void Avoid()
{
if (avoidanceStage == AvoidanceStage.Turn) //if turning
{
motor.Rotate(-1 * data.turnSpeed); //turn to the left
if (CanMove(data.moveSpeed * Time.deltaTime)) //if can move at current rotation
{
avoidanceStage = AvoidanceStage.Advance; //start advancing
exitTime = avoidanceTime; //set time to stay in advancing stage
}
}
else if (avoidanceStage == AvoidanceStage.Advance) //if advancing
{
if (CanMove(data.moveSpeed)) //if can move
{
exitTime -= Time.deltaTime; //update time
motor.Move(data.moveSpeed); //move forward
if (exitTime <= 0)
{
avoidanceStage = AvoidanceStage.Default; //if time is up, go back to default avoidance
}
}
else
{
avoidanceStage = AvoidanceStage.Turn; //if can't move, go back to turning
}
}
}
private void DoAvoid()
{
switch (avoidanceStage)
{
case AvoidanceStage.Rotate:
motor.Rotate(data.rotateSpeed);
if (CanMove(data.moveSpeed))
{
avoidanceStage = AvoidanceStage.Move;
exitTime = avoidanceTime;
}
break;
case AvoidanceStage.Move:
if (CanMove(data.rotateSpeed))
{
exitTime -= Time.deltaTime;
motor.Move(data.moveSpeed);
if (exitTime <= 0f)
{
avoidanceStage = AvoidanceStage.None;
}
}
else
{
avoidanceStage = AvoidanceStage.Rotate;
}
break;
}
}
//Flee from a target object [HAS OBSTACLE AVOIDANCE]
private void Flee(GameObject target)
{
//The vector from enemy to target is the difference of target pos. minus our pos.
Vector3 vectorToTarget = target.transform.position - tf.position;
//Get vector away from target (Flip by -1)
Vector3 vectorAwayFromTarget = -1 * vectorToTarget;
//Normalize away vector (sets to a magnitude of 1)
vectorAwayFromTarget.Normalize();
//Multiply direction to run (vectorAway) by how far away to run (flee distance)
vectorAwayFromTarget *= fleeDistance;
//Locate flee location point in space relative to our position to seek
Vector3 fleePosition = vectorAwayFromTarget + tf.position;
//Rotate towards the flee position
motor.RotateTowards(fleePosition, data.rotateSpeed);
//If I can move, move forward
if (CanMove(data.feelDistance))
{
motor.Move(data.moveSpeed);
}
//Else I can't move, avoid the obstacle
else
{
//Rotate until we can move
avoidanceStage = AvoidanceStage.Rotate;
}
}
private void Avoid()
{
if (avoidanceStage == AvoidanceStage.Rotate)
{
motor.Rotate(data.rotateSpeed);
if (CanMove(data.moveSpeed))
{
avoidanceStage = AvoidanceStage.Move;
exitTime = avoidanceTime;
}
}
if (avoidanceStage == AvoidanceStage.Move)
{
if (CanMove(data.moveSpeed))
{
exitTime -= Time.deltaTime;
motor.Move(data.moveSpeed);
if (exitTime <= 0.0f)
{
avoidanceStage = AvoidanceStage.None;
}
}
else
{
avoidanceStage = AvoidanceStage.Rotate;
}
}
}
void Chase(Vector3 tar)
{
motor.RotateTowards(tar, data.turnSpeed);//turn towards target
if (CanMove(data.moveSpeed))
{
motor.Move(data.moveSpeed); //if can move, then move
}
else
{
avoidanceStage = AvoidanceStage.Turn; //otherwise start avoidance
}
}
//Avoid whatever obstacle is in the way using Avoidance FSM
private void Avoid()
{
//FSM of avoidance states
switch (avoidanceStage)
{
//---NO AVOIDANCE STATE---
case AvoidanceStage.None:
//Do nothing
break;
//---ROTATE TO AVOID STATE---
case AvoidanceStage.Rotate:
//Begin rotating
motor.Rotate(data.rotateSpeed); //causes the tank to turn to the right each time
//If can move forward, change avoidance stage to Move
if (CanMove(data.moveSpeed))
{
//change avoidance stage to Move
avoidanceStage = AvoidanceStage.Move;
//Set exitTime
exitTime = avoidanceTime;
}
break;
//---MOVE TO AVOID STATE---
case AvoidanceStage.Move:
//If we can move, move until end of timer
if (CanMove(data.moveSpeed))
{
exitTime -= Time.deltaTime; //deduct time each frame
motor.Move(data.moveSpeed); //move the tank forward
//If timer has expired
if (exitTime <= 0)
{
//Change avoidance stage to none
avoidanceStage = AvoidanceStage.None;
}
}
//Else we can't move forward
else
{
//Change to avoidance stage Rotate
avoidanceStage = AvoidanceStage.Rotate;
}
break;
}
}
private void DoChase()
{
motor.RotateTowards(target.position, data.rotateSpeed);
if (CanMove(data.moveSpeed))
{
motor.Move(data.moveSpeed);
}
else
{
avoidanceStage = AvoidanceStage.Rotate;
}
}
public void Chase(GameObject target)
{
target = GameObject.FindWithTag("Player");
//Rotate towards player
motor.RotateTowards(target.GetComponent <Transform>().position, data.rotateSpeed);
if (CanMove(data.moveSpeed))
{
motor.Move(data.moveSpeed);
}
else
{
avoidanceStage = AvoidanceStage.Rotate;
}
}
private void Chase()
{
motor.RotateTowards(target.position, data.rotateSpeed);
//only move if we can.
