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<article class="doc">
<h1 class="page">Steer Behaviors</h1>
<div id="preamble">
<div class="sectionbody">
<div class="paragraph">
<p>Steer behaviors allows you to control the locomotion of &#8220;characters&#8221;, this can reduce drastically the time needed to develop a game since for almost every game we need to set how these &#8220;characters&#8221; will be moving around the scene.</p>
</div>
<table class="tableblock frame-all grid-all stretch">
<caption class="title">YouTube</caption>
<colgroup>
<col style="width: 50%;">
<col style="width: 50%;">
</colgroup>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph">
<div class="title">Steer behaviors in action</div>
<p><span class="image"><a class="image" href="https://youtu.be/yyzTntsGV00"><img src="../_images/ai/steer/hqdefault.jpg" alt="youtu.be/yyzTntsGV00" width="" height=""></a></span></p>
</div></div></td>
<td class="tableblock halign-left valign-top"><div class="content"></div></td>
</tr>
</tbody>
</table>
<div class="paragraph">
<p>Be sure that you have checked the demos: They can be downloaded here: <a href="http://jmesteer.bdevel.org">jmesteer.bdevel.org</a></p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="first-steps"><a class="anchor" href="#first-steps"></a>First steps</h2>
<div class="sectionbody">
<div class="paragraph">
<p>The steer behaviors AI is integrated with MonkeyBrains so before start coding be sure that you have checked the <a href="monkey_brains.html" class="xref page">monkey brains documentation</a>.</p>
</div>
<div class="paragraph">
<p>Be sure to create a reference to MonkeyBrains from your project.</p>
</div>
<div class="paragraph">
<p>Finally, do not forget to import the <code>com.jme3.ai.agents.behaviors.npc.steering</code> package.</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="overview"><a class="anchor" href="#overview"></a>Overview</h2>
<div class="sectionbody">
<div class="paragraph">
<p><strong>Available behaviours:</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Move</p>
</li>
<li>
<p>Seek</p>
</li>
<li>
<p>Arrive</p>
</li>
<li>
<p>Flee</p>
</li>
<li>
<p>Pursuit</p>
</li>
<li>
<p>Leader follow</p>
</li>
<li>
<p>Evade</p>
</li>
<li>
<p>Cohesion</p>
</li>
<li>
<p>Alignment</p>
</li>
<li>
<p>Obstacle Avoidance</p>
</li>
<li>
<p>Unaligned obstacle avoidance</p>
</li>
<li>
<p>Hide</p>
</li>
<li>
<p>Slow</p>
</li>
<li>
<p>Queuing</p>
</li>
<li>
<p>Containment</p>
</li>
<li>
<p>Path follow</p>
</li>
<li>
<p>Wall approach</p>
</li>
<li>
<p>Wander Area</p>
</li>
<li>
<p>Simple Wander</p>
</li>
<li>
<p>Relative wander</p>
</li>
<li>
<p>Sphere wander</p>
</li>
<li>
<p>Box explore</p>
</li>
<li>
<p>Separation</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>All the behaviours extend from the <code>AbstractSteeringBehavior</code> class.</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="adding-a-steer-behavior"><a class="anchor" href="#adding-a-steer-behavior"></a>Adding a steer behavior</h2>
<div class="sectionbody">
<div class="paragraph">
<p>Create instances from the steer behavior classes, They are located in the <code>com.jme3.ai.agents.behaviors.npc.steering</code> package.</p>
</div>
<div class="paragraph">
<p>If we want to add more than one steer behavior, we need to create a container:</p>
</div>
<div class="admonitionblock warning">
<table>
<tr>
<td class="icon">
<i class="fa icon-warning" title="Warning"></i>
</td>
<td class="content">
<div class="paragraph">
<p>If you add more than one steer behavior to a <code>SimpleMainBehavior</code> it will cause problems in the rotation of the agents.</p>
</div>
</td>
</tr>
</table>
</div>
<table class="tableblock frame-all grid-all stretch">
<colgroup>
<col style="width: 50%;">
<col style="width: 50%;">
</colgroup>
<thead>
<tr>
<th class="tableblock halign-left valign-top">Container</th>
<th class="tableblock halign-left valign-top">Purpose</th>
</tr>
</thead>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph">
<p>CompoundSteeringBehavior</p>
