import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	// First we need to figure out where the two agents are going to be at
	// time T in the future. This is approximated by determining the time
	// taken by the owner to reach the desired point between the 2 agents
	// at the current time at the max speed. This desired point P is given by
	// P = posA + interpositionRatio * (posB - posA)
	internalTargetPosition.set(agentB.getPosition()).sub(agentA.getPosition()).scl(interpositionRatio)
		.add(agentA.getPosition());

	float timeToTargetPosition = owner.getPosition().dst(internalTargetPosition) / getActualLimiter().getMaxLinearSpeed();

	// Now we have the time, we assume that agent A and agent B will continue on a
	// straight trajectory and extrapolate to get their future positions.
	// Note that here we are reusing steering.linear vector as agentA future position
	// and targetPosition as agentB future position.
	steering.linear.set(agentA.getPosition()).mulAdd(agentA.getLinearVelocity(), timeToTargetPosition);
	internalTargetPosition.set(agentB.getPosition()).mulAdd(agentB.getLinearVelocity(), timeToTargetPosition);

	// Calculate the target position between these predicted positions
	internalTargetPosition.sub(steering.linear).scl(interpositionRatio).add(steering.linear);

	// Finally delegate to Arrive
	return arrive(steering, internalTargetPosition);
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> blendedSteering) {
	// Clear the output to start with
	blendedSteering.setZero();

	// Go through all the behaviors
	int len = list.size;
	for (int i = 0; i < len; i++) {
		BehaviorAndWeight<T> bw = list.get(i);

		// Calculate the behavior's steering
		bw.behavior.calculateSteering(steering);

		// Scale and add the steering to the accumulator
		blendedSteering.mulAdd(steering, bw.weight);
	}

	Limiter actualLimiter = getActualLimiter();

	// Crop the result
	blendedSteering.linear.limit(actualLimiter.getMaxLinearAcceleration());
	if (blendedSteering.angular > actualLimiter.getMaxAngularAcceleration())
		blendedSteering.angular = actualLimiter.getMaxAngularAcceleration();

	return blendedSteering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	// We'll need epsilon squared later.
	float epsilonSquared = epsilon * epsilon;

	// Go through the behaviors until one has a large enough acceleration
	int n = behaviors.size;
	selectedBehaviorIndex = -1;
	for (int i = 0; i < n; i++) {
		selectedBehaviorIndex = i;

		SteeringBehavior<T> behavior = behaviors.get(i);

		// Calculate the behavior's steering
		behavior.calculateSteering(steering);

		// If we're above the threshold return the current steering
		if (steering.calculateSquareMagnitude() > epsilonSquared) return steering;
	}

	// If we get here, it means that no behavior had a large enough acceleration,
	// so return the small acceleration from the final behavior or zero if there are
	// no behaviors in the list.
	return n > 0 ? steering : steering.setZero();
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	steering.setZero();

	averageVelocity = steering.linear;

	int neighborCount = proximity.findNeighbors(this);

	if (neighborCount > 0) {
		// Average the accumulated velocities
		averageVelocity.scl(1f / neighborCount);

		// Match the average velocity.
		// Notice that steering.linear and averageVelocity are the same vector here.
		averageVelocity.sub(owner.getLinearVelocity()).limit(getActualLimiter().getMaxLinearAcceleration());
	}

	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
public CollisionAvoidanceSteererBase(final SteerableBody steerableBody) {
	super(steerableBody);

	this.proximity = new RadiusProximity<Vector3>(steerableBody, GameScreen.screen.engine.characters, steerableBody.getBoundingRadius() * 1.8f);
	this.collisionAvoidanceSB = new CollisionAvoidance<Vector3>(steerableBody, proximity) {
		@Override
		protected SteeringAcceleration<Vector3> calculateRealSteering(SteeringAcceleration<Vector3> steering) {
			super.calculateRealSteering(steering);
			steering.linear.y = 0; // remove any vertical acceleration
			return steering;
		}
	};

	this.prioritySteering = new PrioritySteering<Vector3>(steerableBody, 0.001f) //
		.add(collisionAvoidanceSB);
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
public WanderSteerer(final SteerableBody steerableBody) {
	super(steerableBody);

	this.wanderSB = new Wander<Vector3>(steerableBody) {
		@Override
		protected SteeringAcceleration<Vector3> calculateRealSteering(SteeringAcceleration<Vector3> steering) {
			super.calculateRealSteering(steering);
			steering.linear.y = 0; // remove any vertical acceleration
			return steering;
		}
	};
	this.wanderSB.setWanderOffset(8) //
		.setWanderOrientation(0) //
		.setWanderRadius(0.5f) //
		.setWanderRate(MathUtils.PI2 * 4);

