protected override void DrawForecastPerceptionGizmo(SteeringAgent agent, float distance)
{
DrawCylinderGizmo(agent.shape.radius + clearance, distance);
Handles.DrawWireDisc(Vector3.forward * distance, Vector3.forward, agent.shape.radius);
Handles.Label(Vector3.forward * distance + Vector3.up * agent.shape.radius, new GUIContent("Agent Radius"));
Handles.Label(Vector3.forward * distance + Vector3.up * (agent.shape.radius + clearance), new GUIContent("Clearance"));
}
public override void DrawPropertyGizmos(SteeringAgent agent, bool drawLabels)
{
base.DrawPropertyGizmos(agent, drawLabels);
Color areaFill = debugColor;
areaFill.a *= .1f;
if (agent.HasAgentProperty(leaderIDAttributeName))
{
int leaderId = agent.GetAgentProperty <int>(leaderIDAttributeName);
Agent leader = Agent.GetAgentById(leaderId);
if (leader != null)
{
Handles.matrix = leader.transform.localToWorldMatrix;
Gizmos.matrix = leader.transform.localToWorldMatrix;
areaFill = Color.clear;
}
}
DrawCylinderGizmo(clearAheadRadius, clearAheadDistance);
Handles.DrawLine(Vector3.zero, Vector3.back * followDistance);
Gizmos.DrawWireSphere(Vector3.back * followDistance, stoppingRadius);
if (drawLabels)
{
Handles.Label(Vector3.forward * clearAheadDistance, new GUIContent("Clear Ahead Distance"));
Handles.Label(Vector3.forward * clearAheadDistance + Vector3.up * clearAheadRadius, new GUIContent("Clear Ahead Radius"));
Handles.Label(Vector3.back * followDistance, new GUIContent("Follow Distance"));
Handles.Label(Vector3.back * followDistance + Vector3.up * stoppingRadius, new GUIContent("Stopping Radius"));
}
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
HashSet <Agent> leaders = GetFilteredAgents(surroundings, this);
if (leaders.Count == 0)
{
mine.RemoveAgentProperty(leaderIDAttributeName);
steer = Vector3.zero;
return;
}
Agent closestLeader = SeekBehavior.ClosestPursuableTarget(leaders, mine);
mine.SetAgentProperty(leaderIDAttributeName, closestLeader.agentID);
//check to see if we should clear the way in front of the leader
float scalar = Vector3.Dot(mine.Position - closestLeader.Position, closestLeader.Forward);
if (scalar > 0 && scalar < clearAheadDistance)//we are somewhere in front of the leader, potentially in the clear zone ahead of it.
{
pointOnLeaderPath_cached = closestLeader.Position + closestLeader.Forward * scalar;
float insideClearZone = (pointOnLeaderPath_cached - mine.Position).sqrMagnitude / (clearAheadRadius * clearAheadRadius); //0-1 is inside zone, <1 is outside
if (insideClearZone <= 1)
{
steer = (mine.Position - pointOnLeaderPath_cached).normalized * (1f - insideClearZone) * mine.activeSettings.maxForce;
return;
}
}
Vector3 desired_velocity = ArriveBehavior.DesiredVelocityForArrival(mine, closestLeader.Position - closestLeader.Forward * followDistance, stoppingRadius);
steer = desired_velocity - mine.Velocity;
steer = steer.normalized * Mathf.Min(steer.magnitude, mine.activeSettings.maxForce);
}
protected static void AttemptCatch(SteeringAgent mine, Agent target)
{
if (mine.Overlaps(target))
{
mine.CatchAgent(target);
}
}
public static bool HasPursuitTarget(SteeringAgent mine)
{
if (!mine.HasAgentProperty(targetIDAttributeName))
{
return(false);
}
return(mine.GetAgentProperty <int>(targetIDAttributeName) >= 0);
}
public void AddPerceptions(SteeringAgent agent, SurroundingsContainer surroundings)
{
surroundings.Clear();
for (int i = 0; i < behaviors.Length; i++)
{
behaviors[i].AddPerception(agent, surroundings);
}
}
public override void AddPerception(SteeringAgent agent, SurroundingsContainer surroundings)
{
base.AddPerception(agent, surroundings);
foreach (string tag in filterTags)
{
surroundings.AddGlobalSearchTag(tag);
}
}
protected bool WithinEffectiveRadius(SteeringAgent mine, Agent other)
{
if (mine == other)
{
return(false);
}
return(
Vector3.SqrMagnitude((mine.Position + (mine.Forward * queueDistance)) - other.Position) < queueRadius * queueRadius); // inside fov
}
public void DrawPropertyGizmos(SteeringAgent agent)
{
foreach (SteeringBehavior behavior in behaviors)
{
if (behavior.DrawProperties)
{
behavior.DrawPropertyGizmos(agent, !Application.isPlaying);
}
}
}
protected bool WithinEffectiveRadius(SteeringAgent mine, Agent other)
{
if (mine == other)
{
return(false);
}
return(
Vector3.SqrMagnitude(mine.Position - other.Position) < effectiveRadius * effectiveRadius && //inside radius
Vector3.Angle(mine.Forward, other.Position - mine.Position) <= fieldOfView); // inside fov
