SteerSuitePathPlanning

__midtermpath__list and everynth point will be inserted into the list of waypoints 1 At ever frame the agent will check points in its midtermpath up to n for line of sight. The agent will assign the currentLocalTarget to the agent and this will be used by that agent as the prefered direction of travel. 1 When an agent reaches a waypoint the first n points in the midtermapth will be removed. 1 In this case location( waypoint) == location(midtermpath[n]) 1 This is used as a performance heuristic. It might also be important to the advancement of the agent. The following is a sequence of images that show the effects of the planning method.

• The Blue path is the midtermapth
• The white line and grye star show the currentLocalTarget
• As can be seen as the agent round the corner the currentLocalTarget extends to midtermpath[n]
• The red line shows agent neighbours.

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This method does cause agents to have to go to specific waypoints ( __midtermpath[n]__, wherendetermines the location).

Note: the blue flag is a waypoint not the agents final goal.

-- Main.GlenBerseth - 2015-02-12