public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
return(ArrivePlusAvoid.GetSteering(ownKS, target, closeEnoughRadius, slowDownRadius, timeToDesiredSpeed,
showWhisker, lookAheadLength, avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio));
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target, float distance = 10.0f, float slowRadius = 20.0f,
float disredSpeed = 0.1f, bool showWhishker = true, float lookAheadLength = 10f, float avoidDistance = 10f, float secondaryWhiskerAngle = 30f, float secondaryWhiskerRatio = 0.7f,
string tag = "REPULSIVE", float repulsionTh = 8.0f, float repulsionWeight = 0.5f)
{
SteeringOutput linearRepulsion = LinearRepulsion.GetSteering(ownKS, tag, repulsionTh);
SteeringOutput arrive = ArrivePlusAvoid.GetSteering(ownKS, target, distance, slowRadius, disredSpeed, showWhishker, lookAheadLength, avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio);
SteeringOutput result = new SteeringOutput();
if (linearRepulsion == NULL_STEERING)
{
return(arrive);
}
else if (arrive == NULL_STEERING)
{
return(linearRepulsion);
}
result.linearAcceleration = arrive.linearAcceleration * (1 - repulsionWeight) + linearRepulsion.linearAcceleration * repulsionWeight;
return(result);
}
public override SteeringOutput GetSteering()
{
SteeringOutput result = ArrivePlusAvoid.GetSteering(ownKS, target, closeEnoughRadius, slowDownRadius, timeToDesiredSpeed, lookAheadLength, avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio, avoidLayers, scanner, repulsionTag, repulsionThreshold, arriveWeight);
if (!surrogateTarget)
{
return(null);
}
if (ownKS.linearVelocity.magnitude > 0.001f)
{
surrogateTarget.transform.rotation = Quaternion.Euler(0, 0, VectorToOrientation(ownKS.linearVelocity));
SteeringOutput st = Align.GetSteering(ownKS, surrogateTarget);
result.angularAcceleration = st.angularAcceleration;
result.angularActive = st.angularActive;
}
else
{
result.angularActive = false;
}
return(result);
}
