/*
public Vector3 ObstactleAvoidance()
{
float lookAhead = GetObstactleAvoidanceLookAheadDist();
// Need to use a primitive collider, the object running the sweeptest can't use its mesh collidier
// though the mesh colliders of the objects it tests can be used
// m_EntityRoot.GetCollidable().m_Collider.enabled = true;
Vector3 result = Vector3.zero;
RaycastHit sweepResult = new RaycastHit();
if (m_Rigidbody.SweepTest(m_Rigidbody.velocity, out sweepResult, lookAhead))
{
GameObject rayHitObject = sweepResult.collider.gameObject;
Collider rayHitCollider = rayHitObject.GetComponent<Collider>();
float hitObjRadius = rayHitCollider.bounds.extents.magnitude;
Vector2 hitObjPos = rayHitCollider.bounds.center; // world or local?
Vector3 hitObjInMyLocalCoords = transform.worldToLocalMatrix.MultiplyPoint(hitObjPos);
Vector3 posDiff = hitObjInMyLocalCoords - transform.localPosition;
// The closer the object , the stronger the steering force
float mult = 1.0f + (lookAhead - hitObjInMyLocalCoords.x) / lookAhead;
Vector3 steeringForce = Vector3.zero;
// Lateral force
const float breakingWeight = 1.0f;
steeringForce.y = (hitObjRadius - hitObjInMyLocalCoords.y) * mult;
steeringForce.x = (hitObjRadius - hitObjInMyLocalCoords.x) * breakingWeight;
result = transform.localToWorldMatrix.MultiplyPoint(steeringForce);
}
// m_EntityRoot.GetCollidable().m_Collider.enabled = false;
return result;
}
*/
public static Vector3 Wander(SteeringActor actor)
{
SteeringBehaviours.Forces attributes = actor.GetAttributes().Forces;
SteeringBehaviours.Wander wander = actor.GetAttributes().Wander;
wander.Target =
new Vector3(
wander.Target.x + RandomClamped() * wander.Jitter,
wander.Target.y + RandomClamped() * wander.Jitter);
wander.Target.Normalize();
wander.Target *= wander.Radius;
return attributes.MaxSpeed * (wander.Target * wander.Distance);
}
public static Vector3 Evade(SteeringActor actor, SteeringActor pursuer)
{
SteeringBehaviours.Forces attributes = actor.GetAttributes().Forces;
Vector3 toPursuer = pursuer.GetPosition() - actor.GetPosition();
float lookAhreadTime = toPursuer.magnitude / (attributes.MaxSpeed + pursuer.GetVelocity().magnitude);
return Flee(actor, pursuer.GetPosition() + (Vector3)pursuer.GetVelocity() * lookAhreadTime);
}
public static float GetObstactleAvoidanceLookAheadDist(SteeringActor actor)
{
return 1.0f + actor.GetVelocity().magnitude * 2.0f;
}
public static Vector3 Pursuit(SteeringActor actor, SteeringActor evader)
{
SteeringBehaviours.Forces attributes = actor.GetAttributes().Forces;
Vector3 toEvader = evader.GetPosition() - actor.GetPosition();
Vector3 thisHeading = actor.GetVelocity();
thisHeading.Normalize();
Vector3 evaderHeading = evader.GetVelocity();
evaderHeading.Normalize();
float relativeHeading = Vector3.Dot(thisHeading, evaderHeading);
float tresholdAngleAcos = Mathf.Acos(attributes.PursuitThresholdAngle);
if (Vector3.Dot(toEvader, thisHeading) > 0 && (relativeHeading < -tresholdAngleAcos))
{
return Seek(actor, evader.GetPosition());
}
// the look ahead time is proportional to the distance between the evader
// and the pursuer; and is inversely proportional to the sum of the agents velocities
float lookAheadTime = toEvader.magnitude / (attributes.MaxSpeed + evader.GetVelocity().magnitude);
// Now seek to the predicted future position of the evader
return Seek(actor, evader.GetPosition() + (Vector3) evader.GetVelocity() * lookAheadTime);
}
public static Vector3 Arrive(SteeringActor actor, Vector3 targetPos, SteeringBehaviours.Deceleration deceleration)
{
SteeringBehaviours.Forces attributes = actor.GetAttributes().Forces;
Vector3 toTarget = targetPos - actor.GetPosition();
float dist = toTarget.magnitude;
if (dist <= 0)
{
return new Vector3();
}
float decelerationTweaker = 0.3f;
float speed = dist / ((float)deceleration * decelerationTweaker);
speed = Mathf.Min(speed, attributes.MaxSpeed);
Vector3 desiredVelocity = toTarget * speed / dist;
return desiredVelocity;// - GetVelocity();
}
public static Vector3 Flee(SteeringActor actor, Vector3 targetPos)
{
SteeringBehaviours.Forces attributes = actor.GetAttributes().Forces;
Vector3 fromTarget = actor.GetPosition() - targetPos;
fromTarget.Normalize();
Vector3 desiredVelocity = fromTarget * attributes.MaxSpeed;
return desiredVelocity;// - GetVelocity();
}
public static Vector3 Seek(SteeringActor actor, Vector3 targetPos)
{
SteeringBehaviours.Forces attributes = actor.GetAttributes().Forces;
Vector3 toTarget = (targetPos - actor.GetPosition());
toTarget.Normalize();
Vector3 desiredVelocity = toTarget * attributes.MaxSpeed;
return desiredVelocity;// - GetVelocity();
}
public static bool IsTargetFront(SteeringActor actor, SteeringActor target)
{
Vector3 toTarget = target.GetPosition() - actor.GetPosition();
toTarget.Normalize();
return Vector3.Dot(actor.GetForward(), toTarget) > 0;
}