if (CanMove(data.moveSpeed))
{
motor.Move(data.moveSpeed);
}
else
{
//rotate until we can move
avoidanceStage = AvoidanceStage.Rotate;
}
}
private void Chase(GameObject targetGameObject)
{
//TODO:Intergate obstcale avoidence
motor.RotateTowards(target.position, data.rotateSpeed);
//only move if we can.
if (CanMove(data.moveSpeed))
{
motor.Move(data.moveSpeed);
}
else
{
//rotate until we can move
avoidanceStage = AvoidanceStage.Rotate;
}
}
//Chase a target position
private void Chase()
{
//Face my target
motor.RotateTowards(target.position, data.rotateSpeed);
//If I can move, move forward
if (CanMove(data.moveSpeed))
{
motor.Move(data.moveSpeed);
}
//Else I can't move, avoid the obstacle
else
{
//Rotate until we can move
avoidanceStage = AvoidanceStage.Rotate;
}
}
public void Chase(GameObject target)
{
if (motor.RotateTowards(target.transform.position, data.turnSpeed))
{
//do nothing
}
else if (!CanMove(data.moveSpeed))
{
avoidanceStage = AvoidanceStage.ObstacleDetected;
}
else
{
if (Vector3.SqrMagnitude(transform.position - target.transform.position) >= (closeEnough * closeEnough))
{
motor.Move(data.moveSpeed);
}
shooter.Shoot();
}
}
public void Avoid()
{
if (avoidanceStage == AvoidanceStage.ObstacleDetected)
{
// Rotate left
motor.Rotate(-1 * data.turnSpeed);
// If can move forward, go to stage 2
if (CanMove(data.moveSpeed))
{
avoidanceStage = AvoidanceStage.AvoidingObstacle;
// Set number of seconds in timer before next stage
exitTime = avoidanceTime;
}
}
else if (avoidanceStage == AvoidanceStage.AvoidingObstacle)
{
// If can move forward, do so
if (CanMove(data.moveSpeed))
{
// Subtract from our timer and mover
exitTime -= Time.deltaTime;
motor.Move(data.moveSpeed);
// If we have moved long enough, return to chase mode
if (exitTime <= 0)
{
avoidanceStage = AvoidanceStage.NotAvoiding;
}
}
else
{
avoidanceStage = AvoidanceStage.ObstacleDetected;
}
}
// Turn to go around the obstacle
// Move forward for a period of time
// Attempt to go towards our target again
}
public void Avoid()
{
if (avoidanceStage == AvoidanceStage.ObstacleDetected)
{
// rotate left
motor.Rotate(-1 * data.turnSpeed);
// if can move forward move to stage 2
if (CanMove(data.moveSpeed))
{
avoidanceStage = AvoidanceStage.AvoidingObstacle;
//secods delayed in stage 2
exitTime = avoidanceTime;
}
}
else if (avoidanceStage == AvoidanceStage.AvoidingObstacle)
{
// if I can move forward do so
if (CanMove(data.moveSpeed))
{
//subtract from timer
exitTime -= Time.deltaTime;
motor.Move(data.moveSpeed);
//if we have moved long enough return to chase mode
if (exitTime <= 0)
{
avoidanceStage = AvoidanceStage.NotAvoiding;
}
}
else
{
avoidanceStage = AvoidanceStage.ObstacleDetected;
}
}
//attempt to go towards our target again
}
private void Avoid()
{
switch (avoidanceStage)
{
case AvoidanceStage.Rotate:
//Rotate
motor.Rotate(data.rotateSpeed);
//If there is nothing in the way...
