// Update is called once per frame
public KinematicSteeringOutput updateSteering(DynoSteering ds, float time)
{
position = this.transform.position;
steering = new KinematicSteeringOutput();
// make Updates
position += velc * time;
orientation += rotation * time;
velc += ds.force * time;
orientation += ds.torque * time;
if (velc.magnitude > sp.MAXSPEED)
{
velc.Normalize();
velc = velc * sp.MAXSPEED;
}
steering.position = position;
steering.orientation = orientation;
return(steering);
}
// Update is called once per frame
void Update()
{
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
seeking_output = arrive.getSteering();
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
if (dynoAlign && dynoAlign.enabled)
{
ds = dynoAlign.getSteering();
}
else
{
float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
char_kinematic.setOrientation(new_orient);
char_kinematic.setRotation(0f);
}
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
if (recordLogs && logWriter && logWriter.enabled)
{
logWriter.Write(char_kinematic.getVelocity().magnitude.ToString());
}
}
// Update is called once per frame
public DynoSteering getSteering()
{
ds = new DynoSteering();
goal = goalObject.getGoal();
direction = goal.position - transform.position;
distance = direction.magnitude;
if (distance > slowRadius)
{
targetSpeed = sp.MAXSPEED;
}
else
{
targetSpeed = sp.MAXSPEED * distance / slowRadius;
}
targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity = targetVelocity * targetSpeed;
ds.force = targetVelocity - charRigidBody.getVelocity();
ds.force = ds.force / time_to_target;
if (ds.force.magnitude > sp.MAXACCEL)
{
ds.force.Normalize();
ds.force = ds.force * sp.MAXACCEL;
}
ds.torque = 0f;
return(ds);
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
ds.torque = align.getSteering().torque;
// Decide on behavior
//seeking_output = seek.updateSteering();
seeking_output = arrive.getSteering();
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
//float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
//char_kinematic.setOrientation(new_orient);
//char_kinematic.setRotation(0f);
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
//Logger.instance.WriteToFileKinematic("speed: " + char_kinematic.getVelocity().magnitude + " time: " + Time.time);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds = arrive.getSteering();
// Update Kinematic Steering
char_RigidBody.AddForce(ds.force * 20);
char_RigidBody.AddTorque(new Vector3(0f, ds.torque * Mathf.Rad2Deg, 0f));
}
// Update is called once per frame
public DynoSteering getSteering()
{
steering = new DynoSteering();
goal = goalObject.getGoal();
steering.force = goal.position - transform.position;
steering.force.Normalize();
steering.force = steering.force * sp.MAXACCEL;
steering.torque = 0f;
return(steering);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
//public virtual DynoSteering getSteering();
// Update is called once per frame
public DynoSteering getSteering()
{
goal = goalObject.getGoal();
ds = new DynoSteering();
//goal.position - transform.position;
targetOrientation = charRigidBody.getNewOrientation(goal.position - transform.position);
//rotation = goal.eulerAngles;
rotation = targetOrientation - charRigidBody.getOrientation();
rotation = Kinematic.mapToRange(rotation);
rotationSize = Mathf.Abs(rotation);
if (rotationSize < goalRadius)
{
return(ds);
}
// if we're outside the slow Radius
if (rotationSize > slowRadius)
{
targetRotation = sp.MAXROTATION;
}
else
{
targetRotation = sp.MAXROTATION * rotationSize / slowRadius;
}
// Final target rotation combines speed (already in variable) with rotation direction
targetRotation = targetRotation * rotation / rotationSize;
ds.torque = targetRotation - charRigidBody.getRotation();
ds.torque = ds.torque / time_to_target;
angularAcceleration = Mathf.Abs(ds.torque);
if (angularAcceleration > sp.MAXANGULAR)
{
ds.torque = ds.torque / angularAcceleration;
ds.torque = ds.torque * sp.MAXANGULAR;
}
Logger.instance.WriteToFileDynamic("angular acceleration: " + angularAcceleration + " time: " + Time.time);
return(ds);
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
//seeking_output = seek.getSteering();
//seeking_output = arrive.getSteering();
//char_kinematic.setVelocity(seeking_output.velc);
//// Manually set orientation for now
