public SteeringOutput getSteering()
{
Vector3 rayVector = s.getCharacter().velocity;
rayVector.Normalize();
rayVector *= lookahead;
//Debug.Log(lookahead);
// Does the ray intersect any objects excluding the player layer
collisionDetector = new RaycastHit();
float angleInc = 10f;
//Debug.DrawRay(s.getCharacter().position, s.getCharacter().velocity, Color.green);
for (int i = 0; i < 6; i++)
{
Vector3 rotRayVec;
if (i % 2 == 0)
{
rotRayVec = Quaternion.AngleAxis(angleInc * -(i / 2), Vector3.up) * rayVector;
}
else
{
rotRayVec = Quaternion.AngleAxis(angleInc * Mathf.Ceil(i / 2), Vector3.up) * rayVector;
}
rotRayVec.Scale(new Vector3(1f, 0f, 1f));
//Debug.DrawRay(s.getCharacter().position, rotRayVec, Color.cyan);
if (Physics.Raycast(s.getCharacter().position, rotRayVec, out collisionDetector, lookahead))
{
//Debug.DrawRay(collisionDetector.point, collisionDetector.normal * avoidDistance, Color.red);
s.setTargetPosition(collisionDetector.point + (collisionDetector.normal * avoidDistance));
targetPos = s.getTarget().position;
DynamicSeek seekAvoidPoint = new DynamicSeek(s.getCharacter(), s.getTarget(), maxAcceleration);
return(seekAvoidPoint.getSteering());
}
}
targetPos = s.getTarget().position;
return(s.getSteering());
}
public HumanActuator(DynamicCharacter character)
{
SeekMovement = new DynamicSeek
{
MaxAcceleration = 60f,
Character = character.KinematicData,
StopRadius = 49f // 49 = 7^2
};
this.Character = character;
this.Character.MaxSpeed = 30f;
FollowPathMovement = new DynamicFollowPath(character.KinematicData)
{
MaxAcceleration = 40f,
MaxSpeed = 30f,
SlowRadius = 3.5f,
StopRadius = 3f,
GoalPosition = GoalPosition
};
}
public override MovementOutput GetMovement()
{
MovementOutput steering = new MovementOutput();
// Percorrer cada canal
if (goal.hasOrientation)
{
// usar o DynamicAlign...
DynamicVelocityMatch da = new DynamicVelocityMatch()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
da.Target.orientation = goal.orientation;
steering.angular += da.GetMovement().angular;
}
if (goal.hasPosition)
{
// usar o DynamicSeek
DynamicSeek ds = new DynamicSeek()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
ds.Target.position = goal.position;
steering.linear += ds.GetMovement().linear;
}
// velocidades e possivelmente erros
steering.linear.Normalize();
steering.linear *= this.MaxAcceleration;
steering.angular *= this.MaxAcceleration;
return steering;
}
public CarActuator(DynamicCharacter character)
{
SeekMovement = new DynamicSeek()
{
MaxAcceleration = 80f,
Character = character.KinematicData,
StopRadius = 49f // 49 = 7^2
};
this.Character = character;
this.Character.BackingUp = false;
//setting character MaxSpeed according to actuator
this.Character.MaxSpeed = 40f;
this.FollowPathMovement = new DynamicFollowPath(character.KinematicData)
{
MaxAcceleration = 60f,
MaxSpeed = 50f,
SlowRadius = 15f,
StopRadius = 7f,
GoalPosition = GoalPosition
};
}
public override MovementOutput GetMovement()
{
MovementOutput steering = new MovementOutput();
// Percorrer cada canal
if (goal.hasOrientation)
{
// usar o DynamicAlign...
