public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target, float maxPredictionTime = 3f)
{
// we need to know the kinematic state of the target since we need to know its linear velocity
// if target has no kinematic state "give up" and just seek
KinematicState targetKS = target.GetComponent <KinematicState> ();
if (targetKS == null)
{
Debug.Log("Pursue invoked with a target that has no kinematic state attached. Resorting to Seek");
return(Seek.GetSteering(ownKS, target));
}
Vector3 directionToTarget = targetKS.position - ownKS.position;
float distanceToTarget = directionToTarget.magnitude;
float currentSpeed = ownKS.linearVelocity.magnitude;
// determine the time it will take to reach the target
float predictedTimeToTarget = distanceToTarget / currentSpeed;
if (predictedTimeToTarget > maxPredictionTime)
{
predictedTimeToTarget = maxPredictionTime;
}
// now determine future (at predicted time) location of target
Vector3 futurePositionOfTarget = targetKS.position + targetKS.linearVelocity * predictedTimeToTarget;
// create surrogate target and place it at future location
SURROGATE_TARGET.transform.position = futurePositionOfTarget;
// delegate to seek
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
// could also delegate to Arrive if overshooting is an issue...
}
public static SteeringOutput GetSteering(KinematicState ownKS, SObstacleAvoidance info)
{
Ray l_ray = new Ray(ownKS.m_position, ownKS.m_linearVelocity.normalized);
RaycastHit l_hitInfo;
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_avoidDistance))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) + info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) - info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
return(NULL_STEERING);
}
public static SteeringOutput GetSteering(KinematicState ownKS,
ref float targetOrientation,
float wanderRate = 30f,
float wanderRadius = 10f, float wanderOffset = 20f)
{
// change target orientation (change location of surrogate target on unit circle)
targetOrientation += wanderRate * Utils.binomial();
// place surrogate target on circle of wanderRadius
SURROGATE_TARGET.transform.position = Utils.OrientationToVector(targetOrientation) * wanderRadius;
// place circle "in front"
SURROGATE_TARGET.transform.position += ownKS.position + Utils.OrientationToVector(ownKS.orientation) * wanderOffset;
// show some gizmos before returning
Debug.DrawLine(ownKS.position,
ownKS.position + Utils.OrientationToVector(ownKS.orientation) * wanderOffset,
Color.black);
DebugExtension.DebugCircle(ownKS.position + Utils.OrientationToVector(ownKS.orientation) * wanderOffset,
new Vector3(0, 0, 1),
Color.red,
wanderRadius);
DebugExtension.DebugPoint(SURROGATE_TARGET.transform.position,
Color.black,
5f);
// Seek the surrogate target
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS, SArrive info)
{
Vector3 l_distanceToTarget = info.m_target.position - ownKS.m_position;
if (l_distanceToTarget.magnitude < info.m_closeEnoughRadius)
{
return(NULL_STEERING);
}
if (l_distanceToTarget.magnitude > info.m_slowDownRadius)
{
return(Seek.GetSteering(ownKS, info.m_target));
}
float l_desiredSpeed = ownKS.m_maxLinearSpeed * (l_distanceToTarget.magnitude / info.m_slowDownRadius);
Vector3 l_desiredVelocity = l_distanceToTarget.normalized * l_desiredSpeed;
Vector3 l_requiredAcceleration = (l_desiredVelocity - ownKS.m_linearVelocity) / info.m_timeToDesiredSpeed;
l_requiredAcceleration = MathExtent.Clip(l_requiredAcceleration, ownKS.m_maxLinearAcceleration);
SteeringOutput result = new SteeringOutput();
result.m_linearAcceleration = l_requiredAcceleration;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target)
{
SteeringOutput result = Seek.GetSteering(ownKS, target);
result.linearAcceleration = -result.linearAcceleration;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target, float RequiredDsitance, float DesiredAngle)
{
Vector3 DirectionFromTarget;
Vector3 DesiredPos;
Vector3 OrientationVector;
float targetOrientation = target.transform.eulerAngles.z;
// Compute direction to target
OrientationVector = Utils.OrientationToVector(targetOrientation + DesiredAngle);
DirectionFromTarget = ((ownKS.position - target.transform.position)).normalized;
DesiredPos = (target.transform.position + DirectionFromTarget * RequiredDsitance) + OrientationVector;
//Matriz de rotacion 2d
//DirectionFromTarget.y = OrientationVector.x * Mathf.Sin(Mathf.Deg2Rad * DesiredAngle) + OrientationVector.y * Mathf.Cos(Mathf.Deg2Rad * DesiredAngle);
