Method AvoidCollision

engine/Poseidon/AI/VehicleAIPilot.cpp:1759–2194

}

void EntityAI::AvoidCollision(float deltaT, float& speedWanted, float& headChange)
{
    AIUnit* unit = PilotUnit();
    if (!unit)
    {
        return;
    }

    const float neutralAside = 0;

    AISubgroup* mySubgrp = unit->GetSubgroup();
    _avoidAsideWanted = neutralAside;

    if (mySubgrp && mySubgrp->GetMode() == AISubgroup::DirectGo)
    {
        return;
    }
    // if we are stopped, do not try to avoid
    const float maxSpeedStopped = 0.05;
    if (fabs(speedWanted) <= maxSpeedStopped)
    {
        return;
    }
    // avoid collisions
    float mySize = CollisionSize(); // assume vehicle is not round
    float mySpeedSize = fabs(ModelSpeed()[2]);
    float maxSpeed = GetType()->GetMaxSpeedMs();
    float myBrakeDist = Square(mySpeedSize) * 0.2;
    float myBrakeTime = mySpeedSize * 0.05;
    float maxDist = floatMax(GetPrecision() * 4, 5) + myBrakeDist * 1.3;
    // check if we are on collision course
    VehicleCollisionBuffer ret;
    float gapFactor = Interpolativ(mySpeedSize, maxSpeed * 0.5, maxSpeed, 0.5, 1);
    float gap = mySize * gapFactor;
    float maxTime = 1.5 + myBrakeTime * 1.3;

    GLOB_LAND->PredictCollision(ret, this, maxTime, gap, maxDist);
    if (ret.Size() <= 0)
    {
        return;
    }

    bool iAmMan = unit->IsSoldier();
    bool iAmHeavy = GetMass() > 5000;

    AIGroup* myGroup = unit->GetGroup();
    AICenter* myCenter = myGroup ? myGroup->GetCenter() : nullptr;

    // precalculate
    float invMaxSpeed = 1 / maxSpeed;

    saturate(speedWanted, -maxSpeed, maxSpeed);
    Vector3 mySpeed = Direction() * speedWanted;

    float maxAvoid = GetPrecision() * 0.5;
    saturate(maxAvoid, 1, 4); // 4m is enough to avoid on any road with any vehicle
    float wantAvoid = 0;