babylon-steering/dist/index.mjs.map

Steering behaviours library for Babylon.js

{"version":3,"file":"index.mjs","sources":["../src/index.js"],"sourcesContent":["import * as BABYLON from 'babylonjs';\r\n\r\nconst defaultPriorities = {\r\n    avoid: 10,\r\n    queue: 9,\r\n    separation: 7,\r\n    flock: 6,\r\n    flee: 6,\r\n    seek: 5,\r\n    idle: 0\r\n};\r\n\r\nconst defaultProbabilities = {\r\n    avoid: 0.66,\r\n    queue: 0.66,\r\n    separation: 0.66,\r\n    flock: 0.66,\r\n    flee: 0.66,\r\n    seek: 0.66,\r\n    idle: 0.66\r\n};\r\n\r\nexport default class SteeringVehicle {\r\n\r\n    constructor(mesh, engine, options = {}) {\r\n\r\n        this.engine = engine;\r\n        this.mesh = mesh;\r\n        this.mesh.checkCollisions = true;\r\n        this.steeringForce = new BABYLON.Vector3(0, 0, 0);\r\n        this.maxForce = options.maxForce || 1;\r\n        this.velocity = new BABYLON.Vector3(0, 0, 0);\r\n        this.forces = [];\r\n\r\n        this.maxSpeed = options.maxSpeed || 0.2;\r\n        this.mass = options.mass || 1;\r\n\r\n        this.velocitySamples = [];\r\n        this.numSamplesForSmoothing = options.numSamplesForSmoothing || 20;\r\n\r\n        // ARRIVAL\r\n        this.arrivalThreshold = options.arrivalThreshold || 100;\r\n\r\n        // AVOID\r\n        this.avoidDistance = options.avoidDistance || 120;\r\n        this.radius = options.radius || 100;\r\n\r\n        // FOLLOWPATH\r\n        this.waypoints = [];\r\n        this.pathIndex = 0;\r\n\r\n        // WANDER\r\n        this.wanderDistance = options.wanderDistance || 10;\r\n        this.wanderAngle = options.wanderAngle || 10;\r\n        this.wanderRadius = options.wanderRadius || 5;\r\n        this.wanderRange = options.wanderRange || 20;\r\n\r\n        // QUEUE\r\n        this.inSightDistance = options.inSightDistance || 200;\r\n        this.tooCloseDistance = options.tooCloseDistance || 60;\r\n    }\r\n\r\n    get dt() {\r\n        return this.engine.getDeltaTime();\r\n    }\r\n\r\n    set dt(what) {\r\n        this.dt = what;\r\n    }\r\n\r\n    idle(target, configuration = {}) {\r\n        this.velocity.scaleInPlace(0);\r\n        this.steeringForce.setAll(0, 0, 0);\r\n        let action = { force: this.steeringForce, name: this.idle.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n    }\r\n\r\n    lookTarget(target) {\r\n        this.mesh.lookAt(target.mesh.position); // native function\r\n        return this;\r\n    }\r\n\r\n    lookWhereGoing(smoothing) {\r\n        var direction = this.mesh.position.clone().add(this.velocity); // si punta alla somma della velocità e della posizione\r\n        direction.y = this.mesh.position.y;\r\n        if (smoothing) {\r\n            if (this.velocitySamples.length == this.numSamplesForSmoothing) {\r\n                this.velocitySamples.shift();\r\n            }\r\n            let c = this.velocity.clone();\r\n            c.y = this.mesh.position.y\r\n            this.velocitySamples.push(c);\r\n            direction.setAll(0, 0, 0);\r\n            for (var v = 0; v < this.velocitySamples.length; v++) {\r\n                direction.addInPlace(this.velocitySamples[v])\r\n            }\r\n            direction.scaleInPlace(1 / this.velocitySamples.length)\r\n            direction = this.mesh.position.clone().add(direction)\r\n            direction.y = this.mesh.position.y;\r\n        }\r\n        this.mesh.lookAt(direction);\r\n        return this;\r\n    }\r\n\r\n    // se è sullo stesso lato ma non che è visibile...