Beispiel #1
0
        public static Vector2 GetVelocity(SteeringAgent2D agent, IEnumerable <SteeringAgent2D> neighbors)
        {
            Vector2 centerOfMass = Vector2.zero, steeringForce = Vector2.zero;

            foreach (var neighbor in neighbors)
            {
                if (neighbor == agent)
                {
                    continue;
                }
                if (agent.TargetAgents.Contains(neighbor))
                {
                    continue;                                        //Ignore the target of evasion or pursue
                }
                centerOfMass += neighbor.Rigidbody2D.position;
            }

            int neighborCount = neighbors.Count();

            if (neighborCount > 0)
            {
                centerOfMass /= (float)neighborCount;
                steeringForce = Seek2D.GetVelocity(agent, centerOfMass);
            }

            return(steeringForce.normalized);
        }
Beispiel #2
0
        public override Vector2 GetVelocity()
        {
            //return GetVelocity(agent, agent.Neighbors);

            Profiler.BeginSample("Cohesion2D");
            centerOfMass  = Vector2.zero;
            steeringForce = Vector2.zero;
            foreach (var neighbor in agent.Neighbors)
            {
                if (neighbor == agent)
                {
                    continue;
                }
                if (agent.TargetAgents.Contains(neighbor))
                {
                    continue;                                        //Ignore the target of evasion or pursue
                }
                centerOfMass += neighbor.Rigidbody2D.position;
            }
            int neighborCount = agent.Neighbors.Count();

            if (neighborCount > 0)
            {
                centerOfMass /= (float)neighborCount;
                steeringForce = Seek2D.GetVelocity(agent, centerOfMass);
            }
            Profiler.EndSample();

            return(steeringForce.normalized);
        }
Beispiel #3
0
        public static Vector2 GetVelocity(SteeringAgent2D agent, SteeringAgent2D evader, float turnCoefficient = 0f)
        {
            if (evader == null)
            {
                return(Vector2.zero);
            }

            var   toEvader        = evader.GetComponent <Rigidbody2D>().position - agent.Rigidbody2D.position;
            float relativeHeading = Vector2.Dot(agent.Heading, evader.transform.up);

            if ((Vector2.Dot(toEvader, agent.transform.up) > 0) &&
                relativeHeading < -0.95)   //acos(0.95) = 18 degs
            {
                return(Seek2D.GetVelocity(agent, evader.GetComponent <Rigidbody2D>().position));
            }

            //Not considered ahead so we predict where the evader will be
            float lookAheadTime = toEvader.magnitude / (agent.MaxSpeed + evader.GetComponent <Rigidbody2D>().velocity.magnitude);

            if (turnCoefficient != 0)
            {
                lookAheadTime += TurnaroundTime(agent, evader.GetComponent <Rigidbody2D>().position, turnCoefficient);
            }

            return(Seek2D.GetVelocity(agent, evader.GetComponent <Rigidbody2D>().position + evader.GetComponent <Rigidbody2D>().velocity *lookAheadTime));
        }
Beispiel #4
0
        public static Vector2 GetVelocity(SteeringAgent2D agent, NavMesh2D navMesh, float waypointSeekDistance = 0.5f)
        {
            if (navMesh == null || !navMesh.CurrentWaypoint.HasValue)
            {
                return(Vector2.zero);
            }

            var currentWaypoint = navMesh.CurrentWaypoint.Value;

            if ((agent.Rigidbody2D.position - currentWaypoint).magnitude < waypointSeekDistance)
            {
                navMesh.SetNextWaypoint();
            }

            if (!navMesh.IsFinished())
            {
                return(Seek2D.GetVelocity(agent, navMesh.CurrentWaypoint.Value));
            }
            else
            {
                return(Arrive2D.GetVelocity(agent, navMesh.CurrentWaypoint.Value, 2f));
            }
        }