public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
float rayDist = lookAheadSeconds * mine.Velocity.magnitude;
Ray myRay = new Ray(mine.WorldPosition, mine.WorldForward);
if (!ObstacleInPath(myRay, mine.shape.radius + clearance, rayDist, ref hit, mask))
{
steer = Vector3.zero;
mine.SetAgentProperty(lastClearDirectionKey, steer);
return;
}
float hitDist = hit.distance;
Vector3 lastClearWorldDirection = Vector3.zero;
if (mine.HasAgentProperty(lastClearDirectionKey))
{
lastClearWorldDirection = mine.GetAgentProperty <Vector3>(lastClearDirectionKey);
}
if (lastClearWorldDirection == Vector3.zero)
{
lastClearWorldDirection = myRay.direction;
}
myRay.direction = lastClearWorldDirection;
steer = ObstacleRays(myRay, mine.shape.radius + clearance, rayDist, ref hit, mask);
mine.SetAgentProperty(lastClearDirectionKey, steer.normalized);
float smooth = (1f - (hitDist / rayDist));
steer = mine.WorldToFlockBoxDirection(steer);
steer = steer.normalized * mine.activeSettings.maxForce - mine.Velocity;
steer *= smooth;
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
Vector3 fleeMidpoint = Vector3.zero;
float count = 0;
foreach (Agent other in GetFilteredAgents(surroundings, this))
{
if (WithinEffectiveRadius(mine, other))
{
fleeMidpoint += (other.Position);
count++;
}
}
if (count > 0)
{
fleeMidpoint /= (count);
mine.GetSteerVector(out steer, (mine.Position - fleeMidpoint));
mine.SetAgentProperty(fleeAttributeName, true);
}
else
{
mine.SetAgentProperty(fleeAttributeName, false);
steer = Vector3.zero;
}
}
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);
}
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);
}
protected static void DisengagePursuit(SteeringAgent mine, int targetID)
{
mine.SetAgentProperty(targetIDAttributeName, -1);
}
protected static void EngagePursuit(SteeringAgent mine, Agent target)
{
mine.SetAgentProperty(targetIDAttributeName, target.agentID);
}