\r\n    // TEST: vedere se new BABYLON.Vector3(0, 0, 1) funziona meglio\r\n    inSight(target) {\r\n        if (BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position) > this.inSightDistance) {\r\n            return false;\r\n        }\r\n        var heading = /* new BABYLON.Vector3(0, 0, 1); //  */target.velocity.clone().normalize().scaleInPlace(1);\r\n        var difference = target.mesh.position.clone().subtract(this.mesh.position.clone());\r\n        var dot = BABYLON.Vector3.Dot(difference, heading);\r\n        // console.log(`Dot:${dot}`)\r\n        return dot < 0 ? false : true;\r\n    }\r\n\r\n    // ACTIVE\r\n    hasInConeOfView(targets) {\r\n        for (let i = 0; i < targets.length; i++) {\r\n            const target = targets[i];\r\n\r\n            let targetPos = target.mesh.position.clone();\r\n            let actorPos = this.mesh.position.clone();\r\n            let distance = BABYLON.Vector3.Distance(targetPos, actorPos);\r\n\r\n            let v0 = this.velocity.clone().normalize();\r\n            let v1 = target.mesh.position.clone().subtract(this.mesh.position.clone());\r\n            v1.normalize();\r\n            let dot = BABYLON.Vector3.Dot(v0, v1)\r\n            let angle = Math.acos(dot);\r\n            let angleInDegree = BABYLON.Tools.ToDegrees(angle);\r\n            // console.log(`Distance: ${distance}`, `Degree: ${angleInDegree}, Dot:${dot}`);\r\n            if (distance < 170 && (angleInDegree < 60)) {\r\n                target.mesh.material.emissiveColor = new BABYLON.Color3(1, 0.5, 0);\r\n            } else {\r\n                target.mesh.material.emissiveColor = target.mesh.color; // TODO: \r\n            }\r\n        }\r\n        return this;\r\n    }\r\n\r\n    // https://forum.babylonjs.com/t/rotation-angle-of-camera-to-object/2603/21\r\n    // PASSIVA\r\n    isInConeOfViewOf(target) {\r\n\r\n        let targetPos = target.mesh.position.clone();\r\n        let actorPos = this.mesh.position.clone();\r\n        let distance = BABYLON.Vector3.Distance(targetPos, actorPos);\r\n\r\n        /* var v0 = new BABYLON.Vector3(0, 0, 1);\r\n        v0 = this.vecToLocal(v0, target);\r\n        v0.normalize(); */\r\n\r\n        let v0 = target.velocity.clone().normalize(); // new BABYLON.Vector3(0, 0, 1);\r\n        // var ray = new BABYLON.Ray(target.mesh.position, v0, 100);\r\n        // let rayHelper = new BABYLON.RayHelper(ray);\r\n        // rayHelper.show(this.mesh.getScene());\r\n\r\n        let v1 = this.mesh.position.clone().subtract(target.mesh.position.clone());\r\n        // var ray2 = new BABYLON.Ray(target.mesh.position, v1, 100);\r\n        // let rayHelper2 = new BABYLON.RayHelper(ray2);\r\n        // rayHelper2.show(this.mesh.getScene());\r\n        v1.normalize();\r\n\r\n        let dot = BABYLON.Vector3.Dot(v0, v1)\r\n        let angle = Math.acos(dot);\r\n        let angleInDegree = BABYLON.Tools.ToDegrees(angle);\r\n        // console.log(`Distance: ${distance}`, `Degree: ${angleInDegree}, Dot:${dot}`);\r\n        if (distance < 170 && (angleInDegree < 60)) {\r\n            this.mesh.material.emissiveColor = new BABYLON.Color3(1, 0.5, 0);\r\n        } else {\r\n            this.mesh.material.emissiveColor = new BABYLON.Color3(0, 0, 1);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    // TODO: convert Three.js clampLength method to BABYLON\r\n    truncate(vector, max) {\r\n        let i = max / vector.length();\r\n        return vector.scaleInPlace(i < 1.0 ? i : 1.0);\r\n    }\r\n\r\n    // si aggiorna in base a sistema di riferimento GLOBALE\r\n    update() {\r\n        this.steeringForce = this.truncate(this.steeringForce, this.maxForce);\r\n        this.steeringForce.scaleInPlace(1 / this.mass);\r\n        this.velocity.addInPlace(this.steeringForce);\r\n        this.velocity = this.truncate(this.velocity, this.maxSpeed* this.dt);\r\n        this.velocity.y = 0;\r\n        this.steeringForce.setAll(0, 0, 0);\r\n        this.mesh.moveWithCollisions(this.velocity);\r\n        this.forces = [];\r\n    }\r\n\r\n    // forza generica...(ES: wind...)\r\n    applyForce(force, configuration = {}) {\r\n        let action = { force: force, name: this.applyForce.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    // seek with a specific strength\r\n    // PASSIVE\r\n    attract(target, threshold = 0, strenght = 1, configuration = {}) {\r\n        let distance = BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position);\r\n        if (distance < threshold && distance > 20) {\r\n            var desiredVelocity = (this.mesh.position.clone().subtract(target.mesh.position.clone())).normalize().scaleInPlace(this.maxSpeed * this.dt * strenght);\r\n            let action = { force: desiredVelocity.subtractInPlace(target.velocity), name: this.attract.name };\r\n            target.forces.push(Object.assign(configuration, action));\r\n        } else {\r\n            // senza di questo oscilla...