public virtual void Integrate(MovementOutput movement, float duration)
{
this.position.x += movement.linear.x * duration;
this.position.y += movement.linear.y * duration;
this.position.z += movement.linear.z * duration;
this.orientation += movement.angular * duration;
this.orientation = this.orientation % MathConstants.MATH_2PI;
}
public virtual void Integrate(MovementOutput movement, float duration)
{
this.position.x += movement.linear.x*duration;
this.position.y += movement.linear.y*duration;
this.position.z += movement.linear.z*duration;
this.orientation += movement.angular*duration;
this.orientation = this.orientation%MathConstants.MATH_2PI;
}
public override void Integrate(MovementOutput movement, float duration)
{
this.Integrate(duration);
this.velocity.x += movement.linear.x * duration;
this.velocity.y += movement.linear.y * duration;
this.velocity.z += movement.linear.z * duration;
this.rotation += movement.angular * duration;
}
public override void Integrate(MovementOutput movement, float duration)
{
this.Integrate(duration);
this.velocity.x += movement.linear.x*duration;
this.velocity.y += movement.linear.y*duration;
this.velocity.z += movement.linear.z*duration;
this.rotation += movement.angular*duration;
}
public virtual void Integrate(MovementOutput movement, float duration)
{
this.transform.position += movement.linear * duration;
//this.transform.position.x += movement.linear.x*duration;
//this.position.y += movement.linear.y*duration;
//this.position.z += movement.linear.z*duration;
this.Orientation += movement.angular * duration;
this.Orientation = this.Orientation % MathConstants.MATH_2PI;
this.transform.rotation = Quaternion.AngleAxis(this.Orientation * MathConstants.MATH_180_PI, Vector3.up);
}
public override MovementOutput GetMovement()
{
var output = new MovementOutput();
output.linear = (this.MovingTarget.velocity - this.Character.velocity)/this.TimeToTargetSpeed;
if (output.linear.sqrMagnitude > this.MaxAcceleration*this.MaxAcceleration)
{
output.linear = output.linear.normalized*this.MaxAcceleration;
}
output.angular = 0;
//Debug.DrawRay(Character.position, output.linear, new Color(70 / 255, 15 / 255, 11 / 255));
return output;
}
public void Integrate(MovementOutput steering, MovementOutput drag, float duration)
{
this.Integrate(duration);
this.velocity.x *= (float)Math.Pow(drag.linear.x, duration);
this.velocity.y *= (float)Math.Pow(drag.linear.y, duration);
this.velocity.z *= (float)Math.Pow(drag.linear.z, duration);
this.rotation *= (float)Math.Pow(drag.angular, duration);
this.velocity.x += steering.linear.x * duration;
this.velocity.y += steering.linear.y * duration;
this.velocity.z += steering.linear.z * duration;
this.rotation += steering.angular * duration;
}
public void Integrate(MovementOutput steering, float drag, float duration)
{
this.Integrate(duration);
var totalDrag = (float)Math.Pow(drag, duration);
this.velocity *= totalDrag;
this.rotation *= drag * drag;
this.velocity.x += steering.linear.x * duration;
this.velocity.y += steering.linear.y * duration;
this.velocity.z += steering.linear.z * duration;
this.rotation += steering.angular * duration;
}
public void Integrate(MovementOutput steering, float drag, float duration)
{
this.Integrate(duration);
var totalDrag = (float)Math.Pow(drag, duration);
this.velocity *= totalDrag;
this.rotation *= drag*drag;
this.velocity.x += steering.linear.x * duration;
this.velocity.y += steering.linear.y * duration;
this.velocity.z += steering.linear.z * duration;
this.rotation += steering.angular * duration;
}
public void Integrate(MovementOutput steering, MovementOutput drag, float duration)
{
this.Integrate(duration);
this.velocity.x *= (float)Math.Pow(drag.linear.x, duration);
this.velocity.y *= (float) Math.Pow(drag.linear.y, duration);
this.velocity.z *= (float) Math.Pow(drag.linear.z, duration);
this.rotation *= (float)Math.Pow(drag.angular, duration);
this.velocity.x += steering.linear.x * duration;
this.velocity.y += steering.linear.y * duration;
this.velocity.z += steering.linear.z * duration;
this.rotation += steering.angular * duration;
}
protected abstract MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character);
protected override MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character)
{
Vector3 charOrientation = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation);
float charSpeed = character.KinematicData.velocity.sqrMagnitude;
float angleDiff = Mathf.Deg2Rad * (Vector3.Angle(charOrientation, output.linear));
float angleDiffAbs = Math.Abs(angleDiff);
float distance = (GoalPosition - character.KinematicData.position).sqrMagnitude;
if (character.BackingUp || angleDiffAbs >= MathConstants.MATH_PI - MathConstants.MATH_PI / 3f && charSpeed <= 1 && distance < 900f) // 900 = 30^2
{
character.BackingUp = true;
Vector3 contraryVector =
MathHelper.ConvertOrientationToVector(MathHelper.ConvertVectorToOrientation((GoalPosition - character.KinematicData.position)) + MathConstants.MATH_PI);
character.KinematicData.orientation = MathHelper.ConvertVectorToOrientation(Vector3.Lerp(charOrientation, contraryVector, 0.1f));
return output;
}
if (!character.BackingUp)
{
if (Physics.Raycast(character.KinematicData.position, character.KinematicData.velocity, 30f))
{
//Debug.DrawLine(character.KinematicData.position, character.KinematicData.velocity.normalized*30f+character.KinematicData.position, Color.black);
CapCharacterVelocity(character);
}
if (angleDiff > MathConstants.MATH_PI_2 / 6f && charSpeed >= 4900) // 4900 = 70^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 6f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 40f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_2 / 3f && charSpeed >= 3600) // 3600 = 60^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 3f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 30f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_4 && charSpeed >= 2500) // 2500 = 50^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_4).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 25f;
return output;
}
if (angleDiffAbs >= MathConstants.MATH_PI_2 / 3f && charSpeed <= 100) // 100 = 10^2
{
// aqui altera apenas a direcção em que em que o carro vira
if (angleDiff < 0)
{
output.linear = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation - MathConstants.MATH_PI_2 / 48f);
character.KinematicData.velocity *= 2f;
}
else if (angleDiff >= 0)
{
output.linear = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation + MathConstants.MATH_PI_2 / 48f);
character.KinematicData.velocity *= 2f;
}
return output;
}
}
return output;
}
protected override MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character)
{
float charOrientation = character.KinematicData.orientation;
float charSpeed = character.KinematicData.velocity.sqrMagnitude;
float velocity = MathHelper.ConvertVectorToOrientation(output.linear);
float angleDiff = MathHelper.SmallestDifferenceBetweenTwoAngles(charOrientation, velocity);
// OPTIMIZACAO: trocar a divisao por multiplicacao
if (angleDiff > MathConstants.MATH_PI_2 / 6f && charSpeed >= 729) // 729 = 27^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 6f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 22f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_2 / 3f && charSpeed >= 484) // 484 = 22^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 3f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 18f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_4 && charSpeed >= 289) // 289 = 17^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_4).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 15f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_2 && charSpeed >= 225) // 225 = 15^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 13f;
return output;
}
return output;
}