if (CanMove(data.moveSpeed))
{
//Move
avoidanceStage = AvoidanceStage.Move;
exitTime = avoidanceTime;
}
break;
case AvoidanceStage.Move:
//If there is nothing in the way...
if (CanMove(data.rotateSpeed))
{
exitTime -= Time.deltaTime;
//Move forwards
motor.Move(data.moveSpeed);
if (exitTime <= 0f)
{
avoidanceStage = AvoidanceStage.None;
}
}
//Otherwise...
else
{
//Rotate
avoidanceStage = AvoidanceStage.Rotate;
}
break;
}
}
public void Avoid()
{
if (avoidanceStage == AvoidanceStage.ObstacleDetected)
{
// Rotate left
motor.Rotate(-1 * data.turnSpeed);
// If I can now move forward, move to stage 2!
if (CanMove(data.moveSpeed))
{
avoidanceStage = AvoidanceStage.AvoidingObstacle;
// Set the number of seconds we will stay in Stage2
exitTime = avoidanceTime;
}
}
else if (avoidanceStage == AvoidanceStage.AvoidingObstacle)
{
// if we can move forward, do so
if (CanMove(data.moveSpeed))
{
// Subtract from our timer and move
exitTime -= Time.deltaTime;
motor.Move(data.moveSpeed);
// If we have moved long enough, return to chase mode
if (exitTime <= 0)
{
avoidanceStage = AvoidanceStage.NotAvoiding;
}
}
else
{
avoidanceStage = AvoidanceStage.ObstacleDetected;
}
}
}
//Patrol a set of waypoints [HAS OBSTACLE AVOIDANCE]
public void Patrol()
{
//If currently turning to look at waypoint
if (motor.RotateTowards(waypoints[currentWayPoint].position, data.rotateSpeed))
{
//Do Nothing! Do not interrupt the rotating towards waypoint.
}
//Try to move forward or enter avoidance
else
{
//If I can move, move forward
if (CanMove(data.feelDistance))
{
motor.Move(data.moveSpeed);
}
//Else I can't move, avoid the obstacle
else
{
//Rotate until we can move
avoidanceStage = AvoidanceStage.Rotate;
}
}
//If close enough to the waypoint, progress onward.
if (Vector3.SqrMagnitude(waypoints[currentWayPoint].position - tf.position) < (closeEnough * closeEnough)) //Note: I think there may be issues with using SqrMagnitude, as the product of two decimals is smaller than its factors. Use numbers greater than 1
{
switch (loopType)
{
case LoopType.Stop:
//if next waypoint will not exceed the array (avoid index out of range)
if (currentWayPoint + 1 < waypoints.Length)
{
//Target next waypoint
currentWayPoint++;
}
break;
case LoopType.Loop:
//if next waypoint will not exceed the array (avoid index out of range)
if (currentWayPoint + 1 < waypoints.Length)
{
//Target next waypoint
currentWayPoint++;
}
//else, we are at end of waypoint list
else
{
currentWayPoint = 0; // return to first waypoint
}
break;
case LoopType.Pingpong:
//PingPong Forward
if (isPingpongForward == true)
{
//if next waypoint will not exceed the array (avoid index out of range)
if (currentWayPoint + 1 < waypoints.Length)
{
//Target next waypoint
currentWayPoint++;
}
//else, we are at end of waypoint list -> pingpong backwards now
else
{
isPingpongForward = false;
//if loop
currentWayPoint--; // return to first waypoint
}
}
//PingPong Backwards
else
{
//if next waypoint will not exceed the array beginning(avoid index out of range)
if (currentWayPoint - 1 >= 0)
{
//Target next reverse waypoint
currentWayPoint--;
}
//else, we are at start of waypoint list -> pingpong forwards now
else
{
isPingpongForward = true;
//if loop
currentWayPoint++; // return to first waypoint
}
}
break;
default:
Debug.Log("Loop type not implemented.");
break;
}
}
}
