public override Direccion GetDireccion()
{
Direccion result = new Direccion();
UnityEngine.Vector3 direction;
if (f.getOnTarget())
{
return(result);
}
foreach (Flocking target in FindObjectsOfType <Flocking>())
{
if (target != this)
{
direction = -1 * (target.transform.position - transform.position);
float distance = direction.magnitude;
if (distance < threshold)
{
// strange of repulsion
float strength = UnityEngine.Mathf.Min(decayCoefficient / (distance * distance), maxAcceleration);
direction.Normalize();
result.lineal += strength * direction;
}
}
}
return(result);
}
public override Direccion GetDireccion()
{
Direccion result = new Direccion();
if (f.getOnTarget())
{
return(result);
}
UnityEngine.Vector3 ray = agente.velocidad;
ray.Normalize();
ray *= lookAhead;
UnityEngine.RaycastHit hit;
//COLLISION
if (UnityEngine.Physics.Raycast(transform.position, ray, out hit))
{
result.lineal = hit.collider.gameObject.transform.position + hit.normal * avoidDistance;
}
//result.lineal.y = 0;
return(result);
}
public override Direccion GetDireccion()
{
Direccion result = new Direccion();
if (f.getOnTarget())
{
return(result);
}
Flocking firstTarget = null;
float shortestTime = float.MaxValue;
float firstMinSeparation = 0;
float firstDistance = 0;
float relativeSpeed;
float timeToCollision;
float distance;
UnityEngine.Vector3 relativePos = UnityEngine.Vector3.zero;
UnityEngine.Vector3 relativeVel = UnityEngine.Vector3.zero;
UnityEngine.Vector3 firstRelativePos = UnityEngine.Vector3.zero;
UnityEngine.Vector3 firstRelativeVel = UnityEngine.Vector3.zero;
foreach (Flocking target in FindObjectsOfType <Flocking>())
{
if (target != this)
{
// TIME TO COLLISION
relativePos = (target.transform.position - transform.position);
relativeVel = target.GetAgente().velocidad - agente.velocidad;
relativeSpeed = relativeVel.magnitude;
timeToCollision = UnityEngine.Vector3.Dot(relativePos, relativeVel) / (relativeSpeed * relativeSpeed);
//CHECK IF COLLISION
distance = relativePos.magnitude;
float minSeparation = distance - relativeSpeed * timeToCollision;
if (minSeparation < 2 * radius)
{
return(result); // If not collision, return previous result from class Separation
}
//CHECK IF SHORTEST
if (timeToCollision > 0 && timeToCollision < shortestTime)
{
shortestTime = timeToCollision;
firstTarget = target;
firstMinSeparation = minSeparation;
firstDistance = distance;
firstRelativePos = relativePos;
firstRelativeVel = relativeVel;
}
}
}
//IF NO TARGET, EXIT
if (!firstTarget)
{
return(result);
}
//IF CURRENT OR FUTURE COLLISION, STEERING
if (firstMinSeparation <= 0 || firstDistance < 2 * radius)
{
relativePos = firstTarget.transform.position - transform.position;
}
else
{
relativePos = firstRelativePos + (firstRelativeVel * shortestTime);
}
relativePos.Normalize();
result.lineal = relativePos * maxAcceleration;
result.angular = 0;
return(result);
}