}
public void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, Vector3 worldDimensions, float containmentBuffer)
{
bufferedPosition = mine.Position + mine.Velocity * lookAheadSeconds;
float distanceToBorder = float.MaxValue;
if (worldDimensions.x > 0)
{
minArray[0] = distanceToBorder;
minArray[1] = mine.Position.x;
minArray[2] = worldDimensions.x - mine.Position.x;
distanceToBorder = Mathf.Min(minArray);
bufferedPosition.x = Mathf.Clamp(bufferedPosition.x, containmentBuffer, worldDimensions.x - containmentBuffer);
}
else
{
bufferedPosition.x = 0;
}
if (worldDimensions.y > 0)
{
minArray[0] = distanceToBorder;
minArray[1] = mine.Position.y;
minArray[2] = worldDimensions.y - mine.Position.y;
distanceToBorder = Mathf.Min(minArray);
bufferedPosition.y = Mathf.Clamp(bufferedPosition.y, containmentBuffer, worldDimensions.y - containmentBuffer);
}
else
{
bufferedPosition.y = 0;
}
if (worldDimensions.z > 0)
{
minArray[0] = distanceToBorder;
minArray[1] = mine.Position.z;
minArray[2] = worldDimensions.z - mine.Position.z;
distanceToBorder = Mathf.Min(minArray);
bufferedPosition.z = Mathf.Clamp(bufferedPosition.z, containmentBuffer, worldDimensions.z - containmentBuffer);
}
else
{
bufferedPosition.z = 0;
}
if (bufferedPosition == mine.Position + mine.Velocity)
{
steer = Vector3.zero;
return;
}
if (distanceToBorder <= 0)
{
distanceToBorder = .001f;
}
mine.GetSeekVector(out steer, bufferedPosition);
steer *= containmentBuffer / distanceToBorder;
}
public override void DrawPropertyGizmos(SteeringAgent agent, bool drawLabels)
{
base.DrawPropertyGizmos(agent, drawLabels);
Handles.color = debugColor;
Handles.DrawWireDisc(Vector3.zero, Vector3.up, stoppingDistance);
if (drawLabels)
{
Handles.Label(Vector3.forward * stoppingDistance, new GUIContent("Stopping Distance"));
}
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
float uniqueId = mine.gameObject.GetInstanceID() * .001f;
uniqueId = uniqueId * uniqueId;
steer = Quaternion.Euler(
(Mathf.PerlinNoise((Time.time * wanderIntensity), uniqueId) - .5f) * wanderScope,
(Mathf.PerlinNoise((Time.time * wanderIntensity) + uniqueId, uniqueId) - .5f) * wanderScope,
(Mathf.PerlinNoise((Time.time * wanderIntensity) + uniqueId * 2, uniqueId) - .5f) * wanderScope
)
* mine.Forward * mine.activeSettings.maxForce;
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
foreach (Agent a in GetFilteredAgents(surroundings, this))
{
//another agent is ahead
if (WithinEffectiveRadius(mine, a))
{
//use brake force
steer = -mine.Velocity;
steer = steer.normalized * Mathf.Min(steer.magnitude, mine.activeSettings.maxForce);
return;
}
}
steer = Vector3.zero;
}
public override void DrawPropertyGizmos(SteeringAgent agent, bool drawLabels)
{
base.DrawPropertyGizmos(agent, drawLabels);
float distance = agent.activeSettings.maxSpeed * lookAheadSeconds;
if (Application.isPlaying)
{
distance = agent.Velocity.magnitude * lookAheadSeconds;
}
DrawForecastPerceptionGizmo(agent, distance);
if (drawLabels)
{
Handles.Label(Vector3.forward * distance, new GUIContent("Look Ahead"));
}
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
if (!mine.HasAgentProperty(targetIDAttributeName))
{
mine.SetAgentProperty(targetIDAttributeName, -1);
}
int chosenTargetID = mine.GetAgentProperty <int>(targetIDAttributeName);
HashSet <Agent> allTargets = GetFilteredAgents(surroundings, this);
if (allTargets.Count == 0)
{
if (HasPursuitTarget(mine))
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
Agent closestTarget = ClosestPursuableTarget(allTargets, mine);
if (!closestTarget || !closestTarget.CanBeCaughtBy(mine))
{
if (HasPursuitTarget(mine))
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
if (closestTarget.agentID != chosenTargetID)
{
DisengagePursuit(mine, chosenTargetID);
EngagePursuit(mine, closestTarget);
}
Vector3 distance = closestTarget.Position - mine.Position;
float est_timeToIntercept = distance.magnitude / mine.activeSettings.maxSpeed;
Vector3 predictedInterceptPosition = closestTarget.Position + closestTarget.Velocity * est_timeToIntercept;
AttemptCatch(mine, closestTarget);
mine.GetSeekVector(out steer, predictedInterceptPosition);
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
if (!mine.HasAgentProperty(targetIDAttributeName))
{
mine.SetAgentProperty(targetIDAttributeName, -1);
}
int chosenTargetID = mine.GetAgentProperty <int>(targetIDAttributeName);
HashSet <Agent> allTargets = GetFilteredAgents(surroundings, this);
