public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (movementComponent.PursuitTarget != target)
{
target = movementComponent.PursuitTarget;
targetRigidbody = target.GetComponent <Rigidbody>();
#if UNITY_EDITOR
if (targetRigidbody == null)
{
Debug.Log("Target does not have a rigidbody for Pursuit behavior in " + movementComponent.gameObject.name);
}
#endif
}
Vector3 agentPosition = movementComponent.transform.position;
Vector3 targetPosition = target.position;
Vector3 agentVelocity = movementComponent.EntityRigidbody.velocity;
Vector3 targetVelocity = targetRigidbody.velocity;
Vector3 toTarget = (targetPosition - agentPosition);
if (Vector3.Dot(toTarget, movementComponent.transform.forward) > 0 && Vector3.Dot(movementComponent.transform.forward, target.forward) < -0.95f)
{
return(seek.CalculateForce(movementComponent));
}
float movementProjectionTime = toTarget.magnitude / (movementComponent.maxSpeed + targetVelocity.magnitude);
Vector3 updatedTargetPosition = targetPosition + (targetVelocity * movementProjectionTime);
return(seek.SeekToPosition(agentPosition, updatedTargetPosition, movementComponent.maxSpeed, movementComponent.CurrentVelocity));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (entityTrigger == null)
{
entityTrigger = InitializeEntityTrigger(movementComponent.gameObject, movementComponent.CohesionRadius);
}
if (TaggedNeighbors.Count == 0)
{
return(Vector3.zero);
}
HashSet <Transform> .Enumerator neighborEnumerator = TaggedNeighbors.GetEnumerator();
Vector3 centerOfMass = Vector3.zero;
while (neighborEnumerator.MoveNext())
{
Transform neighbor = neighborEnumerator.Current;
centerOfMass += neighbor.position;
}
centerOfMass /= TaggedNeighbors.Count;
return(seek.SeekToPosition(movementComponent.transform.position, centerOfMass, movementComponent.MaxSpeed, movementComponent.CurrentVelocity));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (agent != movementComponent.transform)
{
agent = movementComponent.transform;
agentRenderer = agent.GetComponent <Renderer>();
agentRigidbody = agent.GetComponent <Rigidbody>();
}
bool isAtHidingSpot = (hidingSpot != Vector3.zero && (movementComponent.transform.position - hidingSpot).sqrMagnitude < 0.1f);
if (isAtHidingSpot)
{
if ((movementComponent.HideTarget.position - targetPosition).sqrMagnitude < 1f)
{
return(Vector3.zero);
}
else
{
hasHidingSpot = false;
}
}
if (!hasHidingSpot)
{
hidingSpot = GenerateHidingSpot(movementComponent.transform, movementComponent.HideTarget);
hasHidingSpot = true;
targetPosition = movementComponent.HideTarget.position;
}
return(arrive.ArriveToPosition(hidingSpot - agent.position, movementComponent.maxSpeed, agentRigidbody.velocity, 1));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (entityTrigger == null)
{
entityTrigger = InitializeEntityTrigger(movementComponent.gameObject, movementComponent.SeparationRadius);
}
Quaternion averageHeading = Quaternion.identity;
Vector4 cumulative = Vector4.zero;
Quaternion entityHeading = movementComponent.transform.rotation;
int headingCount = 0;
HashSet <Transform> .Enumerator neighborEnumerator = TaggedNeighbors.GetEnumerator();
while (neighborEnumerator.MoveNext())
{
Transform neighbor = neighborEnumerator.Current;
Quaternion neighborHeading = neighbor.rotation;
headingCount++;
averageHeading = AverageQuaternion(ref cumulative, neighborHeading, entityHeading, headingCount);
}
movementComponent.transform.rotation = averageHeading;
return(Vector3.zero);
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
float wanderDistance = movementComponent.WanderDistance;
float wanderRadius = movementComponent.WanderRadius;
float wanderJitter = movementComponent.WanderJitter;
return(generateNewWanderTarget(movementComponent.transform.forward, wanderDistance, wanderRadius, wanderJitter));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
Vector3 agentPosition = movementComponent.transform.position;
Vector3 targetPosition = movementComponent.ArriveTarget.position;
Vector3 toTarget = targetPosition - agentPosition;
int deceleration = movementComponent.Clumsiness;
return(ArriveToPosition(toTarget, movementComponent.maxSpeed, movementComponent.CurrentVelocity, deceleration));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
Vector3 targetPosition = movementComponent.SeekLocation;
if (movementComponent.SeekTarget != null)
{
targetPosition = movementComponent.SeekTarget.position;
}
return(SeekToPosition(movementComponent.transform.position, targetPosition, movementComponent.MaxSpeed, movementComponent.CurrentVelocity));
}
protected override void Awake()
{
base.Awake();
movementComponent = GetComponent <AutonomousMovementComponent>();
entityRigidbody = GetComponent <Rigidbody>();
cachedVelocities = new Vector3[valuesToSmooth];
for (int i = 0; i < cachedVelocities.Length; i++)
{
cachedVelocities[i] = Vector3.zero;
}
}
public Vector3 CalculateInterposePoint(AutonomousMovementComponent movementComponent, Transform primaryTarget, Transform secondaryTarget, Vector3 primaryTargetVelocity, Vector3 secondaryTargetVelocity)
{
Vector3 midpointBetweenTargets = (primaryTarget.position + secondaryTarget.position) / 2f;
float timeToReachMidpoint = (midpointBetweenTargets - movementComponent.transform.position).magnitude / movementComponent.maxSpeed;