	this.prioritySteering.add(wanderSB);
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<Vector2> calculateRealSteering(SteeringAcceleration<Vector2> steering) {
    targetPosition = owner.getPosition().x + ((wanderOrientation == 1)? 0.5f : -0.5f);
    if (!stopped) {
        if (Utils.randRange(0f, 1f) < 0.01f) {
            stopTime = Utils.randRange(minStopTime, maxStopTime);
            stopped = true;
        }
        return doSteering(steering);
    }
    else {
        currStopTime += Gdx.graphics.getDeltaTime();
        if (currStopTime >= stopTime) {
            stopped = false;
            currStopTime = 0;
            wanderOrientation = Utils.randRange(0, 1);
        }
        steering.setZero();
    }

    return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<Vector2> calculateRealSteering(SteeringAcceleration<Vector2> steering) {
    if (!stopped) {
        if ((targetPosition == entity.getMinX() && owner.getPosition().x <= targetPosition + 0.1) ||
                (targetPosition == entity.getMaxX() && owner.getPosition().x >= targetPosition - 0.1)) {
            stopTime = Utils.randRange(minStopTime, maxStopTime);
            stopped = true;
        }
        return doSteering(steering);
    } else {
        currStopTime += Gdx.graphics.getDeltaTime();
        if (currStopTime >= stopTime) {
            stopped = false;
            currStopTime = 0;
            targetPosition = (targetPosition == entity.getMaxX()) ? entity.getMinX() : entity.getMaxX();
        }
        steering.setZero();
    }
    return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
private void applySteering (SteeringAcceleration<Vector2> steering, float time) {
	// Update position and linear velocity. Velocity is trimmed to maximum speed
	position.mulAdd(linearVelocity, time);
	linearVelocity.mulAdd(steering.linear, time).limit(getMaxLinearSpeed());

	// Update orientation and angular velocity
	if (independentFacing) {
		setRotation(getRotation() + (angularVelocity * time) * MathUtils.radiansToDegrees);
		angularVelocity += steering.angular * time;
	} else {
		// If we haven't got any velocity, then we can do nothing.
		if (!linearVelocity.isZero(getZeroLinearSpeedThreshold())) {
			float newOrientation = vectorToAngle(linearVelocity);
			angularVelocity = (newOrientation - getRotation() * MathUtils.degreesToRadians) * time; // this is superfluous if independentFacing is always true
			setRotation(newOrientation * MathUtils.radiansToDegrees);
		}
	}
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
public B2dSteeringEntity(Body body, float boundingRadius) {
    this.body = body;
    this.boundingRadius = boundingRadius;

    this.maxAngularSpeed = 500;
    this.maxLinearAcceleration = 5000;
    this.maxAngularSpeed = 30;
    this.maxAngularAcceleration = 5;
    this.tagged = false;

    this.steeringOutput = new SteeringAcceleration<Vector2>(new Vector2());
    this.body.setUserData(this);
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
private void applySteering(SteeringAcceleration<Vector2> steering, float deltaTime) {
	position.mulAdd(linearVelocity, deltaTime);
	linearVelocity.mulAdd(steering.linear, deltaTime).limit(this.getMaxLinearSpeed());
	
	orientation += angularVelocity * deltaTime;
       angularVelocity += steering.angular * deltaTime;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	// Acceleration tries to get to the target velocity without exceeding max acceleration
	steering.linear.set(target.getLinearVelocity()).sub(owner.getLinearVelocity()).scl(1f / timeToTarget)
		.limit(getActualLimiter().getMaxLinearAcceleration());

	// No angular acceleration
	steering.angular = 0;

	// Output steering acceleration
	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	T ownerPosition = owner.getPosition();
	float minDistanceSquare = Float.POSITIVE_INFINITY;

	// Get the updated rays
	Ray<T>[] inputRays = rayConfiguration.updateRays();

	// Process rays
	for (int i = 0; i < inputRays.length; i++) {
		// Find the collision with current ray
		boolean collided = raycastCollisionDetector.findCollision(outputCollision, inputRays[i]);

		if (collided) {
			float distanceSquare = ownerPosition.dst2(outputCollision.point);
			if (distanceSquare < minDistanceSquare) {
				minDistanceSquare = distanceSquare;
				// Swap collisions
				Collision<T> tmpCollision = outputCollision;
				outputCollision = minOutputCollision;
				minOutputCollision = tmpCollision;
			}
		}
	}

	// Return zero steering if no collision has occurred
	if (minDistanceSquare == Float.POSITIVE_INFINITY) return steering.setZero();

	// Calculate and seek the target position
	steering.linear.set(minOutputCollision.point)
		.mulAdd(minOutputCollision.normal, owner.getBoundingRadius() + distanceFromBoundary).sub(owner.getPosition()).nor()
		.scl(getActualLimiter().getMaxLinearAcceleration());

	// No angular acceleration
	steering.angular = 0;

	// Output steering acceleration
	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	shortestTime = Float.POSITIVE_INFINITY;
	firstNeighbor = null;
	firstMinSeparation = 0;
	firstDistance = 0;
	relativePosition = steering.linear;

	// Take into consideration each neighbor to find the most imminent collision.
	int neighborCount = proximity.findNeighbors(this);

