steering_behaviors 1.0.0

data/LICENSE

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+Copyright 2013, Prylis Incorporated.
+
+Please contact the author <cpowell@prylis.com> for questions about licensing or for specific
+licensing needs.
+
+The Ruby Steering Behaviors Library is free software: you can redistribute it and/or modify it under
+the terms of the GNU Lesser General Public License as published by the Free Software Foundation,
+either version 3 of the License, or (at your option) any later version.
+
+The Ruby Steering Behaviors Library is distributed in the hope that it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
+PURPOSE.  See the GNU Lesser General Public License for more details.
+
+A copy of the GNU Lesser General Public License is at the end of this file, or  see
+<http://www.gnu.org/licenses/lgpl.html>.
+
+----
+
+The examples (*only* the examples) provided in the Ruby Steering Behaviors Library source code
+repository depend on LWJGL and Slick2D to operate. These products have their own licenses as follows.
+
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+  Copyright (c) 2012, Slick 2D All rights reserved.
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+----
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data/README.md

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+# Steering Behaviors for Autonomous Game Agents in Ruby
+
+If you're building a game, you need your game agents and characters to move on their own. A standard way of doing this is with 'steering behaviors'.
+
+The seminal paper by Craig Reynolds established a core set of steering behaviors that could be utilized for a variety of common movement tasks. This Ruby library can accomplish many/most of those tasks for your Ruby / JRuby game.
+
+The basic behaviors can be layered for more complicated and advanced behaviors, such as flocking and crowd movement.
+
+## How it works
+
+The steering behaviors expect to operate on a 'kinematic' thing. That is, the steerable object must expose several required parameters such as position vector, velocity vector, etc. These vectors are altered by the steering force, and then your movement engine simply repositions the object accordingly.
+
+## Supported stering behaviors
+
+The library supports these steering behaviors:
+
+* Seek: aim for and reach the specified point at top speed
+* Flee: head away from the specified point at top speed (the opposite of Seek)
+* Arrive: aim for and reach the specified point, decelerating gracefully to arrive with zero velocity
+* Pursue: given a moving target, anticipate its future position and intercept the target intelligently
+* Evade: given a moving target, anticipate its future position and avoid the target intelligently (the opposite of Pursue)
+* Wander: move about the plain in a 'random walk' way
+
+These are all standard steering behaviors documented at Craig Reynold's website (see References, below).
+
+Additionally, this library supports some other useful behaviors:
+
+* Align: align my course with the target's course, without altering my speed
+* Match: match my course and speed to those of the target
+* Broadside: expose my side to the target in the manner of a ship's broadside; useful for orbiting or exposing weapons, say
+* Orthogonal: steer for a course that is 90 degrees from the target's
+
+## Project status
+
+This is working, functional software, suitable for use in your own game or application.
+
+Additional steering behaviors, such as flocking and following, are planned.
+
+Watch the [changelog](http://github.com/cpowell/steering-behaviors/blob/master/CHANGELOG.md) for news.
+
+## Gem installation
+
+I recommend you clone the Git repository and browse the examples and source code to fully understand how the behaviors work.
+
+But if / when you want to use this in your own project, the easiest way to do so is via the Gem:
+```
+gem install steering_behaviors
+```
+
+Then in your code:
+```
+require 'steering_behaviors'
+```
+
+The gem is fully namespaced to prevent collisions. See the examples for usage details.
+
+## Included examples
+
+The `examples` directory contains working examples of each of the behaviors. The examples themselves are, of course, graphical and leverage Slick2D and JRuby. All the necessary libraries to run the examples are included in this Git repository; you'll just need to install JRuby. (I recommend rvm.)
+```
+rvm install jruby
+```
+
+Then, to run the examples:
+```
+./examples/run_examples.sh
+```
+
+Note that JRuby is not a dependency for the Steering Behaviors themselves, only for the bundled examples which rely on JRuby / Slick2D for animation.
+
+By the way, the examples are not DRY at all and are highly repetitive from one example to the next; this is by design. They are intended to each be somewhat self-contained and readable without you having to flip between too many files to gain an understanding of what is going on.
+
+## References used in the creation of this software
+* "Autonomous Behaviors for Autonomous Characters" by Craig Reynolds [(Explanation and demos)](http://www.red3d.com/cwr/steer/)
+* "Programming Game AI by Example" by Mat Buckland [(Amazon link)](http://www.amazon.com/Programming-Game-Example-Mat-Buckland/dp/1556220782)
+

data/Rakefile

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+require 'rake/testtask'
+
+task :default => [:test]
+
+desc "Run the test suite once"
+task :test do
+  ruby "test/all_suite.rb"
+end

data/lib/steering_behaviors.rb

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+class SteeringBehaviors
+end
+
+require 'steering_behaviors/common.rb'
+
+require 'steering_behaviors/align.rb'
+require 'steering_behaviors/arrive.rb'
+require 'steering_behaviors/broadside.rb'
+require 'steering_behaviors/evade.rb'
+require 'steering_behaviors/flee.rb'
+require 'steering_behaviors/match.rb'
+require 'steering_behaviors/orthogonal.rb'
+require 'steering_behaviors/pursue.rb'
+require 'steering_behaviors/seek.rb'
+require 'steering_behaviors/steering.rb'
+require 'steering_behaviors/vector.rb'
+require 'steering_behaviors/wander.rb'