Vector3 updatedPrimaryTargetPosition = primaryTarget.position + (primaryTargetVelocity * timeToReachMidpoint);
Vector3 updatedSecondaryTargetPosition = secondaryTarget.position + (secondaryTargetVelocity * timeToReachMidpoint);
Vector3 updatedMidpoint = (updatedPrimaryTargetPosition + updatedSecondaryTargetPosition) / 2f;
return(updatedMidpoint);
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (target != movementComponent.OffsetPursuitTarget)
{
target = movementComponent.OffsetPursuitTarget;
targetRigidbody = target.GetComponent <Rigidbody>();
}
Vector3 worldOffsetPosition = target.position + movementComponent.PursuitOffset;
Vector3 toOffset = worldOffsetPosition - movementComponent.transform.position;
float timeToOffset = toOffset.magnitude / (movementComponent.MaxSpeed + targetRigidbody.velocity.magnitude);
Vector3 updatedTarget = worldOffsetPosition + (targetRigidbody.velocity * timeToOffset);
return(arrive.ArriveToPosition(updatedTarget - movementComponent.transform.position, movementComponent.MaxSpeed, movementComponent.CurrentVelocity, 1));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (obstacleAvoidanceTrigger == null)
{
obstacleAvoidanceTrigger = InitializeObstacleAvoidanceTrigger(movementComponent.gameObject);
}
UpdateTriggerSize(movementComponent.EntityRigidbody.velocity.magnitude, movementComponent.MaxSpeed, movementComponent.transform);
if (TaggedColliders.Count == 0)
{
return(Vector3.zero);
}
// In local coordinate system, viewed from above, agent's "forward" is along Z-axis ('vertically'), agent's "right"
// is along X-axis ("horizontally"). PGAIBE assumes that agent's "forward" is along x-axis ('horizontally') so there's
// some inconsistency.
Vector3 steeringForce = Vector3.zero;
float avoidanceTriggerLength = obstacleAvoidanceTrigger.size.z;
Collider closestCollider = null;
float closestZDistance = float.MaxValue;
HashSet <Collider> .Enumerator colliderEnumerator = TaggedColliders.GetEnumerator();
while (colliderEnumerator.MoveNext())
{
Collider collider = colliderEnumerator.Current;
Transform colliderTransform = collider.transform;
float zDistanceToCollider = movementComponent.transform.InverseTransformPoint(colliderTransform.position).z;
if (zDistanceToCollider < closestZDistance)
{
closestZDistance = zDistanceToCollider;
closestCollider = collider;
}
}
float steeringWeight = 1.5f + (avoidanceTriggerLength - closestZDistance) / avoidanceTriggerLength;
Vector3 relativePositionOfCollider = movementComponent.transform.InverseTransformPoint(closestCollider.transform.position);
float effectiveObstacleRadius = closestCollider.bounds.extents.x;
steeringForce.x = (effectiveObstacleRadius - relativePositionOfCollider.x) * steeringWeight;
steeringForce.z = (effectiveObstacleRadius - closestZDistance) * brakingWeight;
return(movementComponent.transform.TransformVector(steeringForce));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (movementComponent.PrimaryInterposeTarget == null || movementComponent.SecondaryInterposeTarget == null)
{
return(Vector3.zero);
}
if (primaryInterposeTarget != movementComponent.PrimaryInterposeTarget || secondaryInterposeTarget != movementComponent.SecondaryInterposeTarget)
{
primaryInterposeTarget = movementComponent.PrimaryInterposeTarget;
secondaryInterposeTarget = movementComponent.SecondaryInterposeTarget;
primaryTargetRigidbody = primaryInterposeTarget.GetComponent <Rigidbody>();
secondaryTargetRigidbody = secondaryInterposeTarget.GetComponent <Rigidbody>();
}
Vector3 targetMidpoint = CalculateInterposePoint(movementComponent, primaryInterposeTarget, secondaryInterposeTarget, primaryTargetRigidbody.velocity, secondaryTargetRigidbody.velocity);
Vector3 toTargetMidpoint = targetMidpoint - movementComponent.transform.position;
return(arrive.ArriveToPosition(toTargetMidpoint, movementComponent.maxSpeed, movementComponent.CurrentVelocity));
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
if (entityTrigger == null)
{
entityTrigger = InitializeEntityTrigger(movementComponent.gameObject, movementComponent.SeparationRadius);
}
Vector3 agentPosition = movementComponent.transform.position;
Vector3 steeringForce = Vector3.zero;
HashSet <Transform> .Enumerator colliderEnumerator = TaggedNeighbors.GetEnumerator();
while (colliderEnumerator.MoveNext())
{
Transform neighbor = colliderEnumerator.Current;
Vector3 toAgent = agentPosition - neighbor.position;
Vector3 responseForce = (toAgent.normalized / toAgent.magnitude);
steeringForce += responseForce;
}
return(steeringForce);
}
public void OnEnable()
{
nextState = new PonderingState(this);
playerThinker = GetComponent <Thinker>();
movementComponent = GetComponent <AutonomousMovementComponent>();
}
protected override void OnEnable()
{
base.OnEnable();
autonomousMovementComponent = (AutonomousMovementComponent)target;
movementBehaviors = serializedObject.FindProperty("movementBehaviors");
}
public override Vector3 CalculateForce(AutonomousMovementComponent movementComponent)
{
return(FleeFromPosition(movementComponent.transform.position, movementComponent.FleeTarget.position, movementComponent.maxSpeed, movementComponent.CurrentVelocity));
}
public abstract Vector3 CalculateForce(AutonomousMovementComponent movementComponent);
