private void GetBreakDesire()
{
_breakDesire.GetFunction("Break").Fuzzy = (Logic.OR(Logic.OR(Logic.AND(_velocity.IS("Alta"), _distance.IS("Perto")), Logic.AND(_velocity.IS("Media"), _distance.IS("Perto"))), _distance.IS("Muito Perto")));
_breakDesire.GetFunction("Dont").Fuzzy = (Logic.OR(_velocity.IS("Baixa"), _distance.IS("Longe")));
float __defuzzy = _breakDesire.Defuzzyfication(0.01f);
Debug.Log("Break: " + _breakDesire.GetFunction("Break").Fuzzy + " | Dont: " + _breakDesire.GetFunction("Dont").Fuzzy + " | Defuzzy: " + __defuzzy);
if (_breakDesire.GetFunction("Break").Fuzzy >= 0.85f)
{
AccForce = -1 * (_breakDesire.GetFunction("Break").Fuzzy) + 0.12f;
}
else if (_breakDesire.GetFunction("Break").Fuzzy < 0.85f && _breakDesire.GetFunction("Dont").Fuzzy >= 0.2f)
{
AccForce = 1 * _breakDesire.GetFunction("Dont").Fuzzy + 0.25f;
}
else
{
AccForce = 1;
}
//float __percentage;
//if (__defuzzy <= 0.2f)
//{
// __percentage = 1 * (0.2f / __defuzzy);
// AccForce = -__percentage;
//}
//else
//{
// __percentage = 1 * __defuzzy / 0.8f;
// AccForce = __percentage;
//}
}