Game AI Pro 3: Collected Wisdom of Game AI Professionals by Steve Rabin

Author:Steve Rabin
Language: eng
Format: azw3, pdf
Publisher: CRC Press
Published: 2017-07-11T16:00:00+00:00

19.8.1 Putting Sidedness Back In

The additive formulation does not automatically maintain sidedness (though substepping with low weights helps). However, nothing is stopping us from adding it as an additional penalty term. Simply calculate, for each velocity candidate, how many agents it changes the sidedness of; then add a penalty for each. Sidedness-change penalty terms should be scaled similarly to collision penalty terms; since they sometimes need to be applied to agents without projected collisions, though, the time to closest approach can be used instead of the TTC.

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