public Vector3 arrive(BaseAgent agent, Vector3 targetPosition, float arriveRange, float range = 999999)
{
Vector3 desired;
Vector3 difference = targetPosition - agent.transform.position;
float distance = difference.magnitude;
// rango de funcionamiento general
if (distance < range)
{
// rango de arrive
if (distance > arriveRange)
{
desired = difference.normalized * agent.maxForce;
}
else
{
desired = difference * agent.maxForce;
}
}
else
{
desired = Vector3.zero;
}
return(desired);
}
static public Vector3 Seek(BaseAgent agent, Vector3 targetPosition, float arriveRange = 1)
{
Vector3 desiredVector = targetPosition - agent.transform.position;
desiredVector = Arrive(desiredVector, arriveRange);
desiredVector *= agent.maxForce;
return(desiredVector);
}
static public Vector3 Wander2D(BaseAgent agent, float wanderDistance, float wanderRadius, float angleDelta, float maxAngle)
{
Vector3 wanderCenter = agent.velocity.normalized * wanderDistance /* + agent.transform.position*/;
Vector3 desiredRef = agent.velocity.normalized * wanderRadius;
Vector3 desiredVector = wanderCenter + rotateVector2D(desiredRef, Mathf.Clamp(agent.wanderAngle + Random.Range(-angleDelta, angleDelta), -maxAngle, maxAngle)) /* - agent.transform.position*/;
return(desiredVector.normalized * agent.maxForce);
}
static public Vector3 Random2D(BaseAgent agent, Vector3 referencePosition, float changeTargetCD, float randomRadius, float power)
{
agent.randomTimer += Time.deltaTime;
if (agent.randomTimer > changeTargetCD)
{
agent.randomTarget = (Vector3)Random.insideUnitCircle * randomRadius + referencePosition;
agent.randomTimer = 0;
}
return(Seek(agent, agent.randomTarget, power));
}
public Vector3 random(BaseAgent agent, Vector3 position, float radius, float frequency)
{
timer += Time.deltaTime;
if (timer >= frequency)
{
timer = 0;
randomTargetPosition = (Vector2)position + Random.insideUnitCircle * Random.Range(0, radius);
}
return(seek(agent, randomTargetPosition));
}
public Vector3 wander(BaseAgent agent, float wanderDistance, float wanderRadius)
{
float wanderAngle = Random.Range(-180, 180);
Vector3 center = agent.transform.position + agent.velocity.normalized * wanderDistance;
Vector3 wRef = agent.velocity.normalized * wanderRadius;
Vector3 wRefRotated = Quaternion.Euler(0, 0, wanderAngle) * wRef;
Vector3 d = center + wRefRotated - agent.transform.position;
Vector3 desired = (d - agent.transform.position).normalized * agent.maxForce;
Debug.DrawLine(agent.transform.position, d + agent.transform.position);
return(desired);
}
static public Vector3 Flee(BaseAgent agent, Vector3 targetPosition, float range)
{
Vector3 desiredVector;
if (Vector3.Distance(targetPosition, agent.transform.position) < range)
{
desiredVector = agent.transform.position - targetPosition;
return(desiredVector.normalized * agent.maxForce);
}
else
{
return(Vector3.zero);
}
}
public Vector3 seek(BaseAgent agent, Vector3 targetPosition, float range = 999999)
{
Vector3 desired;
Vector3 difference = targetPosition - agent.transform.position;
if (difference.magnitude < range)
{
desired = difference.normalized * agent.maxForce;
}
else
{
desired = Vector3.zero;
}
return(desired);
}
public Vector3 separate(BaseAgent agent, List <Transform> neighbors, float range)
{
Vector3 desired = Vector3.zero;
foreach (var neighbor in neighbors)
{
Vector3 difference = agent.transform.position - neighbor.position;
if (difference.magnitude > range)
{
continue;
}
Vector3 desiredAux = difference.normalized * agent.maxForce;
desired += desiredAux;
}
return(desired);
}
static public Vector3 Separate(BaseAgent agent, List <BaseAgent> neighbors, float range)
{
Vector3 desiredVector = Vector3.zero;
for (int i = 0; i < neighbors.Count; i++)
{
if (neighbors[i].gameObject != agent.gameObject)
{
desiredVector += Flee(agent, neighbors[i].transform.position, range);
}
}
if (desiredVector.magnitude > 0)
{
return(desiredVector.normalized * agent.maxForce);
}
else
{
return(Vector3.zero);
}
}
// public bool isFirstWanderIteration = true;
public Vector3 wander(BaseAgent agent, float wanderDistance, float wanderRadius)
{
// if (isFirstWanderIteration)
// {
// agent.velocity = Random.insideUnitCircle * agent.maxForce;
// isFirstWanderIteration = false;
// }
float wanderAngle = Random.Range(-180, 180);
Vector3 center = agent.transform.position + agent.velocity.normalized * wanderDistance;
Vector3 wRef = agent.velocity.normalized * wanderRadius;
Vector3 wRefRotated = Quaternion.Euler(0, 0, wanderAngle) * wRef;
Vector3 d = center + wRefRotated - agent.transform.position;
Vector3 desired = (d - agent.transform.position).normalized * agent.maxForce;
Debug.DrawLine(agent.transform.position, d + agent.transform.position);
return(desired);
}
static public Vector3 Cohesion(BaseAgent agent, List <BaseAgent> neighbors, float range)
{
Vector3 averagePos = Vector3.zero;
int count = 0;
for (int i = 0; i < neighbors.Count; i++)
{
float dist = Vector3.Distance(agent.transform.position, neighbors[i].transform.position);
if (dist > 0 && dist < range)
{
averagePos += neighbors[i].transform.position;
count++;
}
}
if (count > 0)
{
averagePos /= count;
return(Seek(agent, averagePos));
}
return(Vector3.zero);
}
static public Vector3 Align(BaseAgent agent, List <BaseAgent> neighbors, float range)
{
Vector3 desiredVector = Vector3.zero;
int count = 0;
for (int i = 0; i < neighbors.Count; i++)
{
float dist = Vector3.Distance(agent.transform.position, neighbors[i].transform.position);
if (dist > 0 && dist < range)
{
desiredVector += neighbors[i].velocity;
count++;
}
}
if (count > 0)
{
return(desiredVector.normalized * agent.maxForce);
}
else
{
return(Vector3.zero);
}
}