if (allTargets.Count == 0)
{
if (chosenTargetID != -1)
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
Agent closestTarget = ClosestPursuableTarget(allTargets, mine);
if (!closestTarget || !closestTarget.CanBeCaughtBy(mine))
{
if (chosenTargetID != -1)
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
if (closestTarget.agentID != chosenTargetID)
{
DisengagePursuit(mine, chosenTargetID);
EngagePursuit(mine, closestTarget);
}
AttemptCatch(mine, closestTarget);
Vector3 desired_velocity = (closestTarget.Position - mine.Position).normalized * mine.activeSettings.maxSpeed;
steer = desired_velocity - mine.Velocity;
steer = steer.normalized * Mathf.Min(steer.magnitude, mine.activeSettings.maxForce);
}
public override void DrawPropertyGizmos(SteeringAgent agent, bool drawLabels)
{
base.DrawPropertyGizmos(agent, drawLabels);
Handles.DrawWireDisc(Vector3.forward * queueDistance, Vector3.up, queueRadius);
Gizmos.DrawWireSphere(Vector3.forward * queueDistance, queueRadius);
Handles.DrawLine(Vector3.zero, Vector3.forward * queueDistance);
Color c = debugColor;
c.a = .1f * c.a;
Handles.color = c;
Handles.DrawSolidDisc(Vector3.forward * queueDistance, Vector3.up, queueRadius);
if (drawLabels)
{
Handles.Label(Vector3.forward * queueDistance, new GUIContent("Queue Distance"));
Handles.Label(Vector3.forward * (queueDistance + queueRadius), new GUIContent("Queue Radius"));
}
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
HashSet <Agent> obstacles = GetFilteredAgents(surroundings, this);
if (obstacles.Count == 0)
{
steer = Vector3.zero;
return;
}
Ray myRay = new Ray(mine.Position, mine.Forward);
float rayDist = surroundings.lookAheadSeconds * mine.Velocity.magnitude;
bool foundObstacleInPath = false;
foreach (Agent obstacle in obstacles)
{
if (obstacle.RaycastToShape(myRay, mine.shape.radius + clearance, rayDist, out hit))
{
if (!foundObstacleInPath || hit.distance < closestHit.distance)
{
closestHit = hit;
mostImmediateObstacle = obstacle;
}
foundObstacleInPath = true;
}
}
if (!foundObstacleInPath)
{
steer = Vector3.zero;
return;
}
mostImmediateObstacle.FindNormalToSteerAwayFromShape(myRay, closestHit, mine.shape.radius, ref normal);
steer = normal;
steer = steer.normalized * mine.activeSettings.maxForce;
steer *= (1f - (closestHit.distance / rayDist));
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
Vector3 sum = Vector3.zero;
int count = 0;
foreach (Agent other in GetFilteredAgents(surroundings, this))
{
if (WithinEffectiveRadius(mine, other))
{
float modFactor = 1;
sum += (other.Velocity) * modFactor;
count++;
}
}
if (count > 0)
{
sum /= ((float)count);
mine.GetSteerVector(out steer, sum);
}
else
{
steer = Vector3.zero;
}
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
//steer used as midpoint to prevent garbage
steer = Vector3.zero;
float count = 0;
foreach (Agent other in GetFilteredAgents(surroundings, this))
{
if (WithinEffectiveRadius(mine, other))
{
steer += (other.Position);
count++;
}
}
if (count > 0)
{
steer /= (count);
mine.GetSeekVector(out steer, steer);
}
else
{
steer = Vector3.zero;
}
}
public override void AddPerception(SteeringAgent agent, SurroundingsContainer surroundings)
{
base.AddPerception(agent, surroundings);
surroundings.SetMinPerceptionRadius(effectiveRadius);
}
protected static void EngagePursuit(SteeringAgent mine, Agent target)
{
mine.SetAgentProperty(targetIDAttributeName, target.agentID);
}
public virtual void AddPerception(SteeringAgent agent, SurroundingsContainer surroundings)
{
}
#pragma warning restore 0414
public abstract void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings);
protected static void DisengagePursuit(SteeringAgent mine, int targetID)
{
mine.SetAgentProperty(targetIDAttributeName, -1);
}
public override void AddPerception(SteeringAgent agent, SurroundingsContainer surroundings)
{
base.AddPerception(agent, surroundings);
surroundings.SetMinLookAheadSeconds(lookAheadSeconds);
}
protected virtual void DrawForecastPerceptionGizmo(SteeringAgent agent, float distance)
{
Handles.DrawLine(Vector3.zero, Vector3.forward * distance);
}
public override void AddPerception(SteeringAgent agent, SurroundingsContainer surroundings)
{
base.AddPerception(agent, surroundings);
Perception.radius = queueRadius;
surroundings.AddPerceptionShape(Perception, (agent.Position + (agent.Forward * queueDistance)));
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
steer = Vector3.zero;
}
