/// <summary>
/// Physics Update
/// </summary>
void FixedUpdate()
{
foreach (GameObject agent in agents)
{
if (agent != null)
{
AgentPredictiveAvoidanceModel agentOther = agent.GetComponent <AgentPredictiveAvoidanceModel> ();
Rigidbody agentRigidBody = agent.GetComponent <Rigidbody> ();
Transform agentTransform = agent.GetComponent <Transform> ();
float idealWallDistance = agentOther.agentRadius + wallDistance;
float safe = idealWallDistance * idealWallDistance;
wall_normal = calc_wall_normal(agentTransform, box1);
Pair <Vector3, Vector3> line_p = calcWallPointsFromNormal(box1, wall_normal);
Vector3 n_w = agentTransform.position - closestPointLineSegment(line_p.First, line_p.Second, agentTransform.position);
//Debug.DrawLine (line_p.First, line_p.Second, Color.blue, 0.02f);
//Debug.DrawLine (new Vector3(5, 0, box1.zmin), new Vector3(5, 0, box1.zmax), Color.red, 0.02f);
float d_w = n_w.sqrMagnitude;
if (d_w < safe)
{
d_w = Mathf.Sqrt(d_w);
if (d_w > 0)
{
n_w /= d_w;
}
float distanceMinimumRadius = (d_w - agentOther.agentRadius) < 0.001f ? 0.001f : d_w - agentOther.agentRadius;
//Debug.Log("idealWallDistance: " + idealWallDistance);
//Debug.Log("d_w: " + d_w);
//Debug.Log("distanceMinimumRadius: " + distanceMinimumRadius);
//Debug.Log("n_w.magnitude: " + n_w.magnitude);
//Debug.Log("Final Magnitude: " + (idealWallDistance - d_w) / Mathf.Pow(distanceMinimumRadius, wallSteepness));
Vector3 drivingForce = (idealWallDistance - d_w) / Mathf.Pow(distanceMinimumRadius, wallSteepness) * n_w;
//Debug.DrawLine(agentTransform.position, agentTransform.position + drivingForce, Color.blue, 0.02f);
agentRigidBody.AddForce(drivingForce, ForceMode.Force);
// MELISSA check HERE
DistractedAgent distractionScript = agent.GetComponent <DistractedAgent>();
if (distractionScript != null)
{
distractionScript.PayAttention();
}
}
}
}
}
// Use this for initialization
void Start()
{
var agentAI = this.transform.GetComponent <Agent> ();
if (agentAI.GetAgentType() == "Normative")
{
NormativeAgent normativeAgentScript = GetComponent <NormativeAgent> ();
normativeAgentScript.SetTarget(target);
}
else if (agentAI.GetAgentType() == "Distracted")
{
DistractedAgent distractedAgentScript = GetComponent <DistractedAgent> ();
distractedAgentScript.SetTarget(target);
}
}
