private Vector3 CalculateAgentForce()
{
if (explosion < 10)
{
return(Vector3.zero);
}
var force = Vector3.zero;
/*
* foreach(var agent in perceivedNeighbors)
* {
* if (!AgentManager.IsAgent(agent))
* {
* continue;
* }
* var neighbor = AgentManager.agentsObjs[agent];
* var dir = (transform.position - neighbor.transform.position).normalized;
* var overlap = (radius + neighbor.radius) - Vector3.Distance(transform.position, agent.transform.position);
* var tangent = Vector3.Cross(Vector3.up, dir);
*
* force += Parameters.A * Mathf.Exp(overlap / Parameters.B) * dir; //proximityForce
* force += Parameters.k * Mathf.Max(overlap, 0) * dir; //repultionForce
* force += Parameters.Kappa * Mathf.Max(overlap, 0) * Vector3.Dot(rb.velocity - neighbor.GetVelocity(), tangent) * tangent; //slidingForce
* }
*/
int g;
Vector3 n = new Vector3();
Vector3 t = new Vector3();
foreach (var agent in perceivedNeighbors)
{
if (!PEManager.IsAgent(agent))
{
continue;
}
n = transform.position - agent.transform.position;
n.Normalize();
t = Vector3.Cross(Vector3.up, n);
if (Vector3.Distance(transform.position, agent.transform.position) <= (nma.radius + agent.GetComponent <NavMeshAgent>().radius))
{
g = 1;
}
else
{
g = 0;
}
force += ((Parameters.A * Mathf.Exp(((nma.radius + agent.GetComponent <NavMeshAgent>().radius) - Vector3.Distance(transform.position, agent.transform.position)) / Parameters.B) + (Parameters.k * g)) * n); //proximityForce + repulsionForce
force += (Parameters.Kappa * g * Vector3.Dot((agent.GetComponent <Rigidbody>().velocity - GetVelocity()), t) * t); //slidingForce
}
return(force);
}
public void OnTriggerEnter(Collider other)
{
if (PEManager.IsAgent(other.gameObject))
{
perceivedNeighbors.Add(other.gameObject);
}
if (WallManager.IsWall(other.gameObject) || other.CompareTag("wall"))
{
adjacentWalls.Add(other.gameObject);
}
}