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Contents
Foreword .............................................xiii
Acknowledgments ........................................xvii
Introduction............................................xix
Chapter 1 A Math and Physics Primer .......................1
Mathematics .........................................1
Cartesian Coordinates ................................1
Functions and Equations ...............................3
Exponents and Powers ............................5
Simplifying Equations.............................7
Trigonometry ....................................10
Rays and Line Segments ...........................10
Angles ....................................11
Triangles ...................................12
Vectors .......................................18
Multiplying Vectors .............................20
Calculating the Magnitude of a Vector ....................20
Normalizing Vectors .............................21
Resolving Vectors ..............................22
The Dot Product ...............................23
A Practical Example of Vector Mathematics.................24
The Vector2D Struct .............................25
Local Space and World Space............................26
Physics ...........................................28
Time.........................................28
Distance .......................................29
Mass.........................................29
Position .......................................30
Velocity .......................................30
Acceleration.....................................32
Force ........................................38
Summing Up ........................................40
Chapter 2 State-Driven Agent Design ......................43
What Exactly Is a Finite State Machine?..........................44
Implementing a Finite State Machine ...........................45
State Transition Tables ...............................47
Embedded Rules ..................................48
The West World Project ..................................50
v
The BaseGameEntity Class .............................52
The Miner Class...................................53
The Miner States ..................................54
The State Design Pattern Revisited .........................55
The EnterMineAndDigForNugget State ...................60
Making the State Base Class Reusable ...........................62
Global States and State Blips................................63
Creating a State Machine Class ..............................64
Introducing Elsa ......................................67
The Telegram Structure ...............................70
Miner Bob and Elsa Communicate .........................71
Message Dispatch and Management ........................71
The MessageDispatcher Class ........................73
Message Handling..................................75
Elsa Cooks Dinner .................................78
Step One ...................................78
Step Two ...................................79
Step Three ..................................80
Step Four...................................80
Step Five ...................................81
Summing Up ........................................82
Chapter 3 How to Create Autonomously Moving Game Agents ..........85
What Is an Autonomous Agent? ..............................85
The Vehicle Model .....................................87
Updating the Vehicle Physics ............................89
The Steering Behaviors ..................................91
Seek .........................................91
Flee .........................................92
Arrive ........................................93
Pursuit........................................94
Wander .......................................96
Obstacle Avoidance .................................99
Finding the Closest Intersection Point ...................100
Calculating the Steering Force .......................103
Wall Avoidance ..................................104
Interpose ......................................106
Hide ........................................107
Path Following ...................................110
Offset Pursuit ...................................111
Group Behaviors .....................................113
Separation .....................................115
Alignment .....................................116
Cohesion ......................................117
Flocking ......................................118
Combining Steering Behaviors ..............................119
Weighted Truncated Sum .............................120
Weighted Truncated Running Sum with Prioritization ..............121
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Prioritized Dithering ................................123
Ensuring Zero Overlap ..................................124
Coping with Lots of Vehicles: Spatial Partitioning ....................126
Smoothing ........................................130
Chapter 4 Sports Simulation — Simple Soccer..................133
The Simple Soccer Environment and Rules .......................134
The Soccer Pitch ..................................135
The Goals .....................................138
The Soccer Ball ..................................138
SoccerBall::FuturePosition .........................141
SoccerBall::TimeToCoverDistance .....................142
Designing the AI .....................................144
The SoccerTeam Class...............................145
The Receiving Player ............................146
The Closest Player to the Ball .......................146
The Controlling Player ...........................146
The Supporting Player ...........................146
SoccerTeam States .............................152
Field Players ....................................155
Field Player Motion.............................155
Field Player States .............................156
Goalkeepers ....................................170
Goalkeeper Motion .............................170
Goalkeeper States..............................171
Key Methods Used by the AI ...........................176
SoccerTeam::isPassSafeFromAllOpponents ................177
SoccerTeam::CanShoot ...........................182