\r\n            target.flee(this);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    seek(target, threshold = 0, configuration = {}) {\r\n        let distance = BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position);\r\n        if (distance > threshold) {\r\n            var desiredVelocity = (target.mesh.position.clone().subtract(this.mesh.position.clone())).normalize().scaleInPlace(this.maxSpeed * this.dt);\r\n            let action = { force: desiredVelocity.subtractInPlace(this.velocity), name: this.seek.name };\r\n            this.forces.push(Object.assign(configuration, action));\r\n        } else {\r\n            this.idle(target, configuration);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    seekWithArrive(target, threshold, configuration = {}) {\r\n        var desiredVelocity = target.mesh.position.clone().subtract(this.mesh.position.clone());\r\n        desiredVelocity.normalize()\r\n        var distance = BABYLON.Vector3.Distance(target.mesh.position, this.mesh.position);\r\n        // si procede normalmente\r\n        if (distance > this.arrivalThreshold) {\r\n            desiredVelocity.scaleInPlace(this.maxSpeed * this.dt);\r\n            // si decellera\r\n        } else if (distance > threshold && distance < this.arrivalThreshold) {\r\n            desiredVelocity.scaleInPlace(this.maxSpeed * this.dt * (distance - threshold) / (this.arrivalThreshold - threshold))\r\n            // ci si ferma\r\n        } else {\r\n            this.idle(target, configuration);\r\n        }\r\n        let action = { force: desiredVelocity.subtractInPlace(this.velocity), name: this.seekWithArrive.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    flee(target, threshold = 0, configuration = {}) {\r\n        let distance = BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position);\r\n        if (distance < threshold) {\r\n            var desiredVelocity = (this.mesh.position.clone().subtract(target.mesh.position.clone())).normalize().scaleInPlace(this.maxSpeed * this.dt);\r\n            let action = { force: desiredVelocity.subtractInPlace(this.velocity), name: this.flee.name };\r\n            this.forces.push(Object.assign(configuration, action));\r\n        } else {\r\n            this.idle(target, configuration);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    arrive(target, configuration = {}) {\r\n        var desiredVelocity = target.mesh.position.clone().subtract(this.mesh.position.clone());\r\n        desiredVelocity.normalize()\r\n        var distance = BABYLON.Vector3.Distance(target.mesh.position, this.mesh.position)\r\n        if (distance > this.arrivalThreshold) {\r\n            desiredVelocity.scaleInPlace(this.maxSpeed * this.dt);\r\n        } else {\r\n            desiredVelocity.scaleInPlace(this.maxSpeed * this.dt * distance / this.arrivalThreshold)\r\n        }\r\n        let action = { force: desiredVelocity.subtractInPlace(this.velocity), name: this.flee.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    pursue(target, threshold = 0) {\r\n        var lookAheadTime = BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position) / (this.maxSpeed * this.dt);\r\n        var predictedTarget = target.mesh.position.clone().add(target.velocity.clone().scaleInPlace(lookAheadTime));\r\n        this.seek({\r\n            mesh: {\r\n                position: predictedTarget\r\n            }\r\n        }, threshold);\r\n    }\r\n\r\n    evade(target, threshold = 0) {\r\n        var lookAheadTime = BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position) / (this.maxSpeed * this.dt);\r\n        var predictedTarget = target.mesh.position.clone().subtract(target.velocity.clone().scaleInPlace(lookAheadTime));\r\n        this.flee({\r\n            mesh: {\r\n                position: