问题 更新时间2023/4/3 12:59:00
写出高级群聚中避开障碍物算法代码
答案
【答案要点】
Vector a, p, b;
for(j=0; j<_NUM_OBSTACLES; j++)
{
u = Units[i].vVelocity;
u.Normalize();
v = u * _COLLISION_VISIBILITY_FACTOR * Units[i].fLength;
a = Obstacles[j] - Units[i].vPosition;
p = (a * u) * u;
b = p - a;
if((b.Magnitude() < _OBSTACLE_RADIUS) && (p.Magnitude() < v.Magnitude()))
{
w = VRotate2D(-Units[i].fOrientation, a);
w.Normalize();
if(w.x < 0) m = 1;
if(w.x > 0) m = -1;
Fs.x += m * _STEERINGFORCE * (_COLLISION_VISIBILITY_FACTOR *
Units[i].fLength)/a.Magnitude();
}
}
