public bool DoStep()
{
vPref = goal - position;
float distSqToGoal = vPref.sqrMagnitude;
if (distSqToGoal <= goalRadius * goalRadius)
{
velocity = Vector2.zero;
return(true);
}
// compute preferred velocity
vPref *= prefSpeed / Mathf.Sqrt(distSqToGoal);
// compute the new velocity of the agent
ComputeForces();
F = Global.Clamp(F, maxAccel);
velocity += F * Engine.timeStep;
// Limit velocity to prefSpeed of agent
if (velocity.sqrMagnitude > (prefSpeed * prefSpeed))
{
velocity.Normalize();
velocity *= prefSpeed;
}
position += velocity * Engine.timeStep;
// notify proximity database that our position has changed
proximityToken.UpdateForNewPosition(ExtensionMethods.Vector2ToVector3(position));
MoveInRealWorld();
return(false);
}
public void Init(int id, Vector2 position, Vector2 goal)
{
this.id = id;
k = 1.5f;
ksi = 0.91f;
m = 2.4f;
t0 = 4.47f;
neighborDist = 11.6f;
radius = 0.25f;
prefSpeed = Random.Range(1.3f, 1.6f);
this.position = position;
this.goal = goal;
// Add to the database
proximityToken = Engine.Instance.GetSpatialDatabase.AllocateToken(this);
// Notify proximity database that our position has changed
proximityToken.UpdateForNewPosition(ExtensionMethods.Vector2ToVector3(position));
}
// Notify proximity database that our position has changed
public void UpdateDB()
{
proximityToken.UpdateForNewPosition(ExtensionMethods.Vector2ToVector3(position));
}