// Update is called once per frame
void Update()
{
if (useKinematic == false)
{
return;
}
SteeringOutput steering;
if (singleAlternative == null)
{
steering = behaviour.getSteering(selfKinematic, target, targetKinematic);
}
else
{
steering = singleAlternative.getSteering(selfKinematic, target, targetKinematic);
}
if (target != null)
{
Debug.DrawRay(parentTransform.position, target.transform.position - parentTransform.position, Color.white);
}
ProcessSteering();
UpdateSelfKinematic(steering);
}
public SteeringOutput getSteering()
{
Vector3 rayVector = s.getCharacter().velocity;
rayVector.Normalize();
rayVector *= lookahead;
//Debug.Log(lookahead);
// Does the ray intersect any objects excluding the player layer
collisionDetector = new RaycastHit();
float angleInc = 10f;
//Debug.DrawRay(s.getCharacter().position, s.getCharacter().velocity, Color.green);
for (int i = 0; i < 6; i++)
{
Vector3 rotRayVec;
if (i % 2 == 0)
{
rotRayVec = Quaternion.AngleAxis(angleInc * -(i / 2), Vector3.up) * rayVector;
}
else
{
rotRayVec = Quaternion.AngleAxis(angleInc * Mathf.Ceil(i / 2), Vector3.up) * rayVector;
}
rotRayVec.Scale(new Vector3(1f, 0f, 1f));
Debug.DrawRay(s.getCharacter().position, rotRayVec, Color.cyan);
s.getCharacter().owner.GetComponent <NPCController>().DrawLine(s.getCharacter().owner.transform.position, rotRayVec * lookahead);
if (Physics.Raycast(s.getCharacter().position, rotRayVec, out collisionDetector, lookahead))
{
if (collisionDetector.collider.gameObject.Equals(s.getCharacter().owner))
{
continue;
}
Debug.DrawRay(collisionDetector.point, collisionDetector.normal * avoidDistance, Color.red);
s.setTargetPosition(collisionDetector.point + (collisionDetector.normal * avoidDistance));
Kinematic avoid = new Kinematic()
{
position = collisionDetector.point + (collisionDetector.normal * avoidDistance)
};
//targetPos = s.getTarget().position;
DynamicSeek seekAvoidPoint = new DynamicSeek(s.getCharacter(), avoid, maxAcceleration);
return(seekAvoidPoint.getSteering());
}
}
try
{
targetPos = s.getTarget().position;
}
catch (Exception e) {
}
return(s.getSteering());
}
private void arbitroEscenaFinal()
{
if (isAlive())
{
if (currentAction != null && currentAction is AccionCompuesta) //siguiente accion de la lista
{
((AccionCompuesta)currentAction).actualizeAction(); //aceder a currentaction
}
if (currentAction != null && currentAction.isDone())
{
kinetic.Clear();
currentAction = null;
selectedBehaviour = null;
steeringActual = new Steering();
}
else
{
//ESTO ESTA MAL DE ALGUNA FORMA
//auxiliarmente elegimos el primero de la lista
if (kinetic.Count > 0)
{
kinetic[0].getSteering(this);
if ((kinetic[0] as WallAvoidance3WhiswersGridSD).finishedLinear)
{
if (recalcularAccion)
{
recalcularAccion = false;
if (currentAction != null)
{
currentAction.doit();
}
}
selectedBehaviour = kinetic[1];
if (!(currentAction is AccionCompuesta))
{
actuadorHumanoNoDriftin();
}
}
else
{
recalcularAccion = true;
selectedBehaviour = kinetic[0];
}
steeringActual = selectedBehaviour.getSteering(this);
}
}
}
}
public SteeringOutput getSteering()
{
Vector3 rayVector = s.getCharacter().velocity;
rayVector.Normalize();
rayVector *= lookahead;
//Debug.Log(lookahead);
// Does the ray intersect any objects excluding the player layer
collisionDetector = new RaycastHit();
float angleInc = 10f;
//Debug.DrawRay(s.getCharacter().position, s.getCharacter().velocity, Color.green);
for (int i = 0; i < 6; i++)
{
Vector3 rotRayVec;
if (i % 2 == 0)
{
rotRayVec = Quaternion.AngleAxis(angleInc * -(i / 2), Vector3.up) * rayVector;
}
else
{
rotRayVec = Quaternion.AngleAxis(angleInc * Mathf.Ceil(i / 2), Vector3.up) * rayVector;
}
rotRayVec.Scale(new Vector3(1f, 0f, 1f));
//Debug.DrawRay(s.getCharacter().position, rotRayVec, Color.cyan);
if (Physics.Raycast(s.getCharacter().position, rotRayVec, out collisionDetector, lookahead))
{
//Debug.DrawRay(collisionDetector.point, collisionDetector.normal * avoidDistance, Color.red);
s.setTargetPosition(collisionDetector.point + (collisionDetector.normal * avoidDistance));
targetPos = s.getTarget().position;
DynamicSeek seekAvoidPoint = new DynamicSeek(s.getCharacter(), s.getTarget(), maxAcceleration);
return(seekAvoidPoint.getSteering());
}
}
targetPos = s.getTarget().position;
return(s.getSteering());
}
//Calculamos para cada SteeringBehavior su Steering y lo añadimos a una lista
//para despues seleccionar cual se va a aplicar
/*void LateUpdate()
* {
* arbitro();
* }*/
//Seleccionamos que Steering se va a aplicar recorriendo la lista kinetic
//actualizando el atributo steeringActual
private void arbitro()
{
//auxiliarmente elegimos el primero de la lista
if (kinetic.Count > 0)
{
//steeringActual = kinetic[0].getSteering(this); //se hace antes para hacer el raycast y no hacerlo dos veces
//CHECK IF WALLAVOIDANCE
int i = 0;
if ((kinetic[0] as WallAvoidance3WhiswersSD) != null)
{
steeringActual = kinetic[0].getSteering(this);
if ((kinetic[0] as WallAvoidance3WhiswersSD).finishedLinear)
{
i = 1;
// lo que no es evadir parede
bool allFinished = true;
for (i = 1; i < kinetic.Count; i++)
{
if (!(kinetic[i].finishedLinear && kinetic[i].finishedAngular))
{
selectedBehaviour = kinetic[i];
allFinished = false;
break;
}
}
if (allFinished)
{
newTask(defaultSteering);
selectedBehaviour = kinetic[1];
}
else
{
selectedBehaviour = kinetic[i];
}
if (allFinished)
{
i--;
}
selectedBehaviour = kinetic[i];
steeringActual = selectedBehaviour.getSteering(this);
}
else
{
selectedBehaviour = kinetic[0];
}
}
else
{
bool allFinished = true;
for (i = i; i < kinetic.Count; i++)
{
if (!(kinetic[i].finishedLinear && kinetic[i].finishedAngular))
{
selectedBehaviour = kinetic[i];
allFinished = false;
break;
}
}
if (allFinished)
{
newTask(defaultSteering);
selectedBehaviour = kinetic[1];
}
else
{
selectedBehaviour = kinetic[i];
}
selectedBehaviour = kinetic[i];
steeringActual = selectedBehaviour.getSteering(this);
}
//CUANDO NO HAY WALL AVOIDANCE
//selectedBehaviour = kinetic[0];
//steering finish
/*if (steeringActual.angular == 0 && steeringActual.linear == Vector3.zero)
* {
* kinetic.RemoveAt(0);
* steeringActual = null;
* }*/
}
}
