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42 lines
1.8 KiB
C#
42 lines
1.8 KiB
C#
using Duality;
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using System;
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using System.Collections.Generic;
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namespace Steering
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{
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/// <summary>
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/// Creates velocity samples which are going to get tested with <see cref="IAgentCharacteristics"/>.
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/// If the samples are poorly chosen or if there are simply not enough samples the agent won't be able to
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/// choose "good" velocities which lead to a bad steering quality. If on the other hand to many samples are
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/// generated the performance will suffer because for every sample the agent needs to calculate time of imapacts
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/// with obstacles.
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/// </summary>
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public interface IVelocitySampler
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{
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/// <summary>
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/// This method is called in every time step for every agent before the sampling starts.
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/// If your implementation is adaptive you should throw away your old state here and start over.
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/// </summary>
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void Reset();
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/// <summary>
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/// Get the current sample velocity. The implementation is free to use internal information gathered from
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/// previous calls to <see cref="IVelocitySampler.SetCurrentCost"/>. You should make sure that your implementation
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/// samples the zero-velocity.
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/// </summary>
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/// <returns>Velocity which should be evaluated</returns>
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Vector2 GetCurrentSample(Agent agent);
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/// <summary>
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/// Feeds the evaluated cost back into the sampler. The cost value can be used to adapt and intelligent choose the next
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/// velocities.
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/// </summary>
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/// <param name="cost">The cost which was returned from <see cref="IAgentCharacteristics.CalculateVelocityCost"/>
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/// with the current velocity as parameter
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/// </param>
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/// <returns>
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/// <code>true</code> if more velocities should be sampled and <code>false</code> if
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/// no new velocities should be sampled.
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/// </returns>
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bool SetCurrentCost(float cost);
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}
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}
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