/**
* Creates the antenna utilized by WallAvoidance
*/
private void CreateFeelers()
{
m_Feelers.Clear();
//feeler pointing straight in front
m_Feelers.Add(m_entity.VPos() + m_entity.Heading() * m_fWallDetectionFeelerLength);
//feeler to left
Vector3 temp = m_entity.Heading();
Quaternion rotate = Quaternion.Euler(0, 90.0f, 0);
Vector3 temp2 = rotate * temp;
m_Feelers.Add(m_entity.VPos() + temp2 * m_fWallDetectionFeelerLength / 2.0f);
rotate = Quaternion.Euler(0, 45.0f, 0);
temp2 = rotate * temp;
//feeler to right
m_Feelers.Add(m_entity.VPos() + temp2 * m_fWallDetectionFeelerLength / 2.0f);
}
/**
* this behavior creates a force that steers the agent towards the
* evader
*/
private Vector3 Pursuit(AIAgent evader)
{
//if the evader is ahead and facing the agent then we can just seek
//for the evader's current position.
Vector3 ToEvader = evader.VPos() - m_entity.VPos();
float RelativeHeading = Vector3.Dot(m_entity.Heading(), evader.Heading());
if (Vector3.Dot(ToEvader, m_entity.Heading()) > 0 && (RelativeHeading < -0.95)) //acos(0.95)=18 degs
{
return(Seek(evader.VPos()));
}
//Not considered ahead so we predict where the evader will be.
//the lookahead time is propotional to the distance between the evader
//and the pursuer; and is inversely proportional to the sum of the
//agent's velocities
float LookAheadTime = ToEvader.magnitude / (m_entity.MaxSpeed() + evader.Speed());
//now seek to the predicted future position of the evader
return(Seek(evader.VPos() + evader.Velocity() * LookAheadTime));
}
public void AIUpdate()
{
//update the time elapsed
//keep a record of its old position so we can update its cell later
//in this method
Vector3 OldVelocity = aiAgent.Velocity();
Vector3 SteeringForce = Vector3.zero;
//calculate the combined force from each steering behavior in the
//vehicle's list
SteeringForce = steeringBehaviour.Calculate();
//Acceleration = Force/Mass
Vector3 acceleration = SteeringForce / aiAgent.Mass();
Vector3 gravityaccel = steeringBehaviour.GravityAccel();
grounded = (gravityaccel.magnitude > 0) ? true : false;
aiAgent.Update(acceleration, gravityaccel, useWrapAround, Time.deltaTime);
Vector3 vPos = aiAgent.VPos();
vPos.y = steeringBehaviour.GravityTruncate(vPos.y);
aiAgent.SetVPos(vPos);
//EnforceNonPenetrationConstraint(this, World()->Agents());
//update the vehicle's current cell if space partitioning is turned on
if (isSmoothingOn())
{
m_vSmoothedHeading = m_pHeadingSmoother.Update(aiAgent.Heading());
}
//moveState
if (steeringBehaviour.IsSteering())
{
float epsillon = 0.01f;
if (MathUtil.Equal(aiAgent.Velocity(), Vector3.zero, epsillon) &&
OldVelocity.magnitude >= epsillon)
{
if (onMoveComplete != null)
{
onMoveComplete(aiAgent, steeringBehaviour, MoveCompleteState.Reached);
}
}
else if (gravityaccel.magnitude <= 0 &&
gravityaccel_old.magnitude > 0)
{
if (onMoveComplete != null)
{
onMoveComplete(aiAgent, steeringBehaviour, MoveCompleteState.Landed);
}
}
}
gameObject.transform.position = aiAgent.VPos();
if (useRotation)
{
Vector3 vDir = aiAgent.Heading();
if (vDir.magnitude > 0)
{
gameObject.transform.rotation = Quaternion.LookRotation(vDir);
}
}
Vector3 target = gameObject.transform.position + gameObject.transform.rotation * Vector3.forward * aiAgent.BRadius();
gravityaccel_old = gravityaccel;
DebugExtension.DebugCircle(target, 0.5f);
}