/// <summary>
/// Get the most threatening dynamic obstacle in range
/// </summary>
/// <returns>The most threatening dynamic obstacle in range</returns>
private SteeringExternalElement_Dynamic GetMostThreateningDynamicObstacle()
{
List <SteeringExternalElement_Dynamic> dynamicObstacleList = SteeringExternalElement_Dynamic.ElementList;
List <SteeringExternalElement_Dynamic> threateningObstacleList = new List <SteeringExternalElement_Dynamic>();
Vector3 obstacleFuturePosition = Vector3.zero;
Vector3 futurePosition = Vector3.zero;
SteeringExternalElement_Dynamic dynamicObstacle = null;
float sumRadius = 0;
// Get all threatening obstacle
for (int i = 0; i < dynamicObstacleList.Count; i++)
{
dynamicObstacle = dynamicObstacleList[i];
if (dynamicObstacle != null)
{
if (dynamicObstacle.gameObject != gameObject)
{
if ((dynamicObstacle.transform.position - transform.position).sqrMagnitude < m_ObstacleMaxDistance * m_ObstacleMaxDistance)
{
obstacleFuturePosition = dynamicObstacle.transform.position + dynamicObstacle.Velocity;
futurePosition = transform.position + SteeringCore.Velocity;
sumRadius = m_BoundingSphereRadius + dynamicObstacle.BoundingSphereRadius;
if ((obstacleFuturePosition - futurePosition).sqrMagnitude < sumRadius * sumRadius)
{
threateningObstacleList.Add(dynamicObstacle);
}
}
}
}
}
if (threateningObstacleList.Count <= 0)
{
return(null);
}
float nearestSqrDist = 0;
float sqrDist = 0;
SteeringExternalElement_Dynamic nearestDynamicObstacle = threateningObstacleList[0];
// Get nearest threatening obstacle
for (int i = 0; i < threateningObstacleList.Count; i++)
{
dynamicObstacle = threateningObstacleList[i];
nearestSqrDist = (transform.position - nearestDynamicObstacle.transform.position).sqrMagnitude;
sqrDist = (transform.position - dynamicObstacle.transform.position).sqrMagnitude;
if (sqrDist < nearestSqrDist)
{
nearestDynamicObstacle = dynamicObstacle;
}
}
return(nearestDynamicObstacle);
}
/// <summary>
/// Unaligned obstacle avoidance behavior
/// </summary>
public override void PerformSteeringBehavior()
{
if (SteeringCore == null)
{
return;
}
Vector3 avoidanceForce = Vector3.zero;
// Get most threatening obstacle
m_DynamicObstacle = GetMostThreateningDynamicObstacle();
// Calculate avoidance force
if (m_DynamicObstacle != null)
{
avoidanceForce = transform.position + SteeringCore.Velocity - m_DynamicObstacle.transform.position;
if (Vector3.Dot(avoidanceForce, SteeringCore.Velocity) < -0.9f)
{
avoidanceForce = transform.right;
}
}
if (avoidanceForce != Vector3.zero)
{
// Calculate desired velocity
m_DesiredVelocity = (avoidanceForce).normalized * SteeringCore.MaxSpeed;
// Calculate steering force
SteeringForce = m_DesiredVelocity - SteeringCore.Velocity;
}
else
{
SteeringForce *= m_SteeringForceConservation;
}
}
