wander.cpp

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/*
 * Copyright (C) 2023  Christopher J. Howard
 *
 * This file is part of Antkeeper source code.
 *
 * Antkeeper source code is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Antkeeper source code 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Antkeeper source code.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#include <engine/ai/steering/behavior/wander.hpp>
#include <engine/ai/steering/behavior/seek.hpp>
#include <engine/math/random.hpp>
#include <engine/math/quaternion.hpp>
 
namespace ai {
namespace steering {
namespace behavior {
 
math::fvec3 wander_2d(const agent& agent, float noise, float distance, float radius, float& angle)
{
    // Shift wander angle
    angle += math::random(-noise, noise);
    
    // Calculate center of wander circle
    const math::fvec3 center = agent.position + agent.forward * distance;
    
    // Decompose orientation into swing and twist rotations
    auto [swing, twist] = math::swing_twist(agent.orientation, agent.up);
    
    // Calculate offset to point on wander circle
    const math::fvec3 offset = (math::angle_axis(angle, agent.up) * agent.forward * radius) * twist;
    
    // Seek toward point on wander circle
    return seek(agent, center + offset);
}
 
math::fvec3 wander_3d(const agent& agent, float noise, float distance, float radius, float& theta, float& phi)
{
    // Shift wander angles
    theta += math::random(-noise, noise);
    phi += math::random(-noise, noise);
    
    // Calculate center of wander sphere
    const math::fvec3 center = agent.position + agent.forward * distance;
    
    // Convert spherical coordinates to Cartesian point on wander sphere
    const float r_cos_theta = radius * std::cos(theta);
    const math::fvec3 offset =
    {
        r_cos_theta * std::cos(phi),
        r_cos_theta * std::sin(phi),
        radius * std::sin(theta)
    };
    
    // Seek toward point on wander sphere
    return seek(agent, center + offset);
}
 
} // namespace behavior
} // namespace steering
} // namespace ai