public static Vector2 flee(Vector2 targetPos, Vehicle v) {
Vector2 desiredVelocity = v.getCenter().cpy().sub(targetPos);
Vector2 velocity = v.getVelocity();
desiredVelocity.nor();
desiredVelocity.mul(v.getMaxVelocity());
desiredVelocity.sub(velocity).mul(CORRECTION);
return desiredVelocity;
}
public static Vector2 arrive(Vector2 targetPos, Vehicle v) {
Vector2 desiredVelocity = v.getCenter().cpy().sub(targetPos);
Vector2 velocity = v.getVelocity();
float len = desiredVelocity.len();
if (len > 0.05f) {
desiredVelocity.nor();
float min = Math.min(len, v.getMaxVelocity());
desiredVelocity.mul(min);
desiredVelocity.sub(velocity).mul(-CORRECTION);
}
return desiredVelocity;
}
public static Vector2 pursue(Vector2 target, Vector2 targetVelocity, Vehicle v) {
Vector2 velocity = v.getVelocity();
Vector2 desiredVelocity = v.getCenter().cpy().sub(target);
float ownVelocityAlignment = desiredVelocity.dot(velocity);
float relativeHeading = targetVelocity.dot(velocity);
if (ownVelocityAlignment > 0 && relativeHeading < -0.95) {
return seek(target, v);
}
float lookAheadTime = desiredVelocity.len() / (v.getMaxVelocity() + targetVelocity.len());
Vector2 predicetTargetPos = target.cpy().add(targetVelocity).cpy().mul(lookAheadTime);
return seek(predicetTargetPos, v);
}