private ContextMap ObstructionAvoidanceMap()
{
ContextMap map = new ContextMap(_steer.DirectionsCount);
Collider2D[] colliders = Physics2D.OverlapCircleAll(transform.position, VisionRadius, _danger_mask);
foreach (Collider2D collider in colliders)
{
if (DangerIdentification(collider))
{
RaycastHit2D[] hits = Physics2D.LinecastAll(transform.position, collider.transform.position);
float distance = Vector2.Distance(transform.position, hits[hits.Length - 1].point);
float weight = (VisionRadius - distance) / VisionRadius;
if (weight < 0)
{
continue;
}
Vector2 danger = collider.transform.position - transform.position;
map.AddInterestToVectorWithDesirableDot(-danger, weight, 0.65f);
map.AddDangerToVectorWithThreshold(danger, weight, 0.65f);
}
}
return(map);
}
private void Update()
{
Vector2 pos = _camera.ScreenToWorldPoint(Input.mousePosition);
if (Input.GetMouseButtonDown(0))
{
GameObject obj = Instantiate(_intereset_prefab, pos, Quaternion.identity);
_interesets.Add(obj.transform);
obj.SetActive(true);
}
else if (Input.GetMouseButtonDown(1))
{
GameObject obj = Instantiate(_danger_prefab, pos, Quaternion.identity);
_dangers.Add(obj.transform);
obj.SetActive(true);
}
_steer.SetNewMapUp();
ContextMap interest_map = new ContextMap(_direction_number);
foreach (Transform danger in _dangers)
{
float weight = (_vision_radius - danger.position.magnitude) / _vision_radius;
interest_map.AddInterestToVectorWithDesirableDot(-danger.position, weight, _desirable_dot);
interest_map.AddDangerToVectorWithThreshold(danger.position, weight, _threshold);
}
_steer.ApplyContextMap(interest_map);
ContextMap danger_map = new ContextMap(_direction_number);
foreach (Transform interest in _interesets)
{
float weight = (_vision_radius - interest.position.magnitude) / _vision_radius;
danger_map.AddInterestToVector(interest.position, weight);
}
}
