// Update is called once per frame
void Update()
{
if (!isLit)
{
Vector3 reflexes = bdi.UpdateBDI();
//Debug.Log(gameObject.name + " my intention is " + (bdi.myIntention == null ? "None" : bdi.myIntention.GetType().ToString()));
if (!reflexes.Equals(Vector3.zero) || bdi.myIntention == null)
{
Vector3 destination = transform.position + reflexes.normalized;
//Debug.DrawLine(transform.position, destination, Color.black);
rb.velocity = ((destination - transform.position).normalized) * settings.MaxSpeed;
transform.rotation = Quaternion.LookRotation(rb.velocity);
}
else
{
Vector3 intentionDirection = bdi.myIntention.DefaultState(this).normalized;
intentionDirection.y = 0;
List <Agent> neighbors = bdi.myPerception.AgentsInSight;
List <Agent> relative = bdi.myBelief.MesoInSight(bdi.myPerception);
Vector3 flockingDirection = (relative.Count > 0 ?
(1 - settings.CoeffMesoFlock) * flocking.Flocking(neighbors) + settings.CoeffMesoFlock * flocking.Flocking(relative) :
flocking.Flocking(neighbors));
Vector3 force = (intentionDirection.Equals(Vector3.zero) ? flockingDirection : (1 - settings.CoeffI) * flockingDirection + settings.CoeffI * intentionDirection);
Vector3 destination = transform.position + force.normalized;
//Debug.DrawLine(transform.position, destination, Color.black);
rb.velocity = (force.Equals(Vector3.zero) ? transform.TransformDirection(Vector3.forward) : (destination - transform.position).normalized) * settings.MaxSpeed;
transform.rotation = Quaternion.LookRotation(rb.velocity);
}
}
}
// Update is called once per frame
void Update()
{
Vector3 reflexes = bdi.UpdateBDI();
if (!reflexes.Equals(Vector3.zero) || bdi.myIntention == null)
{
Vector3 destination = transform.position + reflexes.normalized;
//Debug.DrawLine(transform.position, destination, Color.black);
rb.velocity = ((destination - transform.position).normalized) * settings.MaxSpeed;
transform.rotation = Quaternion.LookRotation(rb.velocity);
}
else
{
Vector3 intentionDirection = bdi.myIntention.DefaultState(this).normalized;
intentionDirection.y = 0;
List <Agent> neighbors = bdi.myPerception.AgentsInSight;
Vector3 force = (intentionDirection.Equals(Vector3.zero) ? flocking.Flocking(neighbors) : (1 - settings.CoeffI) * flocking.Flocking(neighbors) + settings.CoeffI * intentionDirection);
Vector3 destination = transform.position + force.normalized;
//Debug.DrawLine(transform.position, destination, Color.black);
rb.velocity = (force.Equals(Vector3.zero) ? transform.TransformDirection(Vector3.forward) : (destination - transform.position).normalized) * settings.MaxSpeed;
transform.rotation = Quaternion.LookRotation(rb.velocity);
}
}