predictedTarget\r\n            }\r\n        }, threshold);\r\n    }\r\n\r\n    // tramite un ray casting si vede se il target è visibile (non ci stanno ostacoli che lo nascondono)\r\n    canSee(target) {\r\n        var forward = target.mesh.position.clone();\r\n        var direction = forward.subtract(this.mesh.position).normalize();\r\n        var length = 350;\r\n        let start = BABYLON.Vector3.Lerp(target.mesh.position.clone(), this.mesh.position.clone(), 0.66);\r\n        var ray = new BABYLON.Ray(start, direction, length);\r\n        // let rayHelper = new BABYLON.RayHelper(ray);\r\n        // rayHelper.show(this.mesh.getScene());\r\n        var hit = target.mesh.getScene().pickWithRay(ray);\r\n        let output = hit.pickedMesh && hit.pickedMesh.uniqueId === target.mesh.uniqueId ? true : false;\r\n        // console.log('Can see: ', output);\r\n        return output;\r\n    }\r\n\r\n    hide(target, obstacles, threshold = 250) {\r\n        if (this.canSee(target)) {\r\n            this.lookTarget(target);\r\n            // si sceglie l'ostacolo più vicino all'elemento da nascondere\r\n            let closestObstacle = new BABYLON.Vector3(0, 0, 0);\r\n            let closestDistance = 10000;\r\n            for (let i = 0; i < obstacles.length; i++) {\r\n                const obstacle = obstacles[i];\r\n                let distance = BABYLON.Vector3.Distance(this.mesh.position, obstacle.mesh.position);\r\n                if (distance < closestDistance) {\r\n                    closestObstacle = obstacle.mesh.position.clone();\r\n                    closestDistance = distance;\r\n                }\r\n            }\r\n            // si calcola il punto dove si andrà a nasconderci\r\n            let distanceWithTarget = BABYLON.Vector3.Distance(this.mesh.position, target.mesh.position);\r\n            var pointToReach = BABYLON.Vector3.Lerp(target.mesh.position.clone(), closestObstacle.clone(), 2);\r\n            pointToReach.y = this.mesh.position.y;\r\n            // ci si nasconde solo se il target non è troppo lontano\r\n            if (distanceWithTarget < threshold) {\r\n                this.seek({\r\n                    mesh: {\r\n                        position: pointToReach\r\n                    }\r\n                }, 10);\r\n            } else {\r\n                this.flee(target)\r\n            }\r\n        } else {\r\n            this.lookWhereGoing(true);\r\n            this.idle();\r\n        }\r\n        return this;\r\n    }\r\n\r\n    // FIXME: NOT WORKING PROPERLY ???\r\n    wander(configuration = {}) {\r\n        var center = this.velocity.clone().normalize().scaleInPlace(this.wanderDistance);\r\n        var offset = new BABYLON.Vector3(1, 1, 1).scaleInPlace(this.wanderRadius);\r\n        offset.x = Math.sin(this.wanderAngle) * offset.length();\r\n        offset.z = - Math.cos(this.wanderAngle) * offset.length();\r\n        offset.y = 0;\r\n        this.wanderAngle = Math.random() * this.wanderRange - this.wanderRange * .5;\r\n        center.addInPlace(offset);\r\n        center.y = this.mesh.position.y;\r\n        let action = { force: center, name: this.wander.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    separation(entities, separationRadius = 50, maxSeparation = 40, configuration = {}) {\r\n        var force = new BABYLON.Vector3(0, 0, 0);\r\n        var neighborCount = 0\r\n        for (var i = 0; i < entities.length; i++) {\r\n            if (entities[i] != this && BABYLON.Vector3.Distance(this.mesh.position, entities[i].mesh.position) <= separationRadius) {\r\n                force.addInPlace(entities[i].mesh.position.clone().subtractInPlace(this.mesh.position));\r\n                neighborCount++;\r\n            }\r\n        }\r\n        if (neighborCount != 0) {\r\n            force.scaleInPlace(1 / neighborCount)\r\n            force.negateInPlace();\r\n        }\r\n        force.normalize().scaleInPlace(maxSeparation);\r\n        let action = { force: force, name: this.separation.