//DirectionFromTarget.x = OrientationVector.x * Mathf.Cos(Mathf.Deg2Rad * DesiredAngle) - OrientationVector.y * Mathf.Sin(Mathf.Deg2Rad * DesiredAngle);
//DirectionFromTarget.Normalize();
if (My_KeepDistanceVersatile.surrogateTarget == null)
{
My_KeepDistanceVersatile.surrogateTarget = new GameObject("Dummy (Surrogate Target for keep distance)");
}
My_KeepDistanceVersatile.surrogateTarget.transform.position = DesiredPos;
return(Seek.GetSteering(ownKS, surrogateTarget));
}
public static SteeringOutput GetSteering(KinematicState ownKS, Transform target)
{
SteeringOutput result = Seek.GetSteering(ownKS, target);
result.m_linearAcceleration *= -1;
return(result);
}
protected override SteeringOutput GetSteering()
{
SteeringOutput result = Seek.GetSteering(m_ownKS, m_info.m_target);
base.ApplyFacingPolicy(m_info.m_facingPolicy, result);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS)
{
Vector3 l_direction = MathExtent.AngleToVector(ownKS.m_orientation);
SURROGATE_TARGET.position = ownKS.m_position + l_direction;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS, float seekWeight, ref SWander wanderInfo, SSeek seekInfo)
{
SteeringOutput seekSteering = Seek.GetSteering(ownKS, seekInfo.m_target);
SteeringOutput result = Wander.GetSteering(ownKS, ref wanderInfo);
result.m_linearAcceleration = result.m_linearAcceleration * (1f - seekWeight) + seekSteering.m_linearAcceleration * seekWeight;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target)
{
// invoke SEEK...
SteeringOutput result = Seek.GetSteering(ownKS, target);
// ... reverse direction and that's all
result.linearAcceleration = -result.linearAcceleration;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, ref SWander info)
{
info.m_targetOrientation += info.m_wanderRate * MathExtent.Binomial();
SURROGATE_TARGET.transform.position = MathExtent.AngleToVector(info.m_targetOrientation) * info.m_wanderRadius;
SURROGATE_TARGET.transform.position += ownKS.m_position + MathExtent.AngleToVector(ownKS.m_orientation) * info.m_wanderOffset;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS)
{
// just "seek" your own direction
Vector3 myDirection = Utils.OrientationToVector(ownKS.orientation);
SURROGATE_TARGET.transform.position = ownKS.position + myDirection;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject attractor, float seekWeight,
ref float targetOrientation, float wanderRate = 30f,
float wanderRadius = 10f, float wanderOffset = 20f)
{
SteeringOutput seekOutput = Seek.GetSteering(ownKS, attractor);
SteeringOutput result = Wander.GetSteering(ownKS, ref targetOrientation, wanderRate, wanderRadius, wanderOffset);
result.linearAcceleration = result.linearAcceleration * (1 - seekWeight) + seekOutput.linearAcceleration * seekWeight;
// result.angularAcceleration = result.angularAcceleration * (1 - seekWeight) + seekOutput.angularAcceleration * seekWeight;
return(result);
}
public override SteeringOutput GetSteering()
{
SteeringOutput result = Seek.GetSteering(this.ownKS, this.target);
if (ownKS.linearVelocity.magnitude > 0.001f)
{
transform.rotation = Quaternion.Euler(0, VectorToOrientation(ownKS.linearVelocity), 0);
ownKS.orientation = transform.rotation.eulerAngles.y;
}
result.angularActive = false;
return(result);
}
public static SteeringOutput GetSteering(KinematicState me, SKeepPosition info)
{
float targetOrientation = info.m_target.transform.eulerAngles.y;
targetOrientation += info.m_requiredAngle;
Vector3 finalTargetPosition = MathExtent.AngleToVector(targetOrientation).normalized;
finalTargetPosition *= info.m_requiredDistance;
SURROGATE_TARGET.position = info.m_target.position + finalTargetPosition;
return(Seek.GetSteering(me, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS, SSimpleObstacleAvoidance info)
{
Ray l_ray = new Ray(ownKS.m_position, ownKS.m_linearVelocity.normalized);
RaycastHit l_hitInfo;
if (!Physics.Raycast(l_ray, out l_hitInfo, info.m_avoidDistance))
{
return(NULL_STEERING);
}
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS, SIntercept info)
{
if (info.m_targetLinearVelocity == null)
{
return(NULL_STEERING);
}
float l_predictedTimeToTarget = (info.m_target.position - ownKS.m_position).magnitude / ownKS.m_linearVelocity.magnitude;
l_predictedTimeToTarget = MathExtent.Clip(l_predictedTimeToTarget, info.m_maxPredictionTime);
SURROGATE_TARGET.position = info.m_target.position + (info.m_targetLinearVelocity * l_predictedTimeToTarget);
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
if (this.target == null)
{
Debug.Log("Null target in Seek of " + this.gameObject);
}
return(Seek.GetSteering(this.ownKS, this.target));