	// If we have no target, then return no steering acceleration
	//
	// NOTE: You might think that the condition below always evaluates to true since
	// firstNeighbor has been set to null when entering this method. In fact, we have just
	// executed findNeighbors(this) that has possibly set firstNeighbor to a non null value
	// through the method reportNeighbor defined below.
	if (neighborCount == 0 || firstNeighbor == null) return steering.setZero();

	// If we're going to hit exactly, or if we're already
	// colliding, then do the steering based on current position.
	if (firstMinSeparation <= 0 || firstDistance < owner.getBoundingRadius() + firstNeighbor.getBoundingRadius()) {
		relativePosition.set(firstNeighbor.getPosition()).sub(owner.getPosition());
	} else {
		// Otherwise calculate the future relative position
		relativePosition.set(firstRelativePosition).mulAdd(firstRelativeVelocity, shortestTime);
	}

	// Avoid the target
	// Notice that steerling.linear and relativePosition are the same vector
	relativePosition.nor().scl(-getActualLimiter().getMaxLinearAcceleration());

	// No angular acceleration
	steering.angular = 0f;

	// Output the steering
	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	// We just do the opposite of seek, i.e. (owner.getPosition() - target.getPosition())
	// instead of (target.getPosition() - owner.getPosition())
	steering.linear.set(owner.getPosition()).sub(target.getPosition()).nor().scl(getActualLimiter().getMaxLinearAcceleration());

	// No angular acceleration
	steering.angular = 0;

	// Output steering acceleration
	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	// Try to match the position of the character with the position of the target by calculating
	// the direction to the target and by moving toward it as fast as possible.
	steering.linear.set(target.getPosition()).sub(owner.getPosition()).nor().scl(getActualLimiter().getMaxLinearAcceleration());

	// No angular acceleration
	steering.angular = 0;

	// Output steering acceleration
	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
protected SteeringAcceleration<T> arrive (SteeringAcceleration<T> steering, T targetPosition) {
	// Get the direction and distance to the target
	T toTarget = steering.linear.set(targetPosition).sub(owner.getPosition());
	float distance = toTarget.len();

	// Check if we are there, return no steering
	if (distance <= arrivalTolerance) return steering.setZero();

	Limiter actualLimiter = getActualLimiter();
	// Go max speed
	float targetSpeed = actualLimiter.getMaxLinearSpeed();

	// If we are inside the slow down radius calculate a scaled speed
	if (distance <= decelerationRadius) targetSpeed *= distance / decelerationRadius;

	// Target velocity combines speed and direction
	T targetVelocity = toTarget.scl(targetSpeed / distance); // Optimized code for: toTarget.nor().scl(targetSpeed)

	// Acceleration tries to get to the target velocity without exceeding max acceleration
	// Notice that steering.linear and targetVelocity are the same vector
	targetVelocity.sub(owner.getLinearVelocity()).scl(1f / timeToTarget).limit(actualLimiter.getMaxLinearAcceleration());

	// No angular acceleration
	steering.angular = 0f;

	// Output the steering
	return steering;
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
protected SteeringAcceleration<T> face (SteeringAcceleration<T> steering, T targetPosition) {
	// Get the direction to target
	T toTarget = steering.linear.set(targetPosition).sub(owner.getPosition());

	// Check for a zero direction, and return no steering if so
	if (toTarget.isZero(getActualLimiter().getZeroLinearSpeedThreshold())) return steering.setZero();

	// Calculate the orientation to face the target
	float orientation = owner.vectorToAngle(toTarget);

	// Delegate to ReachOrientation
	return reachOrientation(steering, orientation);
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
/** Creates a {@code BlendedSteering} for the specified {@code owner}, {@code maxLinearAcceleration} and
 * {@code maxAngularAcceleration}.
 * @param owner the owner of this behavior. */
public BlendedSteering (Steerable<T> owner) {
	super(owner);

	this.list = new Array<BehaviorAndWeight<T>>();
	this.steering = new SteeringAcceleration<T>(newVector(owner));
}
 

import com.badlogic.gdx.ai.steer.SteeringAcceleration; //导入依赖的package包/类
@Override
protected SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) {
	// Predictive or non-predictive behavior?
	T location = (predictionTime == 0) ?
	// Use the current position of the owner
	owner.getPosition()
		:
		// Calculate the predicted future position of the owner. We're reusing steering.linear here.
		steering.linear.set(owner.getPosition()).mulAdd(owner.getLinearVelocity(), predictionTime);

	// Retrieve the flow vector at the specified location
	T flowVector = flowField.lookup(location);
	
	// Clear both linear and angular components
	steering.setZero();

	if (flowVector != null && !flowVector.isZero()) {
		Limiter actualLimiter = getActualLimiter();

		// Calculate linear acceleration
		steering.linear.mulAdd(flowVector, actualLimiter.getMaxLinearSpeed()).sub(owner.getLinearVelocity())
			.limit(actualLimiter.getMaxLinearAcceleration());
	}

	// Output steering
	return steering;
}