private void avoid(Interactive3DObject collisionObject, int collisionHandle) {
float distance = position.dst(collisionObject.getPosition());
float minDistance = getCollisionRadius() + collisionObject.getCollisionRadius();
float urgency = (float) (1) / (distance - minDistance);
if (urgency > 20 || urgency < 0) {
urgency = 20;
}
boolean destinationsCollide =
destination.dst(((MovableI3DO) collisionObject).destination) < (minDistance)
&& position.dst(destination) < minDistance;
// System.out.println("Urgency: " + urgency);
if (urgency >= 1 && collisionHandle != COLLISION_BACK) {
pace = (float) (maxPace * (1 / Math.sqrt(urgency)));
} else {
pace = maxPace;
}
if (urgency > (float) 0.5
&& urgency + (float) 0.2 > avoidUrgency
&& !destinationsCollide
&& collisionHandle != COLLISION_BACK) {
// System.out.println("Urgency: " + urgency);
center.set(
(float) (position.x + collisionObject.position.x) / 2,
(float) (position.z + collisionObject.position.z) / 2);
delta.set(center.x - position.x, center.y - position.z);
ortho.set(-delta.y, delta.x).scl((float) 1 / (ortho.len()));
calcRotationAngle(ortho.x, ortho.y);
} else if (destinationsCollide
&& distance - (float) 0.2 <= minDistance
&& destinationsCollide) {
setDestination(this.position);
} else if (urgency + (float) 0.2 < avoidUrgency && distance > minDistance) {
System.out.println("back to orginal destination!");
this.calcRotationAngle(destination.x - this.position.x, destination.z - this.position.z);
avoid = false;
}
avoidUrgency = urgency;
}
public boolean collidesWith(Interactive3DObject collideObject) {
float minDist =
(collideObject.getCollisionRadius()
+ this.getCollisionRadius()); // the distance at which both circles overlap
// float distObjects = position.dst(collideObject.getPosition()); // distance between both
// objects;
float keepDist = (float) 1.5 * minDist; // try to keep at least this distance
float distLinePos =
Intersector.distanceLinePoint(
v2(position),
v2(destination),
v2(
collideObject
.getPosition())); // distance between line from pos to dest and collideObject
// position
if (distLinePos < keepDist) {
return true;
} else {
return false;
}
}
