protected virtual void Awake()
{
agent = GetComponent <SteerAgent>();
agent.RegisterBehaviour(this);
}
public override void Behave()
{
Vector3 target_vel = Vector3.zero;
bool vel_got = false;
if (targetTrans != null)
{
target = targetTrans.position;
SteerAgent s = targetTrans.GetComponent <SteerAgent>();
if (s != null)
{
vel_got = true;
target_vel = s.velocity * s.maxSpeed;
}
}
if (!idle)
{
if (!vel_got)
{
for (int i = history_count - 1; i > 0; --i)
{
history_target[i] = history_target[i - 1];
}
for (int i = history_count - 1; i > 0; --i)
{
history_time[i] = history_time[i - 1];
}
history_target[0] = target;
history_time[0] = Time.time;
history_cursor++;
if (history_cursor > history_count)
{
history_cursor = history_count;
}
int cnt = 0;
Vector3 sum_vel = Vector3.zero;
for (int i = 0; i < history_cursor - 1; ++i)
{
Vector3 delta_pos = history_target[i] - history_target[i + 1];
float delta_t = history_time[i] - history_time[i + 1];
delta_t = Mathf.Clamp(delta_t, 0.001f, 0.2f);
if (delta_pos.magnitude > 10f)
{
continue;
}
Vector3 vel = delta_pos / delta_t;
sum_vel += vel;
cnt++;
}
if (cnt > 0)
{
target_vel = sum_vel / cnt;
}
}
Vector3 to_target = target - position;
Vector3 predict = target + target_vel * (to_target.magnitude / agent.maxSpeed);
to_target = predict - position;
Vector3 desired_vel = to_target.normalized;
float strength = 1;
if (slowingRadius > arriveRadius)
{
strength = Mathf.Clamp01(Mathf.InverseLerp(arriveRadius, slowingRadius, to_target.magnitude));
}
else
{
strength = to_target.magnitude > arriveRadius ? 1f : 0f;
}
desired_vel *= strength;
agent.AddDesiredVelocity(desired_vel, weight, 0.75f);
}
}