public Vector2 GetDesiredDestination(AIAgent requester)
{
Vector2 position = requester.transform.position;
AIAgentData requesterData = requester.data;
ITargetable target = requester.Target;
if (target == null)
{
//Debug.LogError($"{requester} has no posible targets");
return(requester.parent.GetCohesionPosition(requester));
}
Vector2 targetPos = target.GameObject.transform.position;
Vector2 directionTowardsPosition = (position - targetPos).normalized;
float requesterRadiousOffset = requesterData.shape == Shape.CIRCULAR ? requesterData.radious :
Vector2Utilities.GetDistanceOfSquareEdgeAndCenterFromDirection(requesterData.radious, directionTowardsPosition);
float targetRadiousOffset = target.BodyShape == Shape.CIRCULAR ? target.Radious :
Vector2Utilities.GetDistanceOfSquareEdgeAndCenterFromDirection(target.Radious, directionTowardsPosition);
Vector2 destinationPoint = targetPos + directionTowardsPosition * (requesterRadiousOffset + targetRadiousOffset);
return(destinationPoint);
}
protected float GetSeparationWeight(AIAgent requester, AIAgent closestSiblin, bool linear)
{
Vector2 position = requester.transform.position;
Vector2 siblinPos = closestSiblin.transform.position;
AIAgentData data = requester.data;
return(GetWeight(position, siblinPos, data.radious * data.separationRangeInRadious, data.radious, linear));
}
public static Vector2 Arribe(AIAgent requester, Vector2 position, Vector2 destinationPoint, float deltaTime, bool decelerate = true, bool useStopRadious = true)
{
AIAgentData requesterData = requester.data;
float sqrDist = Vector2Utilities.SqrDistance(destinationPoint, position);
//in stop radious
if (sqrDist <= Mathf.Pow(requesterData.stopRadious, 2) && useStopRadious)
{
return(position);
}
//in slow down radious
else if (sqrDist < Mathf.Pow(requesterData.slowDownStartRadious, 2) && decelerate)
{
Vector2 direction = (destinationPoint - position).normalized;
float dist = Mathf.Sqrt(sqrDist);
float speedMult = dist / requesterData.slowDownStartRadious;
float movementMagnitude = requesterData.maxSpeed * speedMult * deltaTime;
//prevent overshooting
if (dist <= movementMagnitude)
{
return(destinationPoint);
}
return(position + direction * movementMagnitude);
}
else
{
float dist = Mathf.Sqrt(sqrDist);
float movementMagnitude = requesterData.maxSpeed * deltaTime;
if (dist <= movementMagnitude)
{
return(destinationPoint);
}
Vector2 direction = (destinationPoint - position) / dist;
return(position + direction * movementMagnitude);
}
}
