public static SteeringOutput GetSteering(KinematicState ownKS, GameObject repulsor, float scareRadius = 40f, float fleeWeight = 0.2f, string idTag = "BOID",
float cohesionThreshold = 40f, float repulsionThreshold = 10f,
float wanderRate = 10f)
{
SteeringOutput fleeOutput;
if ((ownKS.position - repulsor.transform.position).magnitude <= scareRadius)
{
fleeOutput = Flee.GetSteering(ownKS, repulsor);
}
else
{
fleeOutput = NULL_STEERING;
}
SteeringOutput result = Flocking.GetSteering(ownKS, idTag, cohesionThreshold, repulsionThreshold, wanderRate);
// beware, Flocking may return NULL_STEERING. In that case, just apply flee
if (result == NULL_STEERING)
{
return(fleeOutput);
}
result.linearAcceleration = result.linearAcceleration * (1 - fleeWeight) + fleeOutput.linearAcceleration * fleeWeight;
result.angularAcceleration = result.angularAcceleration * (1 - fleeWeight) + fleeOutput.angularAcceleration * fleeWeight;
return(result);
}
private static KinematicState surrogateKS; // kinematic state for surrogate target
public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
return(Flocking.GetSteering(this.ownKS, idTag, cohesionThreshold, repulsionThreshold, wanderRate));
}
/* other weight configurations:
* - 0.1 0.3 0.2 0.4
* - 0.1 0.25 0.25 0.4
* - 0.2 0.4 0.3 0.1
*
* Generally a low vm is enough.
* Generally rp must be higher than co and the rest, otherwise boids touch each other
*
*/
public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
SteeringOutput result = Flocking.GetSteering(this.ownKS, idTag, cohesionThreshold, repulsionThreshold, wanderRate, vmWeight, rpWeight, coWeight, wdWeight);
base.applyRotationalPolicy(rotationalPolicy, result, null);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS,
string idTag, float cohesionsThreshold, float repulsionThreshold, float wanderRate,
bool showWhishker, float lookAheadLength, float avoidDistance, float secondaryWhiskerAngle, float secondaryWhiskerRatio)
{
// give priority to obstacle avoidance
SteeringOutput so = ObstacleAvoidance.GetSteering(ownKS, showWhishker, lookAheadLength,
avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio);
if (so == null)
{
return(Flocking.GetSteering(ownKS, idTag, cohesionsThreshold, repulsionThreshold, wanderRate));
}
return(so);
}
public static SteeringOutput GetSteering(KinematicState ownKs, string idTag, float cohesionThreshold, float repulsionThreshold,
float wanderRate, float vmWeight, float rpWeight, float coWeight, float wdWeight,
GameObject target, float distance, float angle,
float kpWeight)
{
SteeringOutput fl = Flocking.GetSteering(ownKs, idTag, cohesionThreshold, repulsionThreshold,
wanderRate, vmWeight, rpWeight, coWeight, wdWeight);
SteeringOutput kp = KeepPosition.GetSteering(ownKs, target, distance, angle);
if (kp == NULL_STEERING)
{
return(fl);
}
fl.linearAcceleration = fl.linearAcceleration * (1 - kpWeight) + kp.linearAcceleration * kpWeight;
// fl.linearAcceleration = fl.linearAcceleration.normalized * ownKs.maxAcceleration;
return(fl);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject attractor, float seekWeight = 0.2f, string idTag = "BOID",
float cohesionThreshold = 40f, float repulsionThreshold = 10f,
float wanderRate = 10f,
float vmWeight = 0.08f, float rpWeight = 0.46f, float coWeight = 0.23f, float wdWeight = 023f)
{
SteeringOutput seekOutput = Seek.GetSteering(ownKS, attractor);
SteeringOutput result = Flocking.GetSteering(ownKS, idTag, cohesionThreshold, repulsionThreshold, wanderRate);
// beware, Flocking may return NULL_STEERING. In that case, just apply seek
if (result == NULL_STEERING)
{
return(seekOutput);
}
result.linearAcceleration = result.linearAcceleration * (1 - seekWeight) + seekOutput.linearAcceleration * seekWeight;
result.angularAcceleration = result.angularAcceleration * (1 - seekWeight) + seekOutput.angularAcceleration * seekWeight;
return(result);
}
