steering_behaviors 1.0.5 → 1.0.6

data/CHANGELOG.md

@@ -1,5 +1,8 @@
 # Changelog for steering-behaviors
 
+## 1.0.6, 11 August 2013
+* Refined 'separate' to employ forwardness as part of its calculation.
+
 ## 1.0.5, 11 August 2013
 * Added 'separate', a predictive collision-avoidance steering behavior
 

data/lib/steering_behaviors/separation.rb

@@ -26,33 +26,35 @@ class SteeringBehaviors::Separation
     cpa_dist = (char_pos_at_cpa - other_pos_at_cpa).length
     return SteeringBehaviors::VEC_ZERO if cpa_dist > danger_radius
 
+    offset_vec  = other_kinematic.position_vec - character_kinematic.position_vec
+    unit_offset = offset_vec.normalize
+    forwardness = unit_offset.dot(character_kinematic.heading_vec)
     parallelness = character_kinematic.heading_vec.dot(other_kinematic.heading_vec)
 
     side_vec = character_kinematic.heading_vec.perpendicular
-    val = 0
 
     if parallelness < -0.707
-      # anti-parallel, head-on paths
-      # steer away from the threat's future posn
+      # anti-parallel, head-on paths; steer away from the threat's future pos
+      puts "Head-on, steering away from future pos"
       offset_vec = other_pos_at_cpa - character_kinematic.position_vec
       side_dot = offset_vec.dot(side_vec)
-      val = (side_dot > 0 ? -1.0 : 1.0)
-      # puts "Head-on, steering away from future pos"
     elsif parallelness > 0.707
       # parallel paths; steer away from threat
-      offset_vec = other_kinematic.position_vec - character_kinematic.position_vec
+      puts "Parallel, steering away from other guy"
       side_dot = offset_vec.dot(side_vec)
-      val = (side_dot > 0 ? -1.0 : 1.0)
-      # puts "Parallel, steering away from other guy"
     else
       # perpendicular paths; steer behind threat
-      if other_kinematic.speed <= character_kinematic.speed
-        side_dot = side_vec.dot(other_kinematic.velocity_vec)
-        val = (side_dot > 0 ? -1.0 : 1.0)
-        # puts "Perpendicular, steering behind other guy"
+      side_dot = other_kinematic.velocity_vec.dot(side_vec)
+      if forwardness < 0.707
+        puts "Perpendicular, steering ahead of other guy"
+        side_dot *= -1
+      else
+        puts "Perpendicular, steering behind other guy"
       end
     end
 
+    val = (side_dot > 0 ? -1.0 : 1.0)
+
     return side_vec * val
 
   end

data/test/vector_test.rb

@@ -277,6 +277,56 @@ class VectorTest < MiniTest::Unit::TestCase
     assert_equal(0.86603810567665, @v1.clamped_dot(@v2))
   end
 
+  def test_dot_product_commutability
+    @v1 = SteeringBehaviors::Vector.new(0.5, 1)
+    @v2 = SteeringBehaviors::Vector.new(1.0, 0.5)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(1.0, 1.0)
+    @v2 = SteeringBehaviors::Vector.new(1.0, 1.0)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(0.708, 0.707)
+    @v2 = SteeringBehaviors::Vector.new(0.707, 0.707)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(1.0, 0)
+    @v2 = SteeringBehaviors::Vector.new(0, 1.0)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(0, 1.0)
+    @v2 = SteeringBehaviors::Vector.new(-1.0, 0)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(0, 1.0)
+    @v2 = SteeringBehaviors::Vector.new(0.707, 0.707)
+    @v2.normalize!
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(1.0, 0)
+    @v2 = SteeringBehaviors::Vector.new(-0.707, 0.707)
+    @v2.normalize!
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(1.0, 0)
+    @v2 = SteeringBehaviors::Vector.new(-0.707, -0.707)
+    @v2.normalize!
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(0.5, 0.866)
+    @v1.normalize!
+    @v2 = SteeringBehaviors::Vector.new(0.866, 0.5)
+    @v2.normalize!
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(500, 500)
+    @v2 = SteeringBehaviors::Vector.new(-14, 75)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+
+    @v1 = SteeringBehaviors::Vector.new(-0.5, -0.5)
+    @v2 = SteeringBehaviors::Vector.new(2.2, 2.2)
+    assert_equal(@v2.dot(@v1), @v1.dot(@v2))
+  end
 
   def test_perpendicular
     @v2 = @v.perpendicular

metadata

@@ -2,7 +2,7 @@
 name: steering_behaviors
 version: !ruby/object:Gem::Version
   prerelease:
-  version: 1.0.5
+  version: 1.0.6
 platform: ruby
 authors:
 - Chris Powell