data/lib/steering_behaviors/align.rb

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+##
+# Copyright 2013, Prylis Incorporated.
+#
+# This file is part of The Ruby Steering Behaviors Library.
+# http://github.com/cpowell/steering-behaviors
+# You can redistribute and/or modify this software only in accordance with
+# the terms found in the "LICENSE" file included with the framework.
+
+class SteeringBehaviors::Align
+
+  # Align with a moving target by observing its course.
+  #
+  # * *Args*    :
+  #   - +hunter_kinematic+ -> pursuing kinematic
+  #   - +quarry_kinematic+ -> kinematic of the target
+  # * *Returns* :
+  #   -
+  #
+  def self.steer(hunter_kinematic, quarry_kinematic)
+    course_diff = ( ( quarry_kinematic.heading_vec.radians - hunter_kinematic.heading_vec.radians + 3*Math::PI ) % (2*Math::PI) ) - Math::PI
+
+    target_local = SteeringBehaviors::Vector.new(course_diff * hunter_kinematic.speed, 0)
+    target_local.rotate!(hunter_kinematic.heading_vec.radians)
+  end
+
+end

data/lib/steering_behaviors/arrive.rb

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+##
+# Copyright 2013, Prylis Incorporated.
+#
+# This file is part of The Ruby Steering Behaviors Library.
+# http://github.com/cpowell/steering-behaviors
+# You can redistribute and/or modify this software only in accordance with
+# the terms found in the "LICENSE" file included with the framework.
+
+class SteeringBehaviors::Arrive
+
+  # Arrive 'gently' at the goal position by decelerating smoothly.
+  #
+  # * *Args*    :
+  #   - +kinematic+ -> the thing that is moving and arriving
+  #   - +goal_position+ -> a Vector of position
+  #   - +gentleness+ -> higher values will make the arrival more gradual and 'gentle'
+  # * *Returns* :
+  #   - a steering force
+  #
+  def self.steer(kinematic, goal_position, gentleness=0.8)
+    to_target = goal_position - kinematic.position_vec
+    dist = to_target.length
+
+    if dist > 0
+      desired_speed = dist / gentleness
+      desired_speed = [desired_speed, kinematic.max_speed].min
+
+      desired_velocity = to_target.normalize * desired_speed
+      return desired_velocity - kinematic.velocity_vec
+    else
+      return SteeringBehaviors::Vector.new(0,0)
+    end
+  end
+end

data/lib/steering_behaviors/broadside.rb

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+##
+# Copyright 2013, Prylis Incorporated.
+#
+# This file is part of The Ruby Steering Behaviors Library.
+# http://github.com/cpowell/steering-behaviors
+# You can redistribute and/or modify this software only in accordance with
+# the terms found in the "LICENSE" file included with the framework.
+
+class SteeringBehaviors::Broadside
+
+  # Always face one's side (i.e. a ship's broadside) to the target. Can be used for
+  # exposing weapons, orbiting, etc.
+  #
+  # * *Args*    :
+  #   - +hunter_kinematic+ -> pursuing kinematic
+  #   - +quarry_kinematic+ -> kinematic of the target
+  # * *Returns* :
+  #   - a steering force
+  #
+  def self.steer(hunter_kinematic, quarry_kinematic)
+    to_quarry = (quarry_kinematic.position_vec - hunter_kinematic.position_vec).normalize
+    option_a = SteeringBehaviors::Vector.new(to_quarry.y, -to_quarry.x)
+    option_b = SteeringBehaviors::Vector.new(-to_quarry.y, to_quarry.x)
+
+    da = option_a.delta(hunter_kinematic.heading_vec)
+    db = option_b.delta(hunter_kinematic.heading_vec)
+
+    best_hdg_vec = (da < db ? option_a : option_b)
+
+    desired_velocity = best_hdg_vec * hunter_kinematic.velocity_vec.length
+  end
+
+end

data/lib/steering_behaviors/common.rb

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+##
+# Copyright 2013, Prylis Incorporated.
+#
+# This file is part of The Ruby Steering Behaviors Library.
+# http://github.com/cpowell/steering-behaviors
+# You can redistribute and/or modify this software only in accordance with
+# the terms found in the "LICENSE" file included with the framework.
+
+module SteeringBehaviors::Common
+
+  # A support routine used by Pursue and Evade. Observes how 'forward' the
+  # target is, and how 'parallel' its course is to our own.
+  #
+  # * *Args*    :
+  #   - +forwardness+ -> how forward a target is to the observer
+  #   - +parallelness+ -> how parallel the target's course is to the observer's
+  # * *Returns* :
+  #   - array of [general language description, steering force]
+  #
+  def compute_time_factor(forwardness, parallelness)
+    f = interval_comparison(forwardness,  -0.707, 0.707)
+    p = interval_comparison(parallelness, -0.707, 0.707)
+
+    # Break the pursuit/evasion into nine cases, the cross product of the
+    # quarry being [ahead, aside, or behind] us
+    # and heading [parallel, perpendicular, or anti-parallel] to us.
+    case f
+    when 1
+      case p
+      when 1
+        gen="ahead, parallel"
+        tf = 1.8
+      when 0
+        gen="ahead, perpendicular"
+        tf = 1.35
+      when -1
+        gen="ahead, anti-parallel"
+        tf = 1.10
+      end
+    when 0
+      case p
+      when 1
+        gen="aside, parallel"
+        tf = 1.20
+      when 0
+        gen="aside, perpedicular"
+        tf = 1.20
+      when -1
+        gen="aside, anti-parallel"
+        tf = 1.20
+      end
+    when -1
+      case p
+      when 1
+        gen="behind, parallel"
+        tf = 1.20
+      when 0
+        gen="behind, perpendicular"
+        tf = 1.20
+      when -1
+        gen="behind, anti-parallel"
+        tf = 1.20
+      end
+    end
+
+    return [gen, tf]
+  end
+
+  #=============================================================
+  private
+
+  def interval_comparison(x, lower_bound, upper_bound)
+    return -1 if x < lower_bound
+    return 1 if x > upper_bound
+    return 0
+  end
+end