void MoveTowardsTarget()
{
Vector3 targetDirection = target - transform.position;
FishMovementUtils.MoveTowardsTarget(rb, targetDirection, speed);
// face midway between current velocity vector and target: like anticipating a turn
Vector3 facingDirection = (rb.velocity + targetDirection) / 2;
FishMovementUtils.TurnToFace(rb, transform, facingDirection);
}
Vector3 MoveTowardsTarget()
{
// move towards target along XZ plane
Vector3 targetDirection = target - transform.position;
Vector3 force = FishMovementUtils.MoveTowardsTarget(rb, targetDirection, speed);
force += AdjustAltitude(hoverHeight);
// face midway between current velocity vector and target: like anticipating a turn
Vector3 facingDirection = (rb.velocity + targetDirection) / 2;
FishMovementUtils.TurnToFace(rb, transform, facingDirection);
return(force);
}
Vector3 AdjustAltitude(float targetAltitude)
{
// stay close to the terrain along the Y axis
float distanceToTerrain = GetDistanceToTerrain();
float hoverError = distanceToTerrain - targetAltitude;
if (Mathf.Abs(hoverError) < hoverMargin)
{
return(Vector3.zero);
}
else
{
float signError = Mathf.Abs(hoverError) / hoverError;
return(FishMovementUtils.MoveTowardsTarget(rb, -Vector3.up, speed * signError * 0.5f));
}
}
public void UpdateFish()
{
Vector3 targetVector = (settings.target.position - transform.position) * settings.speed * settings.targetWeight;
Vector3 collisionAvoidanceVector = Vector3.zero;
Vector3 alignmentVector = Vector3.zero;
Vector3 cohesionVector = Vector3.zero;
Vector3 separationVector = Vector3.zero;
// keep going in the current direction if no target
if (settings.targetWeight == 0.0f || IsHeadingForCollision())
{
Vector3 collisionAvoidDir = ObstacleRays();
collisionAvoidanceVector = collisionAvoidDir * settings.speed * settings.avoidCollisionWeight;
}
if (numPerceivedFlockmates != 0)
{
centreOfFlockmates /= numPerceivedFlockmates;
Vector3 offsetToFlockmatesCentre = (centreOfFlockmates - transform.position);
alignmentVector = avgFlockHeading * settings.speed * settings.alignWeight;
cohesionVector = offsetToFlockmatesCentre * settings.speed * settings.cohesionWeight;
separationVector = avgAvoidanceHeading * settings.speed * settings.separateWeight;
}
Vector3 sumVector = targetVector + collisionAvoidanceVector + alignmentVector + cohesionVector + separationVector;
if (sumVector.magnitude > settings.maxSpeed)
{
sumVector = sumVector * (settings.maxSpeed / sumVector.magnitude);
}
FishMovementUtils.MoveTowardsTarget(rb, sumVector, settings.speed);
FishMovementUtils.TurnToFace(rb, transform, rb.velocity);
FishMovementUtils.RotateUpright(rb, transform);
}