public void Steer(Vector3 origin, Vector3 target, bool departed, bool arrive)
{
// assume position already set
currentGoal = target;
seekTask = () => Seek(arrive);
alignTask = Align;
Mathf.Lerp(transform.position.x, origin.x, 1f);
Mathf.Lerp(transform.position.z, origin.z, 1f);
//Mathf.SmoothDamp(transform.position.x, origin.x, ref positionRefx, 1f);
//Mathf.SmoothDamp(transform.position.z, origin.z, ref positionRefz, 1f);
//transform.position = origin;
KinematicBody.position = transform.position;
if (departed)
{
// current Velocity is the position + directino * max speed
var direction = currentGoal - transform.position;
var currentVelocity = direction.normalized * SP.MAXSPEED;
// instantaneously set orientation and velocity
KinematicBody.setVelocity(currentVelocity);
KinematicBody.setOrientation(KinematicBody.getNewOrientation(currentVelocity));
transform.position = new Vector3(KinematicBody.position.x, transform.position.y, KinematicBody.position.z);
transform.rotation = Quaternion.Euler(0f, KinematicBody.getOrientation() * Mathf.Rad2Deg - 90f, 0f);
}
steering = true;
playingClip = true;
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
seeking_output = arrive.getSteering();
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
char_kinematic.setOrientation(new_orient);
char_kinematic.setRotation(0f);
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}