// Update is called once per frame
void Update()
{
if (isLeader)
{
//Me muevo independientemente. Con avoidance.
LeaderDir = (Objective.transform.position - transform.position).normalized;
if (Vector3.Distance(transform.position, Obstacle.transform.position) < AvoidanceRadius)
{
Avoid = Avoidance.getAvoidance(transform.position, Obstacle.transform.position);
LeaderDir += Avoid;
}
LeaderDir.y = 0;
transform.forward = Vector3.Slerp(transform.forward, LeaderDir, RotationSpeed * Time.deltaTime);
transform.position += transform.forward * Velocity * Time.deltaTime;
}
else
{
List <Vector3> AllyPos = new List <Vector3>();
foreach (var Ally in Allies)
{
AllyPos.Add(Ally.transform.position);
}
if (Vector3.Distance(transform.position, Obstacle.transform.position) < AvoidanceRadius)
{
Avoid = Avoidance.getAvoidance(transform.position, Obstacle.transform.position);
DirToGo += Avoid;
}
Le = (Leader.transform.position - transform.position).normalized;
// Vector3 avoid = Avoidance.getAvoidance(transform.position,);
Al = Floq.getAlignment(transform.position, AllyPos);
Co = Floq.getCohesion(transform.position, AllyPos) * cohetionWeight;
Se = Floq.getSeparation(transform.position, AllyPos, RadioDeFloq) * separationWeight;
DirToGo = Avoid + Le + Al + Co + Se;
DirToGo.y = 0;
transform.forward = Vector3.Slerp(transform.forward, DirToGo, RotationSpeed * Time.deltaTime);
transform.position += transform.forward * Velocity * Time.deltaTime;
}
}
// Update is called once per frame
void Update()
{
avoidance = Avoidance.getAvoidance(transform.position, Obstacle.transform.position);
}