public override Vector3 Execute()
{
Vector3 force = Vector3.zero;
GameObject[] gameObjects = perception.GetGameObjects();
if (gameObjects != null && gameObjects.Length > 0)
{
// ****
Vector3 velocities = Vector3.zero;
foreach (GameObject gameObject in gameObjects)
{
AutonomousAgent agent = gameObject.GetComponent <AutonomousAgent>();
velocities = velocities + agent.Velocity;
}
Vector3 direction = (velocities / gameObjects.Length).normalized;
// ****
Vector3 desired = direction * Agent.maxSpeed;
force = Vector3.ClampMagnitude(desired - Agent.Velocity, Agent.maxForce);
Debug.DrawRay(transform.position, desired, Color.red); // desired
Debug.DrawRay(transform.position + Agent.Velocity, force, Color.green); // steering
}
return(force);
}
public override Vector3 Execute(AutonomousAgent agent, AutonomousAgent target, string targetTag)
{
Vector3 steering = Vector3.zero;
//get all agent game objects within perception radius
GameObject[] gameObjects = AutonomousAgent.GetGameObjects(gameObject, targetTag, perception);
if (gameObjects.Length > 0)
{
//get center of all agents in perception
Vector3 sum = Vector3.zero;
foreach (GameObject gameObject in gameObjects)
{
AutonomousAgent targetAgent = (gameObject) ? target.GetComponent <AutonomousAgent>() : null;
Vector3 direction = agent.position - targetAgent.position;
float distance = direction.magnitude;
direction = direction.normalized;
direction = direction / distance;
sum = sum + direction;
}
Vector3 desired = sum.normalized * agent.maxSpeed;
steering = desired - agent.velocity;
}
return(steering);
}
public override Vector3 ExecuteOrder66(AutonomousAgent agent, AutonomousAgent target, string targetTag = "")
{
Vector3 steering = Vector3.zero;
//get all agent game objects within perception radius
GameObject[] gameObjects = AutonomousAgent.GetGameObjects(gameObject, targetTag, perception);
if(gameObjects.Length > 0)
{
//get center position of all agents within perception
Vector3 sum = Vector3.zero;
foreach(GameObject gameObject in gameObjects)
{
AutonomousAgent targetAgent = (gameObject) ? gameObject.GetComponent<AutonomousAgent>() : null;
sum = sum + targetAgent.position;
}
sum = sum / gameObjects.Length;
//seek to center position
Vector3 desired = (sum - agent.position).normalized * agent.maxSpeed;
steering = desired - agent.velocity;
}
return steering;
}
void Update()
{
acceleration = Vector3.zero;
//Apply force to acceleration for all behaviors
foreach (AutonomousBehavior behavior in m_behaviors)
{
GameObject target = (behavior.targetTagName != "NONE") ? GetNearestGameObject(gameObject, behavior.targetTagName, behavior.perception) : null;
AutonomousAgent targetAgent = (target) ? target.GetComponent <AutonomousAgent>() : null;
Vector3 force = behavior.ExecuteOrder66(this, targetAgent, behavior.targetTagName);
force = Vector3.ClampMagnitude(force, maxForce);
force = force * behavior.strength;
ApplyForce(force);
}
velocity = velocity + acceleration;
velocity = Vector3.ClampMagnitude(velocity, maxSpeed);
transform.position = transform.position + velocity * Time.deltaTime;
transform.position = WrapPosition(transform.position, new Vector3(-10.0f, -10.0f, -10.0f), new Vector3(10.0f, 10.0f, 10.0f));
Quaternion targetRotation = Quaternion.LookRotation(forward, Vector3.up);
transform.rotation = Quaternion.Lerp(transform.rotation, targetRotation, m_rotateRate * Time.deltaTime);
//Debug.DrawLine(transform.position, transform.position + velocity, Color.white);
}
void Update()
{
acceleration = Vector3.zero;
foreach (Behaviors behavior in m_behaviors)
{
//float scale = 1.0f - Mathf.Clamp01(acceleration.magnitude / maxForce);
GameObject target = (behavior.targetTagName != "NONE") ? GetNearestGameObject(gameObject, behavior.targetTagName, behavior.perception) : null;
AutonomousAgent targetAgent = (target) ? target.GetComponent <AutonomousAgent>() : null;
Vector3 force = behavior.Execute(this, targetAgent, behavior.targetTagName);
force = Vector3.ClampMagnitude(force, maxForce);
force.y = 0.0f;
ApplyForce(force);
}
velocity += acceleration; //* Time.deltaTime;
velocity = Vector3.ClampMagnitude(velocity, maxSpeed);
transform.position += velocity * Time.deltaTime;
transform.position = WrapPosition(transform.position, new Vector3(-10.0f, -10.0f, -10.0f), new Vector3(10.0f, 10.0f, 10.0f));
Quaternion targetRotation = Quaternion.LookRotation(forward, Vector3.up);
transform.rotation = Quaternion.Lerp(transform.rotation, targetRotation, m_rotateRate * Time.deltaTime);
Debug.DrawLine(transform.position, transform.position + velocity, Color.white);
}
private void Awake()
{
owner = GetComponentInParent <AutonomousAgent>();
triggerCollider = GetComponent <SphereCollider>();
lastColliders = new List <Collider>();
StartCoroutine(CheckInside(Random.Range(0.1f, 0.5f)));
}
protected AutonomousAgentInRole(
Guid id,
AutonomousAgent autonomousAgent,
Role role
) : base(id)
{
AutonomousAgent = autonomousAgent;
Role = role;
