[Game AI][Steering Behavior] 18. Task_Seek (controllers.SeekController)

controllers.SeekController

 

먼저 빈 파일 하나 만들어줬다. 이름은 SeekController.java 로 만들어주면 된다

그리고 안에 Controller.java에 있던 내용을 가져올 것이다. 

 

- Controller에 있던 코드

package controllers;

import engine.Car;
import engine.Game;

/**
 *
 * @author santi
 */
public abstract class Controller {
    /*
        commands is an array with three components:
        - the desired "STEER" (-1 to +1)
        - the desired "THROTTLE" (0 to +1)
        - the deired "BRAKE" (0 to +1)
    */
    public static final int VARIABLE_STEERING = 0;
    public static final int VARIABLE_THROTTLE = 1;
    public static final int VARIABLE_BRAKE = 2;
    
    public abstract void update(Car subject, Game game, double delta_t, double controlVariables[]);
}

 

이 코드들을 가져오올 수 있는 가장 좋은 방법이 상속을 하는 것이다. 

package controllers;

import engine.Car;
import engine.Game;
import engine.GameObject;

public class SeekController extends Controller {
    private GameObject target;

    public SeekController(GameObject target) {
        this.target = target;
    }

}

 

GameObject target에 Controller에 있는 내용을 상속해준다. 

그리고  SeekController에도 지정을 해준다. 

package controllers;

import engine.Car;
import engine.Game;
import engine.GameObject;

public class SeekController extends Controller {
    private GameObject target;

    public SeekController(GameObject target) {
        this.target = target;
    }

    @Override
    public void update(Car subject, Game game, double delta_t, double[] controlVariables) {
        // Calculate angle to seek the target
        double targetAngle = Math.atan2(target.getY() - subject.getY(), target.getX() - subject.getX());

        // Normalize angle to be between -π and π
        targetAngle = (targetAngle + Math.PI) % (2 * Math.PI) - Math.PI;

        // Calculate the difference between current and target angle
        double angleDiff = targetAngle - subject.getAngle();

        // Normalize angle difference to be between -π and π
        angleDiff = (angleDiff + Math.PI) % (2 * Math.PI) - Math.PI;

        // Map angle difference to steering control
        double steering = angleDiff / Math.PI;

        // Set steering control
        controlVariables[VARIABLE_STEERING] = steering;

        // Apply throttle to move forward
        controlVariables[VARIABLE_THROTTLE] = 1;
    }
}

 

각 과정에 필요한 수학적인 연산을 해준다. 

 

▷ 작성한 전체 코드

controllers.SeekController

package controllers;

import engine.Car;
import engine.Game;
import engine.GameObject;

public class SeekController extends Controller {
    private GameObject target;

    public SeekController(GameObject target) {
        this.target = target;
    }

    @Override
    public void update(Car subject, Game game, double delta_t, double[] controlVariables) {
        // Calculate angle to seek the target
        double targetAngle = Math.atan2(target.getY() - subject.getY(), target.getX() - subject.getX());

        // Normalize angle to be between -π and π
        targetAngle = (targetAngle + Math.PI) % (2 * Math.PI) - Math.PI;

        // Calculate the difference between current and target angle
        double angleDiff = targetAngle - subject.getAngle();

        // Normalize angle difference to be between -π and π
        angleDiff = (angleDiff + Math.PI) % (2 * Math.PI) - Math.PI;

        // Map angle difference to steering control
        double steering = angleDiff / Math.PI;

        // Set steering control
        controlVariables[VARIABLE_STEERING] = steering;

        // Apply throttle to move forward
        controlVariables[VARIABLE_THROTTLE] = 1;
    }
}

Steering.zip

0.03MB