//float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
//char_kinematic.setOrientation(new_orient);
//char_kinematic.setRotation(0f);
Vector3 acceleration = wander.getSteering();
ds.force = acceleration;
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
Vector2 direction = new Vector2(char_kinematic.getVelocity().x, char_kinematic.getVelocity().z);
float turnSpeed = 20.0f;
direction.Normalize();
// If we have a non-zero direction then look towards that direciton otherwise do nothing
if (direction.sqrMagnitude > 0.001f)
{
float toRotation = (Mathf.Atan2(direction.x, direction.y) * Mathf.Rad2Deg);
float rotation = Mathf.LerpAngle(transform.rotation.eulerAngles.y, toRotation, Time.deltaTime * turnSpeed);
transform.rotation = Quaternion.Euler(0, rotation, 0);
}
// transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
// Update is called once per frame
public DynoSteering getSteering()
{
ds = new DynoSteering();
goal = goalObject.getGoal();
direction = goal.position - transform.position;
distance = direction.magnitude;
if (distance < goalRadius)
{
//goalSwitcher.SwitchGoal();
//Reactivate wander
GetComponent <DynoWander>().setWanderState(true);
goalSwitcher.SetGoal(GetComponent <DynoWander>().goal.gameObject);
}
if (distance > slowRadius)
{
targetSpeed = sp.MAXSPEED;
}
else
{
targetSpeed = sp.MAXSPEED * distance / slowRadius;
}
targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity = targetVelocity * targetSpeed;
ds.force = targetVelocity - charRigidBody.getVelocity();
ds.force = ds.force / time_to_target;
if (ds.force.magnitude > sp.MAXACCEL)
{
ds.force.Normalize();
ds.force = ds.force * sp.MAXACCEL;
}
ds.torque = 0f;
return(ds);
}
private void kinematicSeekBehavior()
{
ds = new DynoSteering();
// Decide on behavior
seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
char_kinematic.setOrientation(new_orient);
char_kinematic.setRotation(0f);
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds_force = arrive.getSteering();
//ds_force = wander.getSteering();
ds_torque = align.getSteering();
//ds_torque = wander.getSteering();
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
//Logger.instance.WriteToFileDynamic("speed: " + char_RigidBody.getVelocity().magnitude + " time: " + Time.time);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
if (recordLogs && logWriter && logWriter.enabled)
{
logWriter.Write(char_RigidBody.getVelocity().magnitude.ToString());
}
}
// Update is called once per frame
void Update()
{
if (isWandering)
{
//CheckForWallAndTakeDecision();
}
if (isWandering)
{
GetWanderGoal();
ds_force = arrive.getSteering();
ds = align.getSteering();
ds.force = ds_force.force;
}
else
{
KinematicSteering ks = kinematicArrive.getSteering();
char_RigidBody.setVelocity(ks.velc);
//instantly set rotation
float new_orient = char_RigidBody.getNewOrientation(ds_force.force);
char_RigidBody.setOrientation(new_orient);
char_RigidBody.setRotation(0f);
}
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
float rotation = kso.orientation * Mathf.Rad2Deg;
transform.rotation = Quaternion.Euler(0f, rotation, 0f);
if (!isWandering && (arrive.HasArrived() || kinematicArrive.HasArrived()))
{
isWandering = true;
}
}
// Update is called once per frame
void Update()
{
//Check for click
if (Input.GetMouseButtonDown(0))
{
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (Physics.Raycast(ray, out hit, Mathf.Infinity, LayerMask.GetMask("Floor")))
{
//Get Path
Vector3 destination = hit.collider.transform.position;
Vector3 start = transform.position;
path = levelManager.GetShortestPath(start, destination);
currentGoal = 0;
isLastGoal = false;
if (finalGoal)
{
finalGoal.GetComponent <Renderer>().material = defaultMaterial;
}
finalGoal = hit.collider.gameObject;
finalGoal.GetComponent <Renderer>().material = selected;
}
}
//Update goal positions
if (currentGoal < path.Count)
{
if (seek.HasArrived())
{
goalObject.transform.position = path[currentGoal];
goal.setGoal(goalObject);
currentGoal++;
if (currentGoal == path.Count)
{
isLastGoal = true;
}
}
}
// Decide on behavior
if (isLastGoal)
{
ds_force = arrive.getSteering();
}
else
{
ds_force = seek.getSteering();
}
ds_torque = align.getSteering();
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
if (recordLogs && logWriter && logWriter.enabled)
{
logWriter.Write(char_RigidBody.getVelocity().magnitude.ToString());
}
}
