public override SteeringOutput GetSteering()
{
SteeringOutput result = KeepPosition.GetSteering(ownKS, target, requiredDistance, requiredAngle);
base.applyRotationalPolicy(rotationalPolicy, result, target);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS,
GameObject target, float distance, float angle,
string tag, float repulsionTh,
float wlr /* COMPLETE */)
{
// compute both steerings
SteeringOutput lr = LinearRepulsion.GetSteering(ownKS, tag, repulsionTh);
SteeringOutput kp = KeepPosition.GetSteering(ownKS, target, distance, angle);
// blend
// (if one is SteeringBehaviour.NULL_STEERING return the other.
// if none is SteeringBehaviour.NULL_STEERING blend with weights wlr and 1-wlr)
/* COMPLETE */
if (lr == SteeringBehaviour.NULL_STEERING)
{
return(kp);
}
if (kp == SteeringBehaviour.NULL_STEERING)
{
return(lr);
}
// "concoct" the blending on lr
lr.linearAcceleration = wlr * lr.linearAcceleration + (1 - wlr) * kp.linearAcceleration;
return(lr);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target, float distance = 10.0f, float angle = 180.0f, string tag = "REPULSIVE", float repulsionTh = 8.0f)
{
SteeringOutput so = LinearRepulsion.GetSteering(ownKS, tag, repulsionTh);
// Give priority to linear repulsion
// (if linear repulsion is not SteeringBehaviour.NULL_STEERING return linear repulsion
if (so != NULL_STEERING)
{
return(so);
}
// else return Keep Position
return(KeepPosition.GetSteering(ownKS, target, distance, angle));
}
public override SteeringOutput GetSteering()
{
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
if (this.target == null)
{
Debug.Log("Null target in Seek of " + this.gameObject);
}
SteeringOutput result = KeepPosition.GetSteering(base.ownKS, this.target, this.requiredDistance, this.requiredAngle);
base.applyRotationalPolicy(rotationalPolicy, result, target);
return(result);
}
protected override SteeringOutput GetSteering()
{
SteeringOutput result;
if (m_useArrive)
{
result = KeepPosition.GetSteering(m_ownKS, m_keepPositioninfo, m_arriveInfo);
}
else
{
result = KeepPosition.GetSteering(m_ownKS, m_keepPositioninfo);
}
base.ApplyFacingPolicy(m_keepPositioninfo.m_facingPolicy, result, m_alignInfo.m_target.gameObject);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKs, string idTag, float cohesionThreshold, float repulsionThreshold,
float wanderRate, float vmWeight, float rpWeight, float coWeight, float wdWeight,
GameObject target, float distance, float angle,
float kpWeight)
{
SteeringOutput fl = Flocking.GetSteering(ownKs, idTag, cohesionThreshold, repulsionThreshold,
wanderRate, vmWeight, rpWeight, coWeight, wdWeight);
SteeringOutput kp = KeepPosition.GetSteering(ownKs, target, distance, angle);
if (kp == NULL_STEERING)
{
return(fl);
}
fl.linearAcceleration = fl.linearAcceleration * (1 - kpWeight) + kp.linearAcceleration * kpWeight;
// fl.linearAcceleration = fl.linearAcceleration.normalized * ownKs.maxAcceleration;
return(fl);
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject target, float distance = 10.0f, float angle = 180.0f, string tag = "REPULSIVE", float repulsionTh = 8.0f, float repulsiveWeight = 0.5f)
{
// compute both steerings
SteeringOutput lr = LinearRepulsion.GetSteering(ownKS, tag, repulsionTh);
SteeringOutput kp = KeepPosition.GetSteering(ownKS, target, distance, angle);
// blend result
SteeringOutput result = new SteeringOutput();
// (if one is SteeringBehaviour.NULL_STEERING return the other
if (lr == NULL_STEERING)
{
return(kp);
}
else if (kp == NULL_STEERING)
{
return(lr);
}
// if none is SteeringBehaviour.NULL_STEERING blend with weights wlr and 1-wlr)
result.linearAcceleration = kp.linearAcceleration * (1 - repulsiveWeight) + lr.linearAcceleration * repulsiveWeight;
return(result);
}
