public SteeringData getCollideAvoid()
{
Vector3 ahead = this.transform.position + _currentVelocity.normalized * _max_See_Ahead * 0.5f;
Circle _ClosestObsCirle = findMostThreateningObstacle();
SteeringData _SteeringOut = new SteeringData();
//lengkapi .... yang dibawah ini
if (_ClosestObsCirle != null)
{
_SteeringOut._linear = ahead - _ClosestObsCirle._center;
if (_SteeringOut._linear.magnitude > _max_Avoid_Force)
{
_SteeringOut._linear.Normalize();
_SteeringOut._linear *= _max_Avoid_Force;
}
}
else
{
_SteeringOut._linear = Vector3.zero;
}
Debug.Log("col:" + _SteeringOut._linear.magnitude);
return(_SteeringOut);
}
SteeringData getSteering()
{
float targetSpeed;
Vector3 targetVelocity;
SteeringData steering = new SteeringData();
steering._linear = target.position - transform.position;
float distance = steering._linear.magnitude;
if (distance > slowRadius)
{
targetSpeed = maxAcc;
}
else if (distance <= targetRadius)
{
targetSpeed = 0;
}
else
{
targetSpeed = maxSpeed * distance / slowRadius;
}
targetVelocity = steering._linear.normalized * targetSpeed;
steering._linear = targetVelocity - velocity;
if (steering._linear.magnitude > maxAcc)
{
steering._linear.Normalize();
steering._linear *= maxAcc;
}
return(steering);
}
public void Execute(int index)
{
SteeringData steering = Steerings[index];
MovementData movement = Movements[index];
float3 position = Positions[index].Value;
float3 steeringVelocity = steering.Velocity;
float distance = math.distance(movement.TargetPos, position);
ref float3 velocity = ref movement.Velocity;
public SteeringData getSteering()
{
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = transform.position - _target.position; //#direction
_SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
_SteeringOut._linear *= _maxAcceleration;
return(_SteeringOut);
}
SteeringData getSteering()
{
SteeringData steering = new SteeringData();
steering._linear = target.position - transform.position;
steering._linear.Normalize();
steering._linear *= maxAcc;
steering._angular = Vector3.zero;
return(steering);
}
public SteeringData getSteering()
{
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = _target - transform.position;
_SteeringOut._linear = _SteeringOut._linear.normalized;
_SteeringOut._linear *= _maxAcceleration;
_SteeringOut._angular = Vector3.zero;
return(_SteeringOut);
}
public SteeringData getSteering()
{
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = _target.position - transform.position; //#direction
_SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
_SteeringOut._linear *= _maxAcceleration;
// this.transform.eulerAngles = getNewOrientation(this.transform.eulerAngles, _KinematicOut._velocity); //rotation menggunakan euler angle
_SteeringOut._angular = Vector3.zero; //orientasi belum kita hitung
return(_SteeringOut);
}
// Update is called once per frame
void Update()
{
_velocity = _velocity + getSteering()._linear *Time.deltaTime; // Vt = Vo +a.t
if (_velocity.magnitude > _maxSpeed)
{
_velocity = _velocity.normalized * _maxSpeed;
}
this.transform.position = transform.position + _velocity * Time.deltaTime;
this.transform.eulerAngles = SteeringData.getNewOrientation(transform.eulerAngles, _velocity);
}
// Update is called once per frame
void Update()
{
//lengkapi Update
_steeringAll = getSteering()._linear + getCollideAvoid()._linear; // Vt = Vo +a.t
_velocity += _steeringAll * Time.deltaTime;
if (_velocity.magnitude > _maxSpeed)
{
_velocity = _velocity.normalized * _maxSpeed;
}
this.transform.position += _velocity * Time.deltaTime;
this.transform.eulerAngles = SteeringData.getNewOrientation(transform.eulerAngles, _velocity);
}
public void Execute(int index)
{
SteeringData steering = Steerings[index];
SteeringSharedData steeringShared = SharedSteering;
MovementData movement = Movements[index];
float3 position = Positions[index].Value;
steering.Velocity = movement.TargetPos - position;
if (math.lengthsq(steering.Velocity) > steeringShared.MaxAccelerationSqr)
{
steering.Velocity = math.normalizesafe(steering.Velocity) * steeringShared.MaxAcceleration;
}
steering.Velocity.y = 0.0f;
Steerings[index] = steering;
}
// Update is called once per frame
void Update()
{
_velocity = _velocity + getSteering()._linear *Time.deltaTime; // Vt = Vo +a.t
if (_velocity.magnitude > _maxSpeed)
{
_velocity = _velocity.normalized * _maxSpeed;
}
this.transform.position = transform.position + _velocity * Time.deltaTime;
this.transform.eulerAngles = SteeringData.getNewOrientation(transform.eulerAngles, _velocity);
if (Result() > 0 && currentWp < waypoints.Count - 1)
{
currentWp++;
_target = waypoints[currentWp];
}
}
public SteeringData getSteering()
{
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = _target.position - transform.position; //#direction
distance = _SteeringOut._linear.magnitude;
if (distance > _slowRadius)
{
_targetSpeed = _maxSpeed;
}
else if (distance <= _targetRadius)
{
_targetSpeed = 0;
}
else
{
_targetSpeed = _maxSpeed * distance / _slowRadius;
}
_targetVelocity = _SteeringOut._linear.normalized * _targetSpeed;
_SteeringOut._linear = (_targetVelocity - _currentVelocity);
