private void InitializeMainCharacter(GameObject[] obstacles)
{
this.Priority = new PriorityMovement
{
Character = this.RedCharacter.KinematicData
};
this.Blended = new BlendedMovement
{
Character = this.RedCharacter.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacleWhiskers(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = this.RedCharacter.KinematicData,
MovementDebugColor = Color.magenta
};
this.Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 5.0f));
this.Priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != this.RedCharacter)
{
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
CollisionRadius = COLLISION_RADIUS,
MaxTimeLookAhead = MAX_TIME_LOOK_AHEAD,
MovementDebugColor = Color.cyan
};
this.Priority.Movements.Add(avoidCharacter);
}
}
var wander = new DynamicWander
{
WanderOrientation = this.RedCharacter.KinematicData.orientation,
Character = this.RedCharacter.KinematicData,
WanderOffset = 20.0F,
WanderRadius = 10.0F,
WanderRate = WANDER_RATE,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow
};
this.Priority.Movements.Add(wander);
this.Blended.Movements.Add(new MovementWithWeight(wander, obstacles.Length + this.Characters.Count));
this.RedCharacter.Movement = this.Blended;
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoid = new DynamicAvoidShort
{
Character = this.character.KinematicData,
avoidDistance = 5.0f,
lookAhead = 15.0f,
collisionDetector = obstacle.GetComponent <Collider>(),
MaxAcceleration = MAX_ACCELERATION,
whiskerLength = 7.5f
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoid, 10.0f));
this.priorityMovement.Movements.Add(avoid);
}
foreach (var otherCharacter in characters)
{
if (otherCharacter != this.character)
{
//TODO: add your AvoidCharacter movement here
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = this.character.KinematicData,
maxAcceleration = MAX_ACCELERATION,
collisionRadius = 3f,
maxTimeLookAhead = 8f
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidCharacter, 10.0f));
this.priorityMovement.Movements.Add(avoidCharacter);
}
}
/* TODO: add your wander behaviour here! */
var wander = new DynamicWander
{
Character = this.character.KinematicData,
WanderOffset = 5,
WanderRate = MathConstants.MATH_1_PI,
MaxAcceleration = MAX_ACCELERATION
};
this.priorityMovement.Movements.Add(wander);
this.blendedMovement.Movements.Add(new MovementWithWeight(wander, 1));
this.character.Movement = this.blendedMovement;
}
void OnDrawGizmos()
{
if (this.character != null && this.character.Movement != null)
{
foreach (DynamicMovement movement in this.priorityMovement.Movements)
{
if (movement != null && movement is DynamicWander)
{
DynamicWander wander = (DynamicWander)movement;
Gizmos.color = Color.blue;
Gizmos.DrawWireSphere(wander.CircleCenter, wander.WanderRadius);
}
}
}
}
/*
* public SteeringOutput ObstaclePursue()
* {
* DynamicPursue sb = new DynamicPursue(agent.k, target.k, maxAcceleration, maxPrediction);
* agent.DrawLine(agent.transform.position, sb.predictPos);
* return ObstacleAvoidance(sb);
* }
*/
public SteeringOutput ObstacleWander()
{
//if (startTime > wanderRate)
//{
// wanderOrientation += randomBinomial() * wanderRate;
// startTime = 0f;
//}
startTime += Time.deltaTime;
DynamicSeek ds = new DynamicSeek(agent.k, new Kinematic(), maxAcceleration);
DynamicWander dw = new DynamicWander(wanderOffset, wanderRadius, wanderRate, maxAcceleration, 100f, ds);
targetPos = dw.targetPos;
//agent.DrawCircle(dw.targetPos, wanderRadius);
return(ObstacleAvoidance(dw));
}
public SteeringOutput Wander()
{
if (startTime > wanderRate)
{
wanderOrientation += randomBinomial() * wanderRate;
startTime = 0f;
}
startTime += Time.deltaTime;
DynamicAlign a = new DynamicAlign(agent.k, new Kinematic(), maxAngularAcceleration, maxRotation, targetRadiusA, slowRadiusA);
DynamicFace f = new DynamicFace(new Kinematic(), a);
DynamicSeek ds = new DynamicSeek(agent.k, new Kinematic(), maxAcceleration);
DynamicWander dw = new DynamicWander(wanderOffset, wanderRadius, wanderRate, maxAcceleration, wanderOrientation, ds);
SteeringOutput so = dw.getSteering();
agent.DrawCircle(dw.targetPos, wanderRadius);
//agent.DrawLine(agent.k.position, asVector(wanderOrientation));
return(so);
}
void Awake()
{
dynamicWander = new DynamicWander(GetComponent <Rigidbody>(), magnitude);
}