</div></div></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph">
<p>Contains and merges several <code>AbstractSteeringBehavior</code> instances</p>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph">
<p>BalancedCompoundSteeringBehavior</p>
</div></div></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="paragraph">
<p>Each force generated inside this container is reduced in relation with a proportion factor: &#8220;Partial Force&#8221; / &#8220;Total&#8221; container force</p>
</div></div></td>
</tr>
</tbody>
</table>
<div class="paragraph">
<p>Once we know which container fits better for our agent, We create a new instance and add all the behaviors that we need:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">SimpleMainBehaviour mainBehavior = new SimpleMainBehavior(myAgent);
    CompoundSteeringBehavior steer = new CompoundSteeringBehavior(myAgent);
    //BalancedCompoundSteeringBehavior steer = new BalancedCompoundSteeringBehavior(myAgent);
    steer.addSteerBehavior(steerBehavior1);
    steer.addSteerBehavior(steerBehavior2);
mainBehaviour.addBehavior(steer);
myAgent.setMainBehavior(mainBehavior);</code></pre>
</div>
</div>
<div class="admonitionblock note">
<table>
<tr>
<td class="icon">
<i class="fa icon-note" title="Note"></i>
</td>
<td class="content">
<div class="paragraph">
<p>Note that you can have nested containers, like is shown in the following example:</p>
</div>
</td>
</tr>
</table>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">SimpleMainBehaviour mainBehavior = new SimpleMainBehavior(myAgent);
    CompoundSteeringBehavior steer = new CompoundSteeringBehavior(myAgent);
        BalancedCompoundSteeringBehavior nestedSteer = new BalancedCompoundSteeringBehavior(myAgent);
        nestedSteer.addSteerBehavior(steerBehavior1);
    steer.addSteerBehavior(nestedSteer);
    steer.addSteerBehavior(steerBehavior2);
mainBehavior.addBehavior(steer);
myAgent.setMainBehavior(mainBehavior);</code></pre>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="prioritizing-behaviors"><a class="anchor" href="#prioritizing-behaviors"></a>Prioritizing behaviors</h2>
<div class="sectionbody">
<div class="paragraph">
<p>You can assign priority layers: The steering controller first checks the higher layer to see if all the behaviors returns a value higher than <code>minLengthToInvalidSteer</code>, if so it uses that layer. Otherwise, it moves on to the second layer, and so on.</p>
</div>
<div class="paragraph">
<p>To assign priority layers add behaviors with the following function:</p>
</div>
<div class="literalblock">
<div class="content">
<pre>  addSteerBehavior (AbstractSteeringBehavior behavior, int priority, float minLengthToInvalidSteer)</pre>
</div>
</div>
<div class="admonitionblock tip">
<table>
<tr>
<td class="icon">
<i class="fa icon-tip" title="Tip"></i>
</td>
<td class="content">
<div class="paragraph">
<p>To optimize the process speed add the behaviors with the lowest priority first.</p>
</div>
</td>
</tr>
</table>
</div>
<div class="admonitionblock note">
<table>
<tr>
<td class="icon">
<i class="fa icon-note" title="Note"></i>
</td>
<td class="content">
<div class="paragraph">
<p>The layer and the min length to consider the behavior invalid are 0 by default.</p>
</div>
</td>
</tr>
</table>
</div>
</div>
</div>
<div class="sect1">
<h2 id="setting-up-forces"><a class="anchor" href="#setting-up-forces"></a>Setting up forces</h2>
<div class="sectionbody">
<div class="paragraph">
<p>If a behavior extends from the <code>AbstractStrengthSteeringBehavior</code> class, you can manage how the produced forces will work.</p>
</div>
<div class="paragraph">
<p>Use <code>setupStrengthControl(float scalar)</code> to increase/decrease the steer force produced by a behavior or <code>setupStrengthControl(Plane plane)</code> If you want to work with 2D behaviors.</p>
</div>
<div class="paragraph">
<p>Example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">    Plane horizontalPlane = new Plane(new Vector3f(0,1,0), 0);

