public PairWeightSteering()
{
weight = 0;
steering = new Steering();
}
public override Steering GetSteering()
{
// Create the structure to hold our output
Steering steering = new Steering();
if (target == null)
{
enabled = false;
return(steering);
}
// Get the direction to the target
Vector3 direction = target.transform.position - transform.position;
float distance = direction.magnitude;
//Check if we are there, return no steering
if (distance < targetRadius)
{
onTarget = true;
return(steering);
}
if (distance > targetRadius + 2.4f)
{
onTarget = false;
}
if (!onTarget)
{
float targetSpeed;
//If we're outside de slowRadius, then go max speed
if (distance > slowRadius)
{
targetSpeed = agent.maxSpeed;
}
//Otherwise we calculate a scaled speed
else
{
targetSpeed = agent.maxSpeed * distance / slowRadius;
}
Vector3 targetVelocity = direction;
//desired velocity combines speed and direction
targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity *= targetSpeed;
//Acceleration tries to get target velocity
steering.linear = targetVelocity - agent.velocity;
steering.linear /= timeToTarget;
//Check if the acceleration is too fast
if (steering.linear.magnitude > agent.maxAccel)
{
steering.linear.Normalize();
steering.linear *= agent.maxAccel;
}
}
return(steering);
}
// Use this for initialization
public override Steering GetSteering()
{
// Create the structure to hold our output
Steering steering = new Steering();
if (target == null)
{
enabled = false;
return(steering);
}
// Get the naive direction to the target
float rotation = target.transform.eulerAngles.y - agent.orientation;
//float rotation = target.transform.eulerAngles.y - transform.eulerAngles.y;
rotation += opposite ? 180 : 0;
// Map the result to the (-pi, pi) interval
rotation %= 360.0f;
if (rotation < -180 || rotation > 180)
{
rotation += rotation < -180 ? 360 : -360;
}
float rotationSize = Mathf.Abs(rotation);
//Check if we are there, return no steering
if (rotationSize < targetRadius)
{
return(steering);
}
float desiredRotation;
// If we are outside the slowRadius, then use
// maximun rotation
if (rotationSize > slowRadius)
{
desiredRotation = maxRotation;
}
// Otherwise calculate a scaled rotation
else
{
desiredRotation = maxRotation * rotationSize / slowRadius;
}
// The final target rotation cambines speed
// (already in the variable) and direction
desiredRotation *= rotation / rotationSize;
// Acceleration tries to get to the target rotation
steering.angular = desiredRotation - transform.eulerAngles.y;
steering.angular /= timeToTarget;
// Check if the acceleration is too great
angularAccel = Mathf.Abs(steering.angular);
if (angularAccel > agent.maxAngularAccel)
{
steering.angular /= angularAccel;
steering.angular *= agent.maxAngularAccel;
}
// Output the steering
// steering.linear = Vector3.zero;
return(steering);
}
