public void Init(SteeringAgent agent, SteeringController steering, RigidbodyMovementController physicsController)
{
this.agent = agent;
this.steering = steering;
this.physicsController = physicsController;
pathManager = PathManager.Instance;
TargetPosition = agent.transform.position + agent.transform.forward;
racingLineProgress = pathManager.RacingLinePath.path.GetClosestProgressOnPath(agent.transform.position);
}
private Vector3 GetAccelerationForPlayerAvoidance(ICollection <RigidbodyMovementController> targets)
{
Vector3 acceleration = Vector3.zero;
// 1. Find the target that the character will collide with first
// The first collision time
float shortestTime = float.PositiveInfinity;
// The first target that will collide and other data that we will need and can avoid recalculating
RigidbodyMovementController firstTarget = null;
float firstMinSeparation = 0;
float firstDistance = 0;
float firstRadius = 0;
Vector3 firstRelativePos = Vector3.zero;
Vector3 firstRelativeVel = Vector3.zero;
foreach (RigidbodyMovementController target in targets)
{
// Calculate the time to collision
Vector3 relativePos = controller.ColliderPosition - target.ColliderPosition;
Vector3 relativeVel = controller.RealVelocity - target.RealVelocity;
float distance = relativePos.magnitude;
float relativeSpeed = relativeVel.magnitude;
if (relativeSpeed == 0)
{
continue;
}
float timeToCollision = -1 * Vector3.Dot(relativePos, relativeVel) / (relativeSpeed * relativeSpeed);
// Check if they will collide at all
Vector3 separation = relativePos + relativeVel * timeToCollision;
float minSeparation = separation.magnitude;
if (minSeparation > controller.ColliderRadius + target.ColliderRadius + collisionDistanceOffset)
{
continue;
}
// Check if its the shortest
if (timeToCollision > 0 && timeToCollision < shortestTime)
{
shortestTime = timeToCollision;
firstTarget = target;
firstMinSeparation = minSeparation;
firstDistance = distance;
firstRelativePos = relativePos;
firstRelativeVel = relativeVel;
firstRadius = target.ColliderRadius;
}
}
// 2. Calculate the steering
// If we have no target then exit
if (firstTarget == null)
{
return(acceleration);
}
// If we are going to collide with no separation or if we are already colliding then steer based on current position
if (firstMinSeparation <= 0 || firstDistance < controller.ColliderRadius + firstRadius + collisionDistanceOffset)
{
acceleration = controller.ColliderPosition - firstTarget.ColliderPosition;
}
// Else calculate the future relative position
else
{
acceleration = firstRelativePos + firstRelativeVel * shortestTime;
}
// Avoid the target
acceleration = controller.ConvertVector(acceleration);
acceleration.Normalize();
acceleration *= steering.maxAcceleration;
return(acceleration);
}
public void Init(SteeringAgent agent, SteeringController steering, RigidbodyMovementController controller)
{
this.agent = agent;
this.steering = steering;
this.controller = controller;
}
private void OnValidate()
{
physicsController = GetComponent <RigidbodyMovementController>();
}