    steerBehavior1.setupStrengthControl(0.5f); //Force reduced a 50%
    steerBehavior2.setupStrengthControl(horizontalPlane); //Force contained in the XZ plane
    steerContainer.setupStrengthControl(horizontalPlane, 2f); //Contained in the XZ plane and increased a 100%</code></pre>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="implementing-your-own-steer-behavior"><a class="anchor" href="#implementing-your-own-steer-behavior"></a>Implementing your own steer behavior</h2>
<div class="sectionbody">
<div class="paragraph">
<p>To benefit from all the features, you have to create a new class that extends from <code>AbstractStrengthSteeringBehavior</code>.</p>
</div>
<div class="paragraph">
<p>The responsible for the agent&#8217;s acceleration is the vector returned in the <code>calculateRawSteering()</code> method:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">    @Override
    protected Vector3f calculateRawSteering() {
        Vector3f steerForce = Vector3f.ZERO;

        //calculations

        return steerForce;
    }</code></pre>
</div>
</div>
<div class="paragraph">
<p>In addition, you can change a brake factor which will reduce the resultant velocity for the agent:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">    @Override
    protected Vector3f calculateRawSteering(){
        this.setBrakingFactor(0.5f); //The agent's velocity will be reduced a 50%
        return Vector3f.ZERO;
    }</code></pre>
</div>
</div>
<div class="admonitionblock warning">
<table>
<tr>
<td class="icon">
<i class="fa icon-warning" title="Warning"></i>
</td>
<td class="content">
<div class="paragraph">
<p>The braking force must be a float contained in the [0,1] interval</p>
</div>
</td>
</tr>
</table>
</div>
<div class="admonitionblock note">
<table>
<tr>
<td class="icon">
<i class="fa icon-note" title="Note"></i>
</td>
<td class="content">
<div class="paragraph">
<p>0 means the maximum braking force and 1 No braking force</p>
</div>
</td>
</tr>
</table>
</div>
<div class="sect2">
<h3 id="strict-arguments"><a class="anchor" href="#strict-arguments"></a>Strict arguments</h3>
<div class="paragraph">
<p>To ensure that the behavior will work as you had planned it to work It&#8217;s recommended to create your own <a href="http://docs.oracle.com/javase/7/docs/api/java/lang/IllegalArgumentException.html">IllegalArgumentException</a> class. To do this, create your own container class extending from <code>com.jme3.ai.agents.behaviors.npc.steering.SteeringExceptions</code>; Each exception inside the container class extends from <code>SteeringBehaviorException</code>. Furthermore, It will help users to recognize better which is the origin of any problem.</p>
</div>
<div class="paragraph">
<p>Example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">    public class CustomSteeringExceptions extends SteeringExceptions  {

        public static class CustomRuntimeException extends SteeringBehaviorException {
            public CustomRuntimeException(String msg) { super(msg); }
        }

        // ... other exceptions ...
    }</code></pre>
</div>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">    public SteerBehaviorConstructor(Agent agent, int value, Spatial spatial) {
        super(agent, spatial);
        if(value &gt; 5) throw new CustomSteeringExceptions.customRuntimeException ("Value must be lower than 5");
        this.value = value;
    }</code></pre>
</div>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="useful-links"><a class="anchor" href="#useful-links"></a>Useful links</h2>
<div class="sectionbody">
<div class="paragraph">
<p>java steer behaviors project: <a href="http://jmesteer.bdevel.org/">jmesteer.bdevel.org</a></p>
</div>
</div>
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