}
private void Awake()
{
owner = GetComponentInParent<AutonomousAgent>();
triggerCollider = GetComponent<SphereCollider>();
lastColliders = new List<Collider>();
StartCoroutine(CheckInside(Random.Range(0.1f, 0.5f)));
}
private void Start()
{
triggerCollider = GetComponent<SphereCollider>();
owner = GetComponentInParent<AutonomousAgent>();
opposingTeam = Targeting.GetOpposingTeam(owner.Team);
lastColliders = new List<Collider>();
StartCoroutine(CheckInside(Random.Range(1f, 2f)));
}
private void Start()
{
triggerCollider = GetComponent <SphereCollider>();
owner = GetComponentInParent <AutonomousAgent>();
opposingTeam = Targeting.GetOpposingTeam(owner.Team);
lastColliders = new List <Collider>();
StartCoroutine(CheckInside(Random.Range(1f, 2f)));
}
public override Vector3 ExecuteOrder66(AutonomousAgent agent, AutonomousAgent target, string targetTag = "")
{
m_theta = m_theta + Random.Range(-m_displacement, m_displacement);
Vector3 randomPoint = Quaternion.AngleAxis(m_theta, Vector3.up) * new Vector3(0.0f, 0.0f, m_radius);
Vector3 forward = agent.forward * m_forwardDistance;
Vector3 direction = forward + randomPoint;
Vector3 desired = direction.normalized * agent.maxSpeed;
Vector3 steering = desired - agent.velocity;
return(steering);
}
public override Vector3 Execute(AutonomousAgent agent, AutonomousAgent target, string targetTag)
{
if (target == null)
{
return(Vector3.zero);
}
Vector3 desired = (agent.position - target.position).normalized * agent.maxSpeed;
Vector3 steering = desired - agent.velocity;
steering = Vector3.ClampMagnitude(steering, agent.maxForce);
return(steering);
}
public void LinkNodes()
{
GameObject[] gameObjects = GameObject.FindGameObjectsWithTag("Node");
foreach(GameObject go in gameObjects)
{
Node node = go.GetComponent<Node>();
if (node)
{
bool connected = false;
Collider[] colliders = Physics.OverlapSphere(go.transform.position, m_nodeRange);
foreach (Collider collider in colliders)
{
Node otherNode = collider.GetComponent<Node>();
if (otherNode && otherNode != node)
{
Node.Edge edge;
edge.nodeA = node;
edge.nodeB = otherNode;
node.edges.Add(edge);
connected = true;
}
}
if (connected == false)
{
GameObject nearestGameObject = AutonomousAgent.GetNearestGameObject(node.gameObject, "Node");
Node otherNode = nearestGameObject.GetComponent<Node>();
if (otherNode)
{
Node.Edge edge;
edge.nodeA = node;
edge.nodeB = otherNode;
node.edges.Add(edge);
connected = true;
}
}
}
}
}
public override Vector3 Execute(AutonomousAgent agent, AutonomousAgent target, string targetTag)
{
if (target == null)
{
return(Vector3.zero);
}
Vector3 desired = (target.position - agent.position);
float distance = desired.magnitude;
desired = desired.normalized * agent.maxSpeed;
if (distance < m_radius)
{
desired = desired * (distance / m_radius);
}
Vector3 steering = desired - agent.velocity;
//steering = Vector3.ClampMagnitude(steering, agent.maxForce);
return(steering);
}
public override Vector3 Execute(AutonomousAgent agent, AutonomousAgent target, string targetTag)
{
Vector3 steering = Vector3.zero;
GameObject[] gameObjects = AutonomousAgent.GetGameObjects(gameObject, targetTag, perception);
if (gameObjects.Length > 0)
{
Vector3 sum = Vector3.zero;
foreach (GameObject gameObject in gameObjects)
{
AutonomousAgent targetAgent = (gameObject) ? gameObject.GetComponent <AutonomousAgent>() : null;
sum = sum + targetAgent.position;
}
sum = sum / gameObjects.Length;
Vector3 desired = (sum - agent.position).normalized * agent.maxSpeed;
steering = desired - agent.velocity;
}
return(steering);
}
public override Vector3 Execute(AutonomousAgent agent, AutonomousAgent target, string targetTag)
{
Vector3 steering = Vector3.zero;
//get all agent game objects within perception radius
GameObject[] gameObjects = AutonomousAgent.GetGameObjects(gameObject, targetTag, perception);
if (gameObjects.Length > 0)
{
//get center of all agents in perception
Vector3 sum = Vector3.zero;
foreach (GameObject gameObject in gameObjects)
{
AutonomousAgent targetAgent = (gameObject) ? target.GetComponent <AutonomousAgent>() : null;
sum = sum + targetAgent.velocity;
}
Vector3 averageVelocity = sum / gameObjects.Length;
//allign to average velocity position
Vector3 desired = averageVelocity.normalized * agent.maxSpeed;
steering = desired - agent.velocity;
}
return(steering);
}
private void Awake()
{
smartDriver = GameObject.FindWithTag("Agent").GetComponent <AutonomousAgent>();
}
public abstract Vector3 ExecuteOrder66(AutonomousAgent agent, AutonomousAgent target, string targetTag = "");
public SteeringBehaviour(AutonomousAgent value)
{
agent = value;
}
public SteeringBehaviour(AutonomousAgent value)
{
agent = value;
}
private void Awake()
{
owner = GetComponentInParent <AutonomousAgent>();
opposingTeam = Targeting.GetOpposingTeam(owner.Team);
}
private void Awake()
{
owner = GetComponentInParent<AutonomousAgent>();
opposingTeam = Targeting.GetOpposingTeam(owner.Team);
}