DynamicVelocityMatch da = new DynamicVelocityMatch()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
da.Target.orientation = goal.orientation;
steering.angular += da.GetMovement().angular;
}
if (goal.hasPosition)
{
// usar o DynamicSeek
DynamicSeek ds = new DynamicSeek()
{
Character = this.Character,
Target = new KinematicData(),
MaxAcceleration = this.MaxAcceleration
};
ds.Target.position = goal.position;
steering.linear += ds.GetMovement().linear;
}
// velocidades e possivelmente erros
steering.linear.Normalize();
steering.linear *= this.MaxAcceleration;
steering.angular *= this.MaxAcceleration;
return steering;
}
public void ManageAI(MovementAI ai, Rigidbody2D character)
{
Kinematic characterKinematic = KinematicAdapter.FromRigidbody2DToKinematic(character);
Kinematic targetKinematic = new Kinematic();
Algorithm algorithm = new DynamicNone();
switch (ai.aiAlgorithm)
{
case AIAlgorithm.DynamicSeek:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicSeek(characterKinematic, targetKinematic, ai.maxSpeed);
break;
case AIAlgorithm.DynamicFlee:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicFlee(characterKinematic, targetKinematic, ai.maxSpeed);
break;
case AIAlgorithm.DynamicArrive:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicArrive(characterKinematic, targetKinematic, ai.maxAcceleration, ai.maxSpeed, ai.targetRadius, ai.slowRadius, ai.timeToTarget);
break;
case AIAlgorithm.DynamicAlign:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicAlign(characterKinematic, targetKinematic, ai.maxRotation, ai.maxAngularAcceleration,
ai.targetRadius, ai.slowRadius, ai.timeToTarget);
break;
case AIAlgorithm.DynamicVelocityMatch:
targetKinematic = KinematicAdapter.FromRigidbody2DToKinematic(ai.target);
algorithm = new DynamicVelocityMatch(characterKinematic, targetKinematic, ai.maxAcceleration, ai.timeToTarget);
break;
}
SteeringOutput steering = algorithm.getSteering();
steering.Apply(characterKinematic, ai.lookWhereYoureGoing, ai.maxSpeed, Time.deltaTime);
KinematicAdapter.UpdateRigidbody2DWithKinematic(character, characterKinematic);
}
public ObstacleAvoidance(RaycastHit _collisionDetector, float _avoidDistance, float _lookahead, DynamicSeek _s)
{
collisionDetector = _collisionDetector;
avoidDistance = _avoidDistance;
lookahead = _lookahead;
s = _s;
}
void Awake()
{
dynamicSeek = new DynamicSeek(GetComponent <Rigidbody>(), getTargetPosition(), magnitude);
}
// Use this for initialization
void Start()
{
seek = GetComponent <DynamicSeek>();
align = GetComponent <DynamicAlign>();
}
public SteeringOutput ObstacleSeek()
{
DynamicSeek sb = new DynamicSeek(agent.k, target.k, maxAcceleration);
return(ObstacleAvoidance(sb));
}
public SteeringOutput ObstacleAvoidance(SteeringBehaviour behaviourWhenNotAvoiding)
{
Kinematic currentTarget = target.k;
float dis = (agent.k.position - currentTarget.position).magnitude;
if (dis <= slowRadiusL && agent.mapState != 7)
{
return(Arrive());
}
stationaryTimeIncrimented = false;
//trigger, sets unstuck position
if (stationaryTime > 5f)
{
seekingUnstuckPoint = true;
stationaryTime = 0f;
//unstuckTarget.position = agent.k.position - (Quaternion.Euler(0f, Random.Range(0,360f), 0f) * Vector3.forward)*15f;
unstuckTarget.position = agent.k.position + getEscapeVector(agent.k.position, 20).normalized * 10f;
}
SteeringBehaviour s;
if (seekingUnstuckPoint)
{
currentTarget = unstuckTarget;
if ((agent.k.position - unstuckTarget.position).magnitude < slowRadiusL)
{
seekingUnstuckPoint = false;
}
s = new DynamicSeek(agent.k, currentTarget, maxAcceleration);
}
else
{
s = behaviourWhenNotAvoiding;
}
//DynamicPursue dp = new DynamicPursue(agent.k, target.k, maxAcceleration, maxPrediction);
deltaPos = lastFramePos - agent.k.position;
//check if x is stagnant
//check if it is heading in the direction of the target
if (s.isStuck())
{
stationaryTime += Time.deltaTime;
}
else
{
stationaryTime -= Time.deltaTime;
stationaryTime = Mathf.Max(0, stationaryTime);
}
//if (Vector3.Dot(agent.k.velocity.normalized, (currentTarget.position - agent.k.position).normalized) < 0.8f)
//{
// if (deltaPos.x < theta)
// {
// stationaryTime += Time.deltaTime;
// stationaryTimeIncrimented = true;
// }
// //check for z
// else if (deltaPos.z < theta)
// {
// if (!stationaryTimeIncrimented)
// {
// stationaryTime += Time.deltaTime;
// }
// }
//}
//else {
// //stationaryTime = 0;
//}
DynamicObstacleAvoidance doa = new DynamicObstacleAvoidance(3f, 2f, s, maxAcceleration);
SteeringOutput so = doa.getSteering();
if (agent.mapState == 7)
{
agent.DrawCircle(targetPos, wanderRadius);
}
else
{
agent.DrawLine(agent.k.position, doa.targetPos);
}
lastFramePos = agent.k.position;
return(so);
}
