float ttcTorus(ACA i, ACA j, out Vector3 offset)
{
float xDiff, yDiff;
float t1, t2, t3, t4;
Vector3 o1, o2, o3, o4;
if (transform.position.x > worldSize / 2)
{
xDiff = worldSize;
}
else
{
xDiff = -worldSize;
}
if (transform.position.z > worldSize / 2)
{
yDiff = worldSize;
}
else
{
yDiff = -worldSize;
}
o1 = new Vector3(xDiff, 0, 0);
o2 = new Vector3(0, 0, yDiff);
o3 = new Vector3(xDiff, 0, yDiff);
o4 = new Vector3(0, 0, 0);
ttc(i, j, out t1, o1);
ttc(i, j, out t2, o2);
ttc(i, j, out t3, o3);
ttc(i, j, out t4, o4);
if (t1 < t2 && t1 < t3 && t1 < t4)
{
offset = o1;
return(t1);
}
else if (t2 < t1 && t2 < t3 && t2 < t4)
{
offset = o2;
return(t2);
}
else if (t3 < t1 && t3 < t2 && t3 < t4)
{
offset = o3;
return(t3);
}
else
{
offset = o4;
return(t4);
}
}
// Use this for initialization
void Start()
{
goalVelocity = Random.onUnitSphere;
goalVelocity.y = 0;
goalVelocity.Normalize();
size = 1.0f;
speed = 1.0f;
tH = 2.0f;
agents.Add(this);
if (agents.Count == 1)
{
for (int x = 0; x < 24; x++)
{
ACA next = Instantiate(this);
next.transform.position = new Vector3(Random.Range(0f, 20f), 0, Random.Range(0f, 20f));
next.name = "Agent " + (x + 1);
}
}
}
void ttc(ACA i, ACA j, out float t, Vector3 offset)
{
// Ignore this parameter initially
//offset = Vector3.zero;
// Now compute the TTC and put the result in t
t = Mathf.Infinity; // temporary value
float r = (i.size / 2f) + (j.size / 2f);
Vector3 w;
w = j.transform.position - (i.transform.position - offset);
float c = Vector3.Dot(w, w) - r * r;
if (c < 0)
{
t = 0;
return;
}
Vector3 v = i.velocity - j.velocity;
float a = Vector3.Dot(v, v);
float b = Vector3.Dot(w, v);
float discr = b * b - a * c;
if (discr <= 0)
{
return;
}
t = (b - Mathf.Sqrt(discr)) / a;
if (t < 0)
{
t = Mathf.Infinity;
return;
}
//F goal = (Vg - V) * K
//Favoid = (tH - t / t) * K * ((x1 + tv1) - (x2 +tv2)).normalized
}