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target,
float targetRadius = 5f, float slowDownRadius = 20f, float timeToDesiredSpeed = 0.1f)
{
SteeringOutput steering = new SteeringOutput();
Vector3 directionToTarget;
float distanceToTarget;
float desiredSpeed;
Vector3 desiredVelocity;
Vector3 requiredAcceleration;
// compute direction and distance to target
directionToTarget = target.transform.position - ownKS.position;
distanceToTarget = directionToTarget.magnitude;
// if we're already there, no steering required
if (distanceToTarget < targetRadius)
{
return(null);
}
// if we're are far away from target, let's go with full acceleration (SEEK)
// if we're getting closer speed has to be inversely proportional to distance
if (distanceToTarget > slowDownRadius)
{
return(Seek.GetSteering(ownKS, target));
}
// if we're getting closer speed has to be inversely proportional to distance
desiredSpeed = ownKS.maxSpeed * (distanceToTarget / slowDownRadius);
// desired velocity is towards the target
desiredVelocity = directionToTarget.normalized * desiredSpeed;
// compute the acceleration required to get desiredVelocity in timeToDesiredSpeed
// take into account that we already have a velocity
requiredAcceleration = (desiredVelocity - ownKS.linearVelocity) / timeToDesiredSpeed;
// if required acceleration is too high, clip it
if (requiredAcceleration.magnitude > ownKS.maxAcceleration)
{
requiredAcceleration = requiredAcceleration.normalized * ownKS.maxAcceleration;
}
steering.linearAcceleration = requiredAcceleration;
return(steering);
}
public static SteeringOutput GetSteering(KinematicState ownKS, ref float targetOrientation, float wanderRate, float wanderRadius, float wanderOffset)
{
targetOrientation += wanderRate * (Random.value - Random.value);
if (surrogateTarget)
{
surrogateTarget.transform.position = OrientationToVector(targetOrientation) * wanderRadius;
}
if (surrogateTarget)
{
surrogateTarget.transform.position += ownKS.position + OrientationToVector(ownKS.orientation) * wanderOffset;
}
return(Seek.GetSteering(ownKS, surrogateTarget));
}
public static SteeringOutput GetSteering(KinematicState ownKS)
{
// just "seek" your own direction
if (GoWhereYouLook.surrogateTarget == null)
{
GoWhereYouLook.surrogateTarget = new GameObject("Surrogate target for go where you look");
}
Vector3 myDirection = Utils.OrientationToVector(ownKS.orientation);
GoWhereYouLook.surrogateTarget.transform.position = ownKS.position + myDirection;
return(Seek.GetSteering(ownKS, surrogateTarget));
}
public override SteeringOutput GetSteering()
{
SteeringOutput seekOutput = Seek.GetSteering(ownKS, attractor);
SteeringOutput result = base.GetSteering();
// beware, Flocking may return null. In that case, just apply seek
if (result == null)
{
return(seekOutput);
}
result.linearAcceleration = result.linearAcceleration * (1 - seekWeight) + seekOutput.linearAcceleration * seekWeight;
result.angularAcceleration = result.angularAcceleration * (1 - seekWeight) + seekOutput.angularAcceleration * seekWeight;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, Path path, ref int currentWaypointIndex, float wayPointReachedRadius)
{
// path shouldn't be neither null nor erroneous
if (path == null)
{
Debug.LogError("PathFollowing invoked with null path");
return(NULL_STEERING);
}
if (path.error)
{
Debug.LogError("PathFollowing invoked with null path");
return(NULL_STEERING);
}
// if currentWaypoint is not valid, end of path has been reached
if (path.vectorPath.Count == currentWaypointIndex)
{
return(NULL_STEERING);
}
// if we're "close" to the current waypoint try going to the next one
float distance = (ownKS.position - path.vectorPath[currentWaypointIndex]).magnitude;
if (distance <= wayPointReachedRadius)
{
currentWaypointIndex++;
}
if (path.vectorPath.Count == currentWaypointIndex)
{
return(NULL_STEERING);
}
SURROGATE_TARGET.transform.position = path.vectorPath[currentWaypointIndex];
if (currentWaypointIndex == path.vectorPath.Count - 1)
{
// use arrive for the last waypoint
return(Arrive.GetSteering(ownKS, SURROGATE_TARGET, wayPointReachedRadius / 2, wayPointReachedRadius * 2));
}
else
{
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
}
public static SteeringOutput GetSteering(KinematicState ownKS, string tag, float cohesionThreshold = 20f)
{
Vector3 centerOfMass = Vector3.zero;
int count = 0;
float distanceToMate;
// get all your mates (potential targets)
GameObject [] mates = GameObject.FindGameObjectsWithTag(tag);
// iterate to compute center of mass
for (int i = 0; i < mates.Length; i++)
{
// skip yourself...
