public Vector3 SteeringArrive(GameObject target, float timeStep)
{
float dist = (target.transform.position - character.transform.position).magnitude;
//in the inner radius, stop
if (dist < ArrivalRadius)
{
_characterVelocity = Vector3.zero;
hasArrived = true;
}
else if (dist < SlowDownRadius)
{
Vector3 desiredVel = target.transform.position - character.transform.position;
float distance = desiredVel.magnitude;
float mag = AdditionalVector3Tools.map(distance, 0, 50, 0, MaxSpeed);
//CharacterVelocity = mag*desiredVel*timeStep;
_characterVelocity = Vector3.Lerp(_characterVelocity, Vector3.zero, timeStep);
hasArrived = true;
}
else if ((target.transform.position - character.transform.position).magnitude > SlowDownRadius)
{
hasArrived = false;
}
return(_characterVelocity);
}
public void Align2(float targetOrientation, float timeStep)
{
float rotation = targetOrientation - character.transform.rotation.eulerAngles.y;
rotation = AdditionalVector3Tools.mapAngleToRange(rotation);
Vector3 charAngles = character.transform.rotation.eulerAngles;
float rotationSize = Mathf.Abs(Mathf.Abs(targetOrientation) - Mathf.Abs(transform.rotation.eulerAngles.y));
//if we are within the range of satisfaction, stop rotating and return the targets rotation
if (rotation < slowDownOrientation)
{
charAngles.y = targetOrientation;
character.transform.rotation = Quaternion.Euler(charAngles);
return;
}
float sign = Mathf.Sign(rotation);
float goalVelocity = (sign * maxAngularVelocity) * (rotation * sign) / (sign * slowDownOrientation);
float angularAcceleration = (goalVelocity - characterAngularVelocity) / timeToTarget;
float angle = charAngles.y;
if (Mathf.Abs(angularAcceleration) < Mathf.Abs(maxAngularAcceleration))
{
characterAngularVelocity = characterAngularVelocity + angularAcceleration * timeStep;
}
else
{
characterAngularVelocity = (sign) * angularAcceleration;
}
if (characterAngularVelocity < maxAngularVelocity)
{
charAngles.y = angle + characterAngularVelocity * timeStep;
character.transform.rotation = Quaternion.Euler(charAngles);
return;
}
}
void Align(float targetOrientation, float timeStep)
{
float rotation = targetOrientation - character.transform.rotation.eulerAngles.y;
rotation = AdditionalVector3Tools.mapAngleToRange(rotation);
Vector3 charRotation = character.transform.rotation.eulerAngles;
//if we are within the range of satisfaction, stop rotating and return the targets rotation
if (Mathf.Abs(Mathf.Abs(targetOrientation) - Mathf.Abs(transform.rotation.eulerAngles.y)) < satisfactionRotation)
{
charRotation.y = targetOrientation;
character.transform.rotation = Quaternion.Euler(charRotation);
return;
}
//rotation sign
float sign = Mathf.Sign(rotation);
//now we compute the goal angular velocity
float goalVelocity = (sign * maxAngularVelocity) * rotation / (sign * slowDownOrientation);
//current character velocity
float currCharVelocity = Vector3.Magnitude(character.rigidbody.velocity);
//compute the angular acceleration
float angularAcceleration = (goalVelocity - currCharVelocity) / timeToTarget;
if (Mathf.Abs(angularAcceleration) > Mathf.Abs(maxAngularAcceleration))
{
angularAcceleration = maxAngularAcceleration * sign;
}
//ensure angular velocity sign is the same as rotation
if (Mathf.Sign(maxAngularVelocity) != sign)
{
angularVelocity *= sign;
}
angularVelocity += angularAcceleration * timeStep;
if (Mathf.Abs(angularVelocity) > maxAngularVelocity)
{
angularVelocity = Mathf.Abs(maxAngularVelocity) * sign;
}
charRotation.y = character.transform.rotation.eulerAngles.y + angularVelocity * timeStep;
character.transform.rotation = Quaternion.Euler(charRotation);
}
public Vector3 SteeringFlee(Vector3 target, float timeStep)
{
// FixRotation();
characterAcceleration = (character.transform.position - target);
characterAcceleration.y = 0;
characterAcceleration = Vector3.Normalize(characterAcceleration) * maxAcceleration;
_characterVelocity = _characterVelocity + (characterAcceleration * timeStep);
_characterVelocity = AdditionalVector3Tools.Limit(_characterVelocity, MaxSpeed);
return(_characterVelocity);
}
public void SteeringFlee()
{
characterAcceleration = (character.transform.position - _targetGameObject.transform.position);
characterAcceleration.y = 0;
characterAcceleration = Vector3.Normalize(characterAcceleration) * maxAcceleration;
_characterVelocity = _characterVelocity + (characterAcceleration * Time.fixedDeltaTime);
_characterVelocity = AdditionalVector3Tools.Limit(_characterVelocity, MaxSpeed);
flattenYtoZero();
rigidbody.velocity = _characterVelocity;
}
public void SteeringFlee(Transform target)
{
//get the direction of the target and normalize it
characterAcceleration = (character.transform.position - target.transform.position).normalized;
characterAcceleration *= maxAcceleration;
_characterVelocity = _characterVelocity + (characterAcceleration * Time.fixedDeltaTime);
_characterVelocity = AdditionalVector3Tools.Limit(_characterVelocity, MaxSpeed);
//FixRotation();
flattenYtoZero();
character.rigidbody.velocity = _characterVelocity;
}
public Vector3 SteeringSeek(Vector3 targetPos, float timeStep)
{
if (!hasArrived)
{
// FixRotation();
characterAcceleration = (targetPos - character.transform.position);
characterAcceleration.y = 0;
characterAcceleration = Vector3.Normalize(characterAcceleration) * maxAcceleration;
_characterVelocity = _characterVelocity + (characterAcceleration * timeStep);
//current velocity + desiredAcceleration* time
_characterVelocity = AdditionalVector3Tools.Limit(_characterVelocity, MaxSpeed);
}
return(_characterVelocity);
}
