public override Vector2 CalculateSteering(Vehicle agent, List <Vehicle> targets)
{
List <Vehicle> neighbors = new List <Vehicle>();
foreach (Vehicle v in Vehicle.AllVehicles)
{
if (v != agent && (v.position - agent.position).magnitude < neighborRadius)
{
neighbors.Add(v);
}
}
Vector2 sepSteering = Steering.Separation(agent, neighbors) * separation;
Vector2 aliSteering = Steering.Alignment(agent, neighbors) * alignment;
Vector2 cohSteering = Steering.Cohesion(agent, neighbors) * cohesion;
Vector2 wanSteering = Steering.Wander(agent, 2f, 2f, 1f);
Vector2 fleeSteering = Steering.Flee(agent, targets[0], fleeRange);
Vector2 steering = Vector2.zero;
if (AccumulateForce(agent, fleeSteering, ref steering) &&
AccumulateForce(agent, sepSteering, ref steering) && AccumulateForce(agent, cohSteering, ref steering) &&
AccumulateForce(agent, aliSteering, ref steering) && AccumulateForce(agent, wanSteering, ref steering))
{
return(steering);
}
return(steering);
}
public override Vector2 CalculateSteering(Vehicle agent, List <Vehicle> targets)
{
if (targets.Count == 0)
{
return(Vector2.zero);
}
else
{
return(Steering.Flee(agent, targets[0], fleeRange));
}
}
//Uses the various Movement Behaviors to calculate the vector to
// determine the next position of the agent
private void CalcSteeringForce()
{
steeringForce = Vector3.zero;
for (int i = 0; i < gameManager.Werewolves.Count; i++)
{
float wDist = Vector3.Distance(this.transform.position, gameManager.Werewolves[i].transform.position);
if (wDist < 20)
{
if (wDist < 5)
{
steeringForce += steering.Flee(gameManager.Werewolves[i].transform.position);
if (leaderFollowBool == true)
{
gameManager.Followers.Remove(this);
}
leaderFollowBool = false;
}
else
{
steeringForce += steering.Evasion(gameManager.Werewolves[i].transform.position
+ gameManager.Werewolves[i].transform.forward);
}
}
else if (Vector3.Distance(this.transform.position, gameManager.Mayor.transform.position) < 40 && leaderFollowBool == false)
{
gameManager.Followers.Add(this);
steeringForce += 10 * leaderFollow();
steeringForce += gameManager.separationWt * Separation();
steeringForce += gameManager.cohesionWt * Cohesion();
}
else if (leaderFollowBool == true)
{
steeringForce += 15 * leaderFollow();
steeringForce += gameManager.separationWt * Separation();
steeringForce += gameManager.cohesionWt * Cohesion();
}
else
{
steeringForce += 2 * wander();
}
}
steeringForce += gameManager.inBoundsWt * StayInBounds(200, new Vector3(469, 0, 454));
//avoid close obstacles
for (int i = 0; i < gameManager.Obstacles.Length; i++)
{
if (Vector3.Distance(this.transform.position, gameManager.Obstacles[i].transform.position) < 60)
{
//steeringForce += steering.AvoidObstacle(gameManager.Obstacles[i], gameManager.avoidDist);
}
}
}
private void Update()
{
Vector3 position = transform.position;
Vector3 target = targetPos.position;
bool isSteering = GlobalSettings.isInSteering;
//C
if (Vector3.Distance(position, target) <= distance)
{
//C i)
if (isSteering)
{
Steering.Flee(rb, transform, targetPos.position, acceleration, speed);
}
else
{
Kinematic.Flee(rb, transform, targetPos.position, speed);
}
}
else
{
rb.velocity = Vector3.zero;
//C ii)
//if angle btw forward and target close to 0,
if (Vector3.Angle(-transform.forward, target - position) <= 2f)
{
// then move forward
if (isSteering)
{
Steering.Flee(rb, transform, targetPos.position, acceleration, speed);
}
else
{
Kinematic.Flee(rb, transform, targetPos.position, speed);
}
}
else
{
// else turn towards target
if (isSteering || rb.velocity.magnitude < 1f)
{
Helper.Alignment(transform, position - target, stopRotationSpeed);
}
else
{
