@Override public SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) { // Check if we have a trajectory, and create one if not. if (target == null) { target = calculateTarget(); callback.reportAchievability(isJumpAchievable); } // If the trajectory is zero, return no steering acceleration if (!isJumpAchievable) return steering.setZero(); // Check if the owner has reached target position and velocity with acceptable tolerance if (owner.getPosition().epsilonEquals(target.getPosition(), takeoffPositionTolerance)) { if (DEBUG_ENABLED) GdxAI.getLogger().info("Jump", "Good position!!!"); if (owner.getLinearVelocity().epsilonEquals(target.getLinearVelocity(), takeoffVelocityTolerance)) { if (DEBUG_ENABLED) GdxAI.getLogger().info("Jump", "Good Velocity!!!"); isJumpAchievable = false; // Perform the jump, and return no steering (the owner is airborne, no need to steer). callback.takeoff(maxVerticalVelocity, airborneTime); return steering.setZero(); } else { if (DEBUG_ENABLED) GdxAI.getLogger().info("Jump", "Bad Velocity: Speed diff. = " + planarVelocity.set(target.getLinearVelocity()).sub(owner.getLinearVelocity()).len() + ", diff = (" + planarVelocity + ")"); } } // Delegate to MatchVelocity return super.calculateRealSteering(steering); }
@Override public SteeringAcceleration<T> calculateRealSteering (SteeringAcceleration<T> steering) { // Check if we have a trajectory, and create one if not. if (target == null) { target = calculateTarget(); callback.reportAchievability(isJumpAchievable); } // If the trajectory is zero, return no steering acceleration if (!isJumpAchievable) return steering.setZero(); // Check if the owner has reached target position and velocity with acceptable tolerance if (owner.getPosition().epsilonEquals(target.getPosition(), takeoffPositionTolerance)) { if (DEBUG_ENABLED) GdxAI.getLogger().info("Jump", "Good position!!!"); if (owner.getLinearVelocity().epsilonEquals(target.getLinearVelocity(), takeoffVelocityTolerance)) { if (DEBUG_ENABLED) GdxAI.getLogger().info("Jump", "Good Velocity!!!"); isJumpAchievable = false; // Perform the jump, and return no steering (the owner is airborne, no need to steer). callback.takeoff(maxVerticalVelocity, airborneTime); return steering.setZero(); } else { if (DEBUG_ENABLED) GdxAI.getLogger().info("Jump", "Bad Velocity: Speed diff. = " + planarVelocity.set(target.getLinearVelocity()).sub(owner.getLinearVelocity()).len() + ", diff = (" + planarVelocity + ")"); } } // Delegate to MatchVelocity return super.calculateRealSteering(steering); }