// Update is called once per frame
void FixedUpdate()
{
var targetPosition = _headsetTransform.localToWorldMatrix.MultiplyPoint(Offset);
targetPosition.y = Mathf.Clamp(
targetPosition.y,
_headsetTransform.position.y - .2f,
_headsetTransform.position.y + .2f
);
var steeringForce = Seek.Calculate(transform.position, targetPosition, MaxSpeed);
// Calculate velocity
_velocity = Vector3.ClampMagnitude(steeringForce / Mass * Time.fixedDeltaTime, MaxSpeed);
// Add velocity to position
transform.position += _velocity;
// Add continuous rotation
transform.eulerAngles = new Vector3(
transform.eulerAngles.x,
transform.eulerAngles.y + RotationSpeed,
transform.eulerAngles.z
);
}
public static Vector3 Calculate(Steering instance, Vector3 target)
{
Vector3 toEvader = target - instance.transform.position;
float RelativeHeading = Vector3.Dot(instance.transform.position.normalized, target.normalized);
if ((Vector3.Dot(toEvader, instance.transform.position.normalized) > 0) && (RelativeHeading < -0.95))
{
return(Seek.Calculate(instance, target));
}
float LookAheadTime = toEvader.magnitude / instance.Owner.maxSpeed + target.magnitude;
return(Seek.Calculate(instance, target + target.normalized * LookAheadTime));
}
public static Vector3 Calculate(Steering instance, List <Agent> entities)
{
/*int NeighborCount = 0;
* Vector3 CenterOfMass = Vector3.zero;
*
* foreach (MovingEntity o in entities)
* {
* if (o != instance)
* {
* CenterOfMass += o.transform.position;
*
* NeighborCount++;
* }
* }
*
* if (NeighborCount > 0)
* {
* CenterOfMass /= NeighborCount;
*
* CenterOfMass = Seek.Calculate(instance, instance.GetUsefulTarget(CenterOfMass));
* }*/
float neighbourDist = 50f;
Vector3 sum = new Vector3();
int count = 0;
for (int i = 0; i < entities.Count; i++)
{
float dist = Vector3.Distance(instance.Owner.Position, entities[i].Position);
if (dist > 0)
{
sum += entities[i].Position;
count++;
}
}
if (count > 0)
{
sum /= (float)count;
return(Seek.Calculate(instance, sum));
}
else
{
return(Vector3.zero);
}
//return CenterOfMass;
}
public static Vector3 Calculate(Rigidbody rigidbody, Transform target)
{
var toEvader = target.position - rigidbody.position;
var lookAheadTime = toEvader.magnitude;
// Add turn around time
const float coefficient = 0.5f;
lookAheadTime += (
Vector3.Dot(Vector3.Normalize(rigidbody.velocity), Vector3.Normalize(toEvader)) - 1)
* -coefficient;
// Seek to predicted position
return(Seek.Calculate(rigidbody.transform.position, target.position + rigidbody.velocity * lookAheadTime));
}
public static Vector3 Calculate(Steering instance, Deceleration deceleration, float decelerationRate)
{
if (instance.path == null)
{
return(Vector3.zero);
}
instance.path.Update(instance.Owner.Position);
if (!instance.path.IsFinished)
{
return(Seek.Calculate(instance, instance.path.Current));
}
else
{
return(Arrive.Calculate(instance, instance.path.Current, deceleration, decelerationRate));
}
}
// Update is called once per frame
void Update()
{
if (leader == true)
{
force = s.Calculate();
}
else
{
force = o.Calculate();
}
acceleration = force / mass;
velocity += acceleration * Time.deltaTime;
velocity = Vector3.ClampMagnitude(velocity, maxSpeed);
velocity *= 0.99f;
transform.position += velocity * Time.deltaTime;
if (velocity.magnitude > float.Epsilon)
{
transform.forward = velocity;
}
}