Helper.Alignment(transform, position - target, stopRotationSpeed);
}
}
}
}
private void CalcSteeringForce()
{
steeringForce = Vector3.zero;
//Keeps werewolves away from Villager Spawn point
steeringForce += gameManager.avoidWt * steering.AvoidObstacle(respawnPont, 100f);
float mayDist = Vector3.Distance(this.transform.position, gameManager.Mayor.transform.position);
//Choose new villager to chase (closest villager)
target = gameManager.Villagers[0];
findTarget();
float tarDist = Vector3.Distance(this.transform.position, target.transform.position);
if (tarDist > 30)
{
steeringForce += 10 * steering.Pursuit(target.transform.forward +
target.transform.position);
}
else
{
steeringForce += 6 * steering.Seek(target);
}
if (mayDist < 20)
{
steeringForce += 20 * steering.Flee(gameManager.Mayor);
}
else
{
steeringForce += 5 * steering.Evasion(gameManager.Mayor.transform.forward +
gameManager.Mayor.transform.position);
}
//avoid close obstacles
for (int i = 0; i < gameManager.Obstacles.Length; i++)
{
if (Vector3.Distance(this.transform.position, gameManager.Obstacles[i].transform.position) < 60)
{
steeringForce += gameManager.avoidWt * steering.AvoidObstacle(gameManager.Obstacles[i], gameManager.avoidDist);
}
}
}
void Update()
{
if (!alive)
{
return;
}
Vector2 dir = target.position - transform.position;
if (dir.magnitude > seekDist)
{
Vector2 seek = Steering.Seek(transform.position, rigidbody2D.velocity, target.position, maxSpeed);
seek = Steering.ObstacleSweep2D(transform.position, 1, seek, 10, avoidLayers);
rigidbody2D.AddForce(seek, ForceMode.Force);
}
else
{
Vector3 flee = Steering.Flee(transform.position, rigidbody2D.velocity, target.position, maxSpeed);
flee = Steering.ObstacleSweep2D(transform.position, 1, flee, 10, avoidLayers);
rigidbody2D.AddForce(flee, ForceMode.Force);
}
}
void ICmpUpdatable.OnUpdate()
{
var ship = ControlledShip;
var body = GameObj.GetComponent <RigidBody>();
if (Target == null)
{
return;
}
var targetPos = Target.Transform.Pos.Xy;
_elapsedTime += Time.TimeMult;
var thrustVector = Steering.Pursuit(GameObj.Transform, Target.Transform);
var turnVector = thrustVector;
ship.ThrustVector = thrustVector + (Steering.Flee(GameObj.Transform.Pos.Xy, GameObj.Transform.GetWorldPoint(_evadeVector)) * 100);
if (turnVector.LengthSquared > 0)
{
var fps = Time.Fps <= 0 ? 60 : Time.Fps;
float desiredAngle = MathF.NormalizeAngle(turnVector.Angle);
//var angle = Utilities.FindAngleBetweenTwoVectors(ship.CurrentDirection, turnVector);
float nextAngle = ship.GameObj.Transform.Angle + body.AngularVelocity / fps;
float totalRotation = desiredAngle - nextAngle;
//while (totalRotation < -MathF.Pi) totalRotation += MathF.TwoPi;
//while (totalRotation > MathF.Pi) totalRotation -= MathF.TwoPi;
float desiredAngularVelocity = totalRotation * fps;
float torque = body.Inertia * (body.AngularDamping + 1) + desiredAngularVelocity / (1 / fps);
ship.DesiredTorque = torque;
/*
* var limit = MathF.DegToRad(RotationDampingAngle);
* if (angle > limit)
* ship.TurnDirection = Rotation.CCW;
* else if(angle < -limit)
* ship.TurnDirection = Rotation.CW;
* else
* {
* if (Math.Abs(angle) < limit) // damp rotation if we are close to desired facing
* body.AngularVelocity *= RotationDamping;
* }
*/
}
GameObj.Transform.Pos = ship.GameObj.Transform.Pos;
GameObj.Transform.Angle = ship.GameObj.Transform.Angle;
/*
* if (components.IsValid)
* {
* //_vehicle.Ship.ThrustVector = (components.SteeringForce + _vehicle.Velocity).Normalized * components.Thrust;
*
* if (components.Rotation < 0)
* _vehicle.Ship.TurnDirection = Rotation.CW;
* else if (components.Rotation > 0)
* _vehicle.Ship.TurnDirection = Rotation.CCW;
*
* }*/
}
