private SteeringOut Alignment(List <MovingAgent> neighbors)
{
SteeringOut steeringOut = new SteeringOut();
float newTargetAngle = 0;
//Getting common direction
foreach (MovingAgent agent in neighbors)
{
if (agent == null)
{
continue;
}
newTargetAngle += agent.DegreeHeading();
}
newTargetAngle /= neighbors.Count;
float deltaAngle = Utils.AbsDeltaAngle(newTargetAngle, _owner.DegreeHeading());
steeringOut.LimitSpeed = DeltaAngle2LimitSpeed(deltaAngle);
steeringOut.TargetAngle = newTargetAngle;
return(steeringOut);
}
private SteeringOut Wander()
{
SteeringOut steeringOut = new SteeringOut();
float newTargetAngle = _owner.TargetAngle();
float jitterValue = UnityEngine.Random.Range(-1f, 1f) * _fWanderJitter;
newTargetAngle += jitterValue;
if (newTargetAngle > 360)
{
newTargetAngle -= 360;
}
if (newTargetAngle < 0)
{
newTargetAngle += 360;
}
float deltaAngle = Utils.AbsDeltaAngle(newTargetAngle, _owner.DegreeHeading());
steeringOut.LimitSpeed = DeltaAngle2LimitSpeed(deltaAngle);
steeringOut.TargetAngle = newTargetAngle;
return(steeringOut);
}
public SteeringOut Calculate()
{
SteeringOut steeringOut = new SteeringOut();
//TODO: Update on calculate method
UnityEngine.Random.Range(0f, 1f);
if (IsOn(BehaviorType.obstacle_avoidance) && Utils.Rand01f() > 0.4f)
{
steeringOut = ObstacleAvoidance(_owner.obstDef);
}
if (_targetAgent != null && steeringOut.IsOriginal())
{
if (IsOn(BehaviorType.pursuit))
{
steeringOut = Pursuit(_targetAgent);
return(steeringOut);
}
if (IsOn(BehaviorType.seek))
{
steeringOut = Seek(_targetAgent.Position);
}
if (IsOn(BehaviorType.arrive))
{
steeringOut = Seek(_targetAgent.Position);
}
if (IsOn(BehaviorType.flee))
{
steeringOut = Flee(_targetAgent.Position);
}
if (IsOn(BehaviorType.evade))
{
steeringOut = Evade(_targetAgent);
}
if (IsOn(BehaviorType.wander))
{
steeringOut = Wander();
}
}
return(steeringOut);
}
public SteeringOut CalculateDithered()
{
SteeringOut steeringOut = new SteeringOut();
double prAlignment = 0.3f;
double prSeek = 0.8f;
double prPursuit = 0.8f;
//TODO: change prValue to get data from file
//Directly affecting function
if (IsOn(BehaviorType.cohesion))
{
Cohesion(_owner.neighbors);
}
if (IsOn(BehaviorType.separation))
{
Seperation(_owner.neighbors);
}
//Indirectly affecting function
System.Random rand = new System.Random();
if (IsOn(BehaviorType.alignment) && rand.NextDouble() < prAlignment)
{
steeringOut = Alignment(_owner.neighbors);
}
if (IsOn(BehaviorType.seek) && rand.NextDouble() < prSeek)
{
steeringOut = Seek(_targetAgent.Position);
}
if (IsOn(BehaviorType.pursuit) && rand.NextDouble() < prPursuit)
{
steeringOut = Pursuit(_targetAgent);
}
return(steeringOut);
}
//Directly affect body2d
private void Cohesion(List <MovingAgent> neighbors)
{
SteeringOut steeringOut = new SteeringOut();
const float cohesionForceWeight = 2;
Vector2 centerMass = new Vector2(0, 0);
foreach (MovingAgent agent in neighbors)
{
centerMass += agent.Position;
}
centerMass /= neighbors.Count;
foreach (MovingAgent agent in neighbors)
{
Vector2 cohesionForce = (centerMass - agent.Position) * cohesionForceWeight;
agent.AddForce(cohesionForce);
}
}
//Directly affect body2d
private void Seperation(List <MovingAgent> neighbors)
{
SteeringOut steeringOut = new SteeringOut();
const float seperationForceWeight = 30;
foreach (MovingAgent agent in neighbors)
{
if (agent == null)
{
continue;
}
Vector2 seperationForce = agent.Position - _owner.Position;
if (seperationForce != Vector2.zero)
{
seperationForce = seperationForce.normalized / seperationForce.magnitude * seperationForceWeight;
}
agent.AddForce(seperationForce);
}
}
private SteeringOut ObstacleAvoidance(LayerMask obstDef)
{
SteeringOut steeringOut = new SteeringOut();
RaycastHit2D rcHit = Physics2D.Raycast(_owner.Position, _owner.VectorHeading(),
_owner.obsFeelerLen, obstDef);
/* Draw feeler
* Debug.DrawRay (_owner.Position, new Vector3 (_owner.VectorHeading().x,
* _owner.VectorHeading ().y, 0) * _owner.obsFeelerLen, Color.green);
*/
if (rcHit.collider == null)
{
return(steeringOut);
}
Vector2 toObst = (Vector2)rcHit.transform.position - _owner.Position;
float toObstDeltaAngle = Utils.DeltaAngle(_owner.DegreeHeading(), Utils.Vector2Angle(toObst));
float newTargetAngle = _owner.DegreeHeading();
if (toObstDeltaAngle < 0)
{
newTargetAngle = newTargetAngle + 90 + toObstDeltaAngle;
}
else
{
newTargetAngle = newTargetAngle - 90 + toObstDeltaAngle;
}
float deltaAngle = Utils.AbsDeltaAngle(newTargetAngle, _owner.DegreeHeading());
steeringOut.LimitSpeed = DeltaAngle2LimitSpeed(deltaAngle);
steeringOut.TargetAngle = newTargetAngle;
return(steeringOut);
}