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    interpose(targetA, targetB) {\r\n        var midPoint = targetA.mesh.position.clone().addInPlace(targetB.mesh.position.clone()).scaleInPlace(.5);\r\n        var timeToMidPoint = BABYLON.Vector3.Distance(this.mesh.position, midPoint) / (this.maxSpeed * this.dt);\r\n        var pointA = targetA.mesh.position.clone().addInPlace(targetA.velocity.clone().scaleInPlace(timeToMidPoint))\r\n        var pointB = targetB.mesh.position.clone().addInPlace(targetB.velocity.clone().scaleInPlace(timeToMidPoint))\r\n        midPoint = pointA.addInPlace(pointB).scaleInPlace(.5);\r\n        this.seek({\r\n            mesh: {\r\n                position: midPoint\r\n            }\r\n        }, 10);\r\n    }\r\n\r\n    avoid(obstacles, configuration = {}) {\r\n        var dynamic_length = this.velocity.length() / (this.maxSpeed * this.dt);\r\n        var ahead = this.mesh.position.clone().addInPlace(this.velocity.clone().normalize().scaleInPlace(dynamic_length))\r\n        var ahead2 = this.mesh.position.clone().addInPlace(this.velocity.clone().normalize().scaleInPlace(this.avoidDistance * .5));\r\n        var mostThreatening = null;\r\n        for (var i = 0; i < obstacles.length; i++) {\r\n            if (obstacles[i] === this)\r\n                continue;\r\n            var collision = BABYLON.Vector3.Distance(obstacles[i].mesh.position, ahead) <= this.radius || BABYLON.Vector3.Distance(obstacles[i].mesh.position, ahead2) <= this.radius;\r\n            if (collision && (mostThreatening == null || BABYLON.Vector3.Distance(this.mesh.position, obstacles[i].mesh.position) < BABYLON.Vector3.Distance(this.mesh.position, mostThreatening.mesh.position))) {\r\n                mostThreatening = obstacles[i];\r\n            }\r\n        }\r\n        var avoidance = new BABYLON.Vector3(0, 0, 0);\r\n        if (mostThreatening != null) {\r\n            avoidance = ahead.clone().subtractInPlace(mostThreatening.mesh.position.clone()).normalize().scaleInPlace(this.maxSpeed * this.dt * .75); // MAX AVOID FORCE (<= maxSpeed)\r\n        } else {\r\n            avoidance.scaleInPlace(0); // nullify the avoidance force\r\n        }\r\n        let action = { force: avoidance, name: this.avoid.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    followPath(path, loop, thresholdRadius = 10) {\r\n        var wayPoint = path[this.pathIndex]\r\n        if (wayPoint == null)\r\n            return;\r\n        if (BABYLON.Vector3.Distance(this.mesh.position, wayPoint) < thresholdRadius) {\r\n            if (this.pathIndex >= path.length - 1) {\r\n                if (loop)\r\n                    this.pathIndex = 0;\r\n            } else {\r\n                this.pathIndex++\r\n            }\r\n        }\r\n        if (this.pathIndex >= path.length - 1 && !loop) {\r\n            this.arrive({\r\n                mesh: {\r\n                    position: wayPoint\r\n                }\r\n            });\r\n        } else {\r\n            this.seek({\r\n                mesh: {\r\n                    position: wayPoint\r\n                }\r\n            });\r\n        }\r\n    }\r\n\r\n    isOnLeaderSight(leader, ahead, leaderSightRadius) {\r\n        return (BABYLON.Vector3.Distance(ahead, this.mesh.position) <= leaderSightRadius ||\r\n            BABYLON.Vector3.Distance(leader.mesh.position, this.mesh.position) <= leaderSightRadius);\r\n    }\r\n\r\n    followLeader(leader, entities, distance = 20, separationRadius = 40, maxSeparation = 10, leaderSightRadius = 50, arrivalThreshold = 100) {\r\n        var tv = leader.velocity.clone();\r\n        tv.normalize().scaleInPlace(distance)\r\n        var ahead = leader.mesh.position.clone().add(tv);\r\n        tv.negateInPlace()\r\n        var behind = leader.mesh.position.clone().add(tv);\r\n\r\n        if (this.isOnLeaderSight(leader, ahead, leaderSightRadius)) {\r\n            this.flee(leader);\r\n        }\r\n        this.arrivalThreshold = arrivalThreshold;\r\n        this.arrive({\r\n            mesh: {\r\n                position: behind\r\n            }\r\n        });\r\n        this.separation(entities, separationRadius, maxSeparation);\r\n        