private void scaledMap()
{
foreach (Vector3 target in targets)
{
Vector3 targetVector = MapOperations.VectorToTarget(my_position, target);
float distance = targetVector.magnitude;
if (distance < range)
{
Vector3 mapVector = InitialVector();
for (int i = 0; i < Weights.Length; i++)
{
Weights[i] += Vector3.Dot(mapVector, targetVector.normalized) * Mathf.Abs((invertScale * 1f) - (distance / range)) * weight;
mapVector = MapOperations.RotateAroundAxis(axis, angle) * mapVector;
}
}
}
}
private void standardMap()
{
sqrRange = range * range;
foreach (Vector3 target in targets)
{
Vector3 targetVector = MapOperations.VectorToTarget(my_position, target);
float distance = targetVector.sqrMagnitude;
if (distance < sqrRange)
{
Vector3 mapVector = InitialVector();
for (int i = 0; i < Weights.Length; i++)
{
Weights[i] += Vector3.Dot(mapVector, targetVector.normalized) * weight;
mapVector = MapOperations.RotateAroundAxis(axis, angle) * mapVector;
}
}
}
}
public Vector3 GetDirection(float[] contextMap)
{
float resolutionAngle = steeringParams.ResolutionAngle;
float maxValue = 0f;
int maxIndex = 0;
for (int i = 0; i < contextMap.Length; i++)
{
if (contextMap[i] > maxValue)
{
maxValue = contextMap[i];
maxIndex = i;
}
}
Vector3 direction = Vector3.forward * maxValue;
if (maxValue == 0f)
{
return(lastVector); // Keep last direction if no better direction is found
}
Vector3 nextVector = MapOperations.RotateAroundAxis(steeringParams.ContextMapRotationAxis, resolutionAngle * maxIndex) * direction;
float dot = Mathf.Clamp(Vector3.Dot(lastVector.normalized, nextVector.normalized), -1f, 1f);
// next direction is within direction change
if (dot > MinDot)
{
lastVector = nextVector;
return(lastVector);
}
float desiredAngleRad = Mathf.Acos(MinDot);
lastVector = Vector3.RotateTowards(lastVector, nextVector, desiredAngleRad, 1);
return(lastVector);
}
public Vector3 GetDirection(float[] contextMap)
{
float resolutionAngle = steeringParams.ResolutionAngle;
float maxValue = 0f;
int maxIndex = 0;
for (int i = 0; i < contextMap.Length; i++)
{
if (contextMap[i] > maxValue)
{
maxValue = contextMap[i];
maxIndex = i;
}
}
Vector3 direction = Vector3.forward * maxValue;
if (maxValue == 0f)
{
if (allowVectorZero)
{
return(Vector3.zero);
}
return(lastVector); // return last direction if no better direction is found
}
if (steeringParams == null)
{
throw new UnassignedReferenceException("The direction selection algorithm does not know what axis to use, check constructor (PlanarSteeringParameters).");
}
// Update cache & return new direction.
lastVector = MapOperations.RotateAroundAxis(steeringParams.ContextMapRotationAxis, resolutionAngle * maxIndex) * direction;
return(lastVector);
}
protected Quaternion rotateAroundAxis(float resolutionAngle)
{
return(MapOperations.RotateAroundAxis(steeringParameters.ContextMapRotationAxis, resolutionAngle));
}