngularAcceleration = 5;
        this.maxAngularSpeed = 5;
        this.maxLinearSpeed = 5;
        this.maxLinearAcceleration = 500;
        this.tagged = false;
        this.steeringOutput = new SteeringAcceleration<Vector2>(new Vector2());
        this.body.setUserData(this);
    }

    public Body getBody() {
        return body;
    }

    public void setBehavior(SteeringBehavior<Vector2> behavior) {
        this.behavior = behavior;
    }

    public SteeringBehavior<Vector2> getBehavior() {
        return behavior;
    }

    @Override
    public Vector2 getPosition() {
        return body.getPosition();
    }

    @Override
    public float getOrientation() {
        return body.getAngle();
    }

    @Override
    public Vector2 getLinearVelocity() {
        return body.getLinearVelocity();
    }

    @Override
    public float getAngularVelocity() {
        return body.getAngularVelocity();

    }

    @Override
    public float getBoundingRadius() {
        return boundingRadius;
    }

    @Override
    public boolean isTagged() {
        return tagged;
    }

    @Override
    public void setTagged(boolean tagged) {
        this.tagged = tagged;
    }

    @Override
    public Vector2 newVector() {
        return new Vector2();
    }

    @Override
    public float vectorToAngle(Vector2 vector) {
        return VectorUtils.VectorToAngle(vector);
    }

    @Override
    public Vector2 angleToVector(Vector2 outVector, float angle) {
        outVector = VectorUtils.AngleToVector(angle);
        return outVector.cpy();
    }

    @Override
    public float getMaxLinearSpeed() {
        return maxLinearSpeed;
    }

    @Override
    public void setMaxLinearSpeed(float maxLinearSpeed) {
        this.maxLinearSpeed = maxLinearSpeed;
    }

    @Override
    public float getMaxLinearAcceleration() {
        return maxLinearAcceleration;
    }

    @Override
    public void setMaxLinearAcceleration(float maxLinearAcceleration) {
        this.maxLinearAcceleration = maxLinearAcceleration;
    }

    @Override
    public float getMaxAngularSpeed() {
        return maxAngularSpeed;
    }

    @Override
    public void setMaxAngularSpeed(float maxAngularSpeed) {
        this.maxAngularSpeed = maxAngularSpeed;
    }

    @Override
    public float getMaxAngularAcceleration() {
        return maxAngularAcceleration;
    }

    @Override
    public void setMaxAngularAcceleration(float maxAngularAcceleration) {
        this.maxAngularAcceleration = maxAngularAcceleration;
    }

}