return this;\r\n    }\r\n\r\n    getNeighborAhead(entities) {\r\n        var maxQueueAhead = 100;\r\n        var maxQueueRadius = 100;\r\n        var res;\r\n        var qa = this.velocity.clone().normalize().scaleInPlace(maxQueueAhead);\r\n        var ahead = this.mesh.position.clone().add(qa);\r\n        for (var i = 0; i < entities.length; i++) {\r\n            var distance = BABYLON.Vector3.Distance(ahead, entities[i].mesh.position);\r\n            if (entities[i] != this && distance <= maxQueueRadius) {\r\n                res = entities[i]\r\n                break;\r\n            }\r\n        }\r\n        return res;\r\n    }\r\n\r\n    queue(entities, maxQueueRadius = 50, configuration = {}) {\r\n        var neighbor = this.getNeighborAhead(entities);\r\n        var brake = new BABYLON.Vector3(0, 0, 0);\r\n        var v = this.velocity.clone()\r\n        if (neighbor != null) {\r\n            brake = this.steeringForce.clone().negateInPlace().scaleInPlace(0.8);\r\n            v.negateInPlace().normalize();\r\n            brake.add(v)\r\n            if (BABYLON.Vector3.Distance(this.mesh.position, neighbor.mesh.position) <= maxQueueRadius) {\r\n                this.velocity.scaleInPlace(0.3)\r\n            }\r\n        }\r\n        let action = { force: brake, name: this.queue.name };\r\n        this.forces.push(Object.assign(configuration, action));\r\n        return this;\r\n    }\r\n\r\n    // NOT WORKING !!!\r\n    flock(entities, configuration = {}) {\r\n        var averageVelocity = this.velocity.clone();\r\n        var averagePosition = new BABYLON.Vector3(0, 0, 0);\r\n        var inSightCount = 0;\r\n        for (var i = 0; i < entities.length; i++) {\r\n            if (entities[i] != this && this.inSight(entities[i])) {\r\n                averageVelocity.add(entities[i].velocity)\r\n                averagePosition.add(entities[i].mesh.position)\r\n                if (BABYLON.Vector3.Distance(this.mesh.position, entities[i].mesh.position) < this.tooCloseDistance) {\r\n                    this.flee(entities[i] /* .mesh.position */);\r\n                }\r\n                inSightCount++;\r\n            }\r\n        }\r\n        if (inSightCount > 0) {\r\n            averageVelocity.scaleInPlace(1 / inSightCount);\r\n            averagePosition.scaleInPlace(1 / inSightCount);\r\n            this.seek({\r\n                mesh: {\r\n                    position: averagePosition\r\n                }\r\n            });\r\n            let action = { force: averageVelocity.subtractInPlace(this.velocity), name: this.flock.name };\r\n            this.forces.push(Object.assign(configuration, action));\r\n        }\r\n        return this;\r\n    }\r\n\r\n    sortByPriority(arr) {\r\n        return arr.sort(function (a, b) {\r\n            return (b.priority || defaultPriorities[b.name]) - (a.priority || defaultPriorities[a.name]);\r\n        });\r\n    }\r\n\r\n    animate(mode) {\r\n        if (mode === \"blend\") {\r\n            this.forces.forEach(a => {\r\n                this.steeringForce = this.steeringForce.add(a.force).scaleInPlace(a.weigth || 0.5);\r\n            });\r\n        } else if (mode === \"priority\") {\r\n            // order for priority\r\n            this.forces = this.sortByPriority(this.forces);\r\n            let output = this.forces[0].force;\r\n            this.steeringForce = this.steeringForce.add(output);\r\n        } else if (mode === \"probability\") {\r\n            let output = new BABYLON.Vector3(0, 0, 0);\r\n            this.forces = this.sortByPriority(this.forces);\r\n            for (let i = 0; i < this.forces.length; i++) {\r\n                let ele = this.forces[i];\r\n                if ((ele.probability || defaultProbabilities[ele.name]) > Math.random()) {\r\n                    output = ele.force;\r\n                    break;\r\n                }\r\n            }\r\n            this.steeringForce = this.steeringForce.add(output);\r\n        } else if (mode === \"truncated\") {\r\n            this.forces = 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