if (_targetSpeed < _maxSpeed) //jika melambat gunakan brakeForce
{
_SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
_SteeringOut._linear *= _maxBrakeForce;
}
else
{
if (_SteeringOut._linear.magnitude > _maxAcceleration)
{
_SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
_SteeringOut._linear *= _maxAcceleration;
}
}
// this.transform.eulerAngles = getNewOrientation(this.transform.eulerAngles, _KinematicOut._velocity); //rotation menggunakan euler angle
_SteeringOut._angular = Vector3.zero; //orientasi belum kita hitung
return(_SteeringOut);
}
public SteeringData getSteering()
{
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = _target.position - transform.position; //#direction
distance = _SteeringOut._linear.magnitude;
if (distance > _slowRadius)
{
_targetSpeed = _maxSpeed;
}
else if (distance <= _targetRadius)
{
_targetSpeed = 0;
}
else
{
_targetSpeed = _maxSpeed * distance / _slowRadius;
}
_targetVelocity = _SteeringOut._linear.normalized * _targetSpeed;
_SteeringOut._linear = (_targetVelocity - _velocity);
// if (_targetSpeed < _maxSpeed) //jika melambat gunakan brakeForce
// {
// _SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
// _SteeringOut._linear *= _maxBrakeForce;
// }
// else
// {
if (_SteeringOut._linear.magnitude > _maxAcceleration)
{
_SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
_SteeringOut._linear *= _maxAcceleration;
}
// }
return(_SteeringOut);
}
public SteeringData getCollideAvoid()
{
Vector3 ahead = this.transform.position + _velocity.normalized * _max_See_Ahead;
Vector3 ahead2 = this.transform.position + _velocity.normalized * _max_See_Ahead * 0.5f;
Circle _ClosestObsCirle = findMostThreateningObstacle(ahead, ahead2);
SteeringData _SteeringOut = new SteeringData();
if (_ClosestObsCirle != null)
{
_SteeringOut._linear = ahead - _ClosestObsCirle._center;
_SteeringOut._linear = _SteeringOut._linear.normalized * _max_Avoid_Force;
}
else
{
_SteeringOut._linear = Vector3.zero;
}
return(_SteeringOut);
}
public SteeringData getSteering()
{
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = this.transform.position - _target.position;
if (_SteeringOut._linear.magnitude > _radius * 1.49)
{
_SteeringOut._linear = Vector3.zero;
return(_SteeringOut);
}
if (_SteeringOut._linear.magnitude > _radius)
{
_SteeringOut._linear.Normalize();
_SteeringOut._linear *= _maxAcceleration * -1;
_SteeringOut._angular = Vector3.zero;
return(_SteeringOut);
}
_SteeringOut._linear.Normalize();
_SteeringOut._linear *= _maxAcceleration;
_SteeringOut._angular = Vector3.zero;
return(_SteeringOut);
}
private SteeringOutput GetPrioritySteering()
{
SteeringOutput steering = new SteeringOutput();
float sqrThreshold = priorityThreshold * priorityThreshold;
foreach (var steeringdata in SteeringGroups)
{
steering = new SteeringOutput();
for (int i = 0; i < steeringdata.Value.Count; i++)
{
SteeringData singlesteering = steeringdata.Value[i];
steering.linearAcceleration += (singlesteering.weight * singlesteering.steering.linearAcceleration);
steering.angularAcceleration += (singlesteering.weight * singlesteering.steering.angularAcceleration);
}
if (steering.linearAcceleration.sqrMagnitude > sqrThreshold ||
Mathf.Abs(steering.angularAcceleration) > priorityThreshold)
{
return(steering);
}
}
return(steering);
}
public SteeringData getSteering()
{
//SteeringData _steeringOut = new SteeringData();
//_steeringOut._linear = _target.position - this.transform.position; //#direction
//Debug.Log(_steeringOut._linear.magnitude);
//if (_steeringOut._linear.magnitude < _radius) //jika di dalam radius velocity = 0; berhenti
//{
// _steeringOut._linear = Vector3.zero; //jika di dalam radius velocity = 0; berhenti
// _steeringOut._angular = Vector3.zero;
// return _steeringOut;
//}
//_steeringOut._linear /= _timeToTarget; //agar datang sesuai waktu yg di tentukan
//if (_steeringOut._linear.magnitude > _maxSpeed)
//{
// _steeringOut._linear = _steeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
// _steeringOut._linear *= _maxSpeed;
//}
////this.transform.eulerAngles = getNewOrientation(this.transform.eulerAngles, _steeringOut._velocity); //rotation menggunakan euler angle
//_steeringOut._angular = Vector3.zero;
//return _steeringOut;
SteeringData _SteeringOut = new SteeringData();
_SteeringOut._linear = _target.position - transform.position; //#direction
if (_SteeringOut._linear.magnitude < _radius) //jika di dalam radius velocity = 0; berhenti
{
_SteeringOut._linear = Vector3.zero; //jika di dalam radius velocity = 0; berhenti
_SteeringOut._angular = Vector3.zero;
return(_SteeringOut);
}
_SteeringOut._linear = _SteeringOut._linear.normalized; // normalize membuat resultan vektor = 1.
_SteeringOut._linear *= _maxAcceleration;
// this.transform.eulerAngles = getNewOrientation(this.transform.eulerAngles, _steeringOut._velocity); //rotation menggunakan euler angle
_SteeringOut._angular = Vector3.zero; //orientasi belum kita hitung
Debug.Log("steer:" + _SteeringOut._linear.magnitude);
return(_SteeringOut);
}
public void SetSteeringData(SteeringData data)
{
_steeringData = data;
_followBehaviour.SetSteeringData(_steeringData);
}