if (mates [i] == ownKS.gameObject)
{
continue;
}
// Only consider close mates. Disregard far ones
distanceToMate = (mates[i].transform.position - ownKS.position).magnitude;
if (distanceToMate < cohesionThreshold)
{
centerOfMass = centerOfMass + mates [i].transform.position;
count++;
}
}
if (count == 0)
{
return(null);
}
centerOfMass = centerOfMass / count;
// generate a surrogate target and delegate to seek or arrive...
if (surrogateTarget == null)
{
surrogateTarget = new GameObject("Surrogate target for cohesion");
}
surrogateTarget.transform.position = centerOfMass;
return(Seek.GetSteering(ownKS, surrogateTarget));
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target, float RequiredDsitance)
{
Vector3 DirectionFromTarget;
Vector3 DesiredPos;
// Compute direction to target
DirectionFromTarget = (ownKS.position - target.transform.position).normalized;
DesiredPos = target.transform.position + DirectionFromTarget * RequiredDsitance;
if (My_Keep_Distance.surrogateTarget == null)
{
My_Keep_Distance.surrogateTarget = new GameObject("Dummy (Surrogate Target for Pursue)");
}
My_Keep_Distance.surrogateTarget.transform.position = DesiredPos;
return(Seek.GetSteering(ownKS, surrogateTarget));
}
public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
if (this.target == null)
{
Debug.Log("Null target in Seek of " + this.gameObject);
}
SteeringOutput result = Seek.GetSteering(this.ownKS, this.target);
base.applyRotationalPolicy(rotationalPolicy, result, this.target);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target,
float requieredDistance, float alpha)
{
// Y axis of the target
Vector3 targetUp = target.transform.up;
// We rotate the Y vector alpha angles on the Z axis
Vector3 rotatedDir = Quaternion.Euler(0, 0, alpha) * targetUp;
// We add the position of the target to the direction multiplied
// by the distance to keep from the target
Vector3 desiredPos = target.transform.position + (rotatedDir * requieredDistance);
if (KeepDistanceVersatile.surrogateTarget == null)
{
KeepDistanceVersatile.surrogateTarget = new GameObject("surrogateee");
}
KeepDistanceVersatile.surrogateTarget.transform.position = desiredPos;
return(Seek.GetSteering(ownKS, surrogateTarget));
}
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);
}
public static SteeringOutput GetSteering(KinematicState me, GameObject target, float distance, float angle)
{
// get the target's orientation (as an angle)...
float targetOrientation = target.transform.rotation.eulerAngles.z;
// ... add the required angle
float requiredOrientation = targetOrientation + angle;
// convert the orientation into a direction (convert from angle to vector)
Vector3 requiredDirection = Utils.OrientationToVector(requiredOrientation).normalized;
// determine required position
Vector3 requiredPosition = target.transform.position + requiredDirection * distance;
// place surrogate target in required position
SURROGATE_TARGET.transform.position = requiredPosition;
return(Seek.GetSteering(me, SURROGATE_TARGET));
//return Arrive.GetSteering(me, SURROGATE_TARGET, 2, 5);
}