SoccerTeam::FindPass ...........................184
Making Estimates and Assumptions Work for You ....................189
Summing Up .......................................189
Chapter 5 The Secret Life of Graphs ......................193
Graphs ..........................................193
A More Formal Description ............................195
Trees ........................................196
Graph Density ...................................196
Digraphs ......................................196
Graphs in Game AI ................................197
Dependency Graphs ............................199
State Graphs ................................201
Implementing a Graph Class ...............................203
The GraphNode Class ...............................204
The GraphEdge Class ...............................205
The SparseGraph Class ..............................207
Graph Search Algorithms .................................209
Uninformed Graph Searches............................210
Depth First Search .............................210
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Cost-Based Graph Searches ............................231
Edge Relaxation ..............................231
Shortest Path Trees .............................233
Dijkstra’s Algorithm ............................233
Dijkstra with a Twist: A* .........................241
Summing Up .......................................247
Chapter 6 To Script, or Not to Script, That Is the Question ............249
Just What Is a Scripting Language?............................249
What a Scripting Language Can Do for You .......................251
Dialogue Flow ...................................253
Stage Direction ..................................254
AI Logic ......................................255
Scripting in Lua ......................................255
Setting Up Your Compiler to Work with Lua ...................256
Getting Started ...................................256
Lua Variables ................................258
Lua Types..................................260
Logical Operators..............................263
Conditional Structures ...........................264
Rock-Paper-Scissors in Lua ............................265
Interfacing with C/C++ ..............................268
Accessing Lua Global Variables from within Your C++ Program .....269
Accessing a Lua Table from within Your C++ Program ..........271
Accessing a Lua Function from within C++ ................273
Exposing a C/C++ Function to Lua.....................274
Exposing a C/C++ Class to Lua ......................276
Luabind to the Rescue! ..............................276
Setting Up Luabind .............................276
Scopes ...................................277
Exposing C/C++ Functions Using Luabind ................278
Exposing C/C++ Classes Using Luabind ..................279
Creating Classes in Lua Using LuaBind ..................281
luabind::object ...............................282
Creating a Scripted Finite State Machine .........................285
How It Works ...................................285
The States .....................................289
GoHome ..................................290
Sleep ....................................290
GoToMine .................................291
Useful URLS .......................................292
It Doesn’t All Smell of Roses...............................292
Summing Up .......................................293
Chapter 7 Raven: An Overview .........................295
The Game .........................................295
Overview of the Game Architecture ...........................296
The Raven_Game Class ..............................297
The Raven Map ..................................299
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Raven Weapons ..................................301
Projectiles .....................................302
Triggers ......................................303
TriggerRegion ...............................304
Trigger ...................................305
Respawning Triggers ............................307
Giver-Triggers ...............................308
Managing Triggers: The TriggerSystem Class ...............311
AI Design Considerations.................................313
AI Implementation ....................................315
Decision Making..................................315
Movement .....................................315
Path Planning ...................................315
Perception .....................................316
Target Selection ..................................321
Weapon Handling .................................323
Putting It All Together ...............................327
Updating the AI Components ...........................328
Summing Up .......................................331
Chapter 8 Practical Path Planning ........................333
Tile Based .....................................333
Points of Visibility .................................334
Expanded Geometry ................................335
NavMesh......................................335
Coarsely Granulated Graphs ............................336
Finely Grained Graphs...............................339
Using Spatial Partitioning to Speed Up Proximity Queries ............342
Creating a Path Planner Class...............................342
Planning a Path to a Position............................344
Planning a Path to an Item Type ..........................346
Paths as Nodes or Paths as Edges? ............................348
An Annotated Edge Class Example ........................350
Modifying the Path Planner Class to Accommodate Annotated Edges ......350
Path Smoothing ..................................353
Path Smoothing Rough but Quick .....................354
Path Smoothing Precise but Slow......................358
Methods for Reducing CPU Overhead ......................359
Precalculated Paths .............................359
Precalculated Costs .............................361
Time-Sliced Path Planning .........................363
Hierarchical Pathfinding ..........................372
Getting Out of Sticky Situations .............................374
Summing Up .......................................376
Contents | ix

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