public override MovementOutput GetMovement()
{
MovementOutput steering = new MovementOutput();
// Percorrer cada canal
if (goal.hasOrientation)
{
// usar o DynamicAlign...
DynamicVelocityMatch da = new DynamicVelocityMatch()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
da.Target.orientation = goal.orientation;
steering.angular = da.GetMovement().angular;
}
if (goal.hasPosition)
{
// usar o DynamicSeek
DynamicArrive ds = new DynamicArrive()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration,
SlowRadius = 8.0f,
StopRadius = 4.0f
};
/* if (ds.Target.orientation > goal.orientation)
* {
* ds.Target.position += 0.1f;
* }
* else
* {
* ds.Target.position -= 0.1f;
* }*/
ds.Target.position = goal.position;
steering.linear = ds.GetMovement().linear;
}
// velocidades e possivelmente erros
steering.linear.Normalize();
steering.linear *= this.MaxAcceleration;
steering.angular *= this.MaxAcceleration;
steering.linear.y = 0.0f; // Failsafe
// Debug.Log("X->"+ Character.position.x + " Y->" + Character.position.y + " Z->" + Character.position.z);
// Debug.Log("Orientation->" + Character.orientation.ToString());
return(steering);
}
public override MovementOutput GetMovement()
{
MovementOutput steering = new MovementOutput();
// Percorrer cada canal
if (goal.hasOrientation)
{
// usar o DynamicAlign...
DynamicVelocityMatch da = new DynamicVelocityMatch()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
da.Target.orientation = goal.orientation;
steering.angular = da.GetMovement().angular;
}
if (goal.hasPosition)
{
// usar o DynamicSeek
DynamicArrive ds = new DynamicArrive()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration,
SlowRadius = 8.0f,
StopRadius = 4.0f
};
/* if (ds.Target.orientation > goal.orientation)
{
ds.Target.position += 0.1f;
}
else
{
ds.Target.position -= 0.1f;
}*/
ds.Target.position = goal.position;
steering.linear = ds.GetMovement().linear;
}
// velocidades e possivelmente erros
steering.linear.Normalize();
steering.linear *= this.MaxAcceleration;
steering.angular *= this.MaxAcceleration;
steering.linear.y = 0.0f; // Failsafe
// Debug.Log("X->"+ Character.position.x + " Y->" + Character.position.y + " Z->" + Character.position.z);
// Debug.Log("Orientation->" + Character.orientation.ToString());
return steering;
}
public override MovementOutput GetMovement()
{
MovementOutput steering = new MovementOutput();
// Percorrer cada canal
if (goal.hasOrientation)
{
// usar o DynamicAlign...
DynamicVelocityMatch da = new DynamicVelocityMatch()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
da.Target.orientation = goal.orientation;
steering.angular += da.GetMovement().angular;
}
if (goal.hasPosition)
{
// usar o DynamicSeek
DynamicSeek ds = new DynamicSeek()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
ds.Target.position = goal.position;
steering.linear += ds.GetMovement().linear;
}
// velocidades e possivelmente erros
steering.linear.Normalize();
steering.linear *= this.MaxAcceleration;
steering.angular *= this.MaxAcceleration;
return steering;
}
public override MovementOutput GetMovement()
{
MovementOutput steering = new MovementOutput();
// Percorrer cada canal
if (goal.hasOrientation)
{
// usar o DynamicAlign...
DynamicVelocityMatch da = new DynamicVelocityMatch()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
da.Target.orientation = goal.orientation;
steering.angular += da.GetMovement().angular;
}
if (goal.hasPosition)
{
// usar o DynamicSeek
DynamicSeek ds = new DynamicSeek()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
ds.Target.position = goal.position;
steering.linear += ds.GetMovement().linear;
}
// velocidades e possivelmente erros
steering.linear.Normalize();
steering.linear *= this.MaxAcceleration;
steering.angular *= this.MaxAcceleration;
return steering;
}
public void ManageAI(MovementAI ai, Rigidbody2D character)
{
Kinematic characterKinematic = KinematicAdapter.FromRigidbody2DToKinematic(character);
Kinematic targetKinematic = new Kinematic();
Algorithm algorithm = new DynamicNone();
switch (ai.aiAlgorithm)
{
case AIAlgorithm.DynamicSeek:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicSeek(characterKinematic, targetKinematic, ai.maxSpeed);
break;
case AIAlgorithm.DynamicFlee:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicFlee(characterKinematic, targetKinematic, ai.maxSpeed);
break;
case AIAlgorithm.DynamicArrive:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicArrive(characterKinematic, targetKinematic, ai.maxAcceleration, ai.maxSpeed, ai.targetRadius, ai.slowRadius, ai.timeToTarget);
break;
case AIAlgorithm.DynamicAlign:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicAlign(characterKinematic, targetKinematic, ai.maxRotation, ai.maxAngularAcceleration,
ai.targetRadius, ai.slowRadius, ai.timeToTarget);
break;
case AIAlgorithm.DynamicVelocityMatch:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicVelocityMatch(characterKinematic, targetKinematic, ai.maxAcceleration, ai.timeToTarget);
break;
}
SteeringOutput steering = algorithm.getSteering();
steering.Apply(characterKinematic, ai.lookWhereYoureGoing, ai.maxSpeed, Time.deltaTime);
KinematicAdapter.UpdateRigidbody2DWithKinematic(character, characterKinematic);
}
