import com.badlogic.gdx.ai.steer.SteeringBehavior; //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.SteeringBehavior; //导入依赖的package包/类
public static SteerLocation getTarget(SteeringBehavior behavior){
    SteerLocation targetL = null;
    if(behavior instanceof Face) targetL = (SteerLocation)((Face) behavior).getTarget();
    else if(behavior instanceof Arrive) targetL = (SteerLocation)((Arrive) behavior).getTarget();
    else if(behavior instanceof Seek) targetL = (SteerLocation)((Seek) behavior).getTarget();
    return targetL;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public static Entity createSquad (Vector2 position, Faction faction) {
	Entity entity = builder.createEntity(EntityCategory.SQUAD, position).physicsBody(BodyType.DynamicBody).circleSensor(30.0f)
		.faction(faction).target().filter(EntityCategory.SQUAD, 0, EntityCategory.SQUAD | EntityCategory.RESOURCE)
		.steeringBehavior().stateMachine().getWithoutAdding();

	SteerableComponent steerable = engine.createComponent(SteerableComponent.class).init(
		Components.PHYSICS.get(entity).getBody(), 30.0f);
	SquadComponent squadComp = engine.createComponent(SquadComponent.class).init(steerable);
	squadComp.targetLocation.getPosition().set(position);
	entity.add(squadComp);

	// A good rule of thumb is to make the maximum speed of the formation
	// around
	// half that of the members. We also give the anchor point far less
	// acceleration.
	steerable.setMaxLinearSpeed(SteerableComponent.MAX_LINEAR_SPEED / 2);
	steerable.setMaxLinearAcceleration(SteerableComponent.MAX_LINEAR_ACCELERATION / 10);

	Arrive<Vector2> arriveSB = new Arrive<Vector2>(steerable).setTarget(squadComp.targetLocation).setTimeToTarget(0.001f)
		.setDecelerationRadius(2f).setArrivalTolerance(0.0001f);
	SteeringBehavior<Vector2> sb = arriveSB;
	
	RadiusProximity<Vector2> proximity = new RadiusProximity<Vector2>(steerable, squadComp.friendlyAgents, 3.0f);
	Separation<Vector2> separationSB = new Separation<Vector2>(steerable, proximity);

	BlendedSteering<Vector2> blendedSteering = new BlendedSteering<Vector2>(steerable) //
		.setLimiter(NullLimiter.NEUTRAL_LIMITER) //
		.add(separationSB, 10000f)
		.add(arriveSB, 0.5f);
	sb = blendedSteering;
	Components.FSM.get(entity).changeState(SquadComponent.DEFAULT_STATE);

	Components.STEERING_BEHAVIOR.get(entity).setBehavior(sb);

	entity.add(steerable);

	engine.addEntity(entity);
	return entity;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
/** Removes a steering behavior from the list.
 * @param behavior the steering behavior to remove */
public void remove (SteeringBehavior<T> behavior) {
	for (int i = 0; i < list.size; i++) {
		if(list.get(i).behavior == behavior) {
			list.removeIndex(i);
			return;
		}
	}
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public void setBehavior(SteeringBehavior<Vector2> behavior) {
    this.behavior = behavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public SteeringBehavior<Vector2> getBehavior() {
    return behavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public <T extends SteeringBehavior> SteeringBehavior getBehavior(Class<T> behaviorClass){
    return cachedBehaviors.get(behaviorClass);
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public GameEntity cacheBehavior(SteeringBehavior behavior){
    if(behavior == null) return this;
    this.cachedBehaviors.put(behavior.getClass(), behavior);
    return this;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public SteeringBehavior<Vector2> getSteeringBehavior() {
	return steeringBehavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public void setSteeringBehavior(SteeringBehavior<Vector2> steeringBehavior) {
	this.steeringBehavior = steeringBehavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public BehaviorAndWeight (SteeringBehavior<T> behavior, float weight) {
	this.behavior = behavior;
	this.weight = weight;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public SteeringBehavior<T> getBehavior () {
	return behavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public void setBehavior (SteeringBehavior<T> behavior) {
	this.behavior = behavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
/** Adds the specified behavior to the priority list.
 * @param behavior the behavior to add
 * @return this behavior for chaining. */
public PrioritySteering<T> add (SteeringBehavior<T> behavior) {
	behaviors.add(behavior);
	return this;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public SteeringBehavior<Vector2> getSteeringBehavior() {
    return steeringBehavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public void setSteeringBehavior(SteeringBehavior<Vector2> steeringBehavior) {
    this.steeringBehavior = steeringBehavior;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
@Override
public SteeringBehavior<Vector3> getSteeringBehavior() {
	return prioritySteering;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
@Override
protected void processEntity(Entity entity, float deltaTime) {
	SteeringBehavior<Vector2> behavior = Components.STEERING_BEHAVIOR.get(entity).getBehavior();
	SteerableComponent steerable = Components.STEERABLE.get(entity);
	
	if(behavior == null) return;
	if(steerable.getBody() == null) return;	//We shouldn't need this
	behavior.calculateSteering(steeringOutput);
	boolean anyAccelerations = false;
	Body body = steerable.getBody();
	
	if (!steeringOutput.linear.isZero()) {
		Vector2 force = steeringOutput.linear.scl(deltaTime);
		body.applyForceToCenter(force, true);
		anyAccelerations = true;
	}

	
	// Update orientation and angular velocity
	if (steerable.isIndependentFacing()) {
		if (steeringOutput.angular != 0) {
			body.applyTorque(steeringOutput.angular * deltaTime, true);
			anyAccelerations = true;
		}
	}
	
	else {
		// If we haven't got any velocity, then we can do nothing.
		Vector2 linVel = body.getLinearVelocity();
		if (!linVel.isZero(steerable.getZeroLinearSpeedThreshold())) {
			float newOrientation = steerable.vectorToAngle(linVel);
			body.setAngularVelocity((newOrientation - steerable.getAngularVelocity()) * deltaTime); // this is superfluous if independentFacing is always true
			body.setTransform(body.getPosition(), newOrientation);
		}
	}

	if (anyAccelerations) {
		// Cap the linear speed
		Vector2 velocity = body.getLinearVelocity();
		float currentSpeedSquare = velocity.len2();
		float maxLinearSpeed = steerable.getMaxLinearSpeed();
		if (currentSpeedSquare > maxLinearSpeed * maxLinearSpeed) {
			body.setLinearVelocity(velocity.scl(maxLinearSpeed / (float)Math.sqrt(currentSpeedSquare)));
		}

		// Cap the angular speed
		float maxAngVelocity = steerable.getMaxAngularSpeed();
		if (body.getAngularVelocity() > maxAngVelocity) {
			body.setAngularVelocity(maxAngVelocity);
		}
	}
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public SteeringBehaviorComponent init (SteeringBehavior<Vector2> behavior) {
	setBehavior(behavior);
	return this;
}
 

import com.badlogic.gdx.ai.steer.SteeringBehavior; //导入依赖的package包/类
public void setBehavior (SteeringBehavior<Vector2> behavior) {
	this.behavior = behavior;
}