// Start is called before the first frame update
void Start()
{
myRotateType = new LWYG();
myRotateType.character = this;
//myRotateType.target = myTarget;
Graph myGraph = new Graph();
myGraph.Build();
List <Connection> path = Dijkstra.pathfind(myGraph, start, goal);
// path is a list of connections - convert this to gameobjects for the FollowPath steering behavior
myPath = new GameObject[path.Count + 1];
int i = 0;
foreach (Connection c in path)
{
Debug.Log("from " + c.getFromNode() + " to " + c.getToNode() + " @" + c.getCost());
myPath[i] = c.getFromNode().gameObject;
i++;
}
myPath[i] = goal.gameObject;
myMoveType = new pathFollow();
myMoveType.character = this;
myMoveType.path = myPath;
}
public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.getPosition() - Character.getPosition();
float distance = direction.magnitude;
float speed = Character.getVelocity().magnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent <AgentMeta> ();
dummyAgent.setPosition(Target.getPosition() + Target.getVelocity() * prediction);
Behaviour flee = new Flee(dummyAgent, Character);
SteeringOutput.SteeringOutput steering = flee.getSteering();
MonoBehaviour.Destroy(dummy);
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
Vector2 direction = Target.position - Character.position;
float distance = direction.magnitude;
if (distance < targetRadius)
{
return(steering);
}
var targetSpeed = Character.maxSpeed;
if (distance <= slowRadius)
{
targetSpeed *= distance / slowRadius;
}
var targetVelocity = direction.normalized * targetSpeed;
steering.linear = ((Vector3)targetVelocity) - Character.velocity;
steering.linear /= timeToTarget;
steering.angular = 0.0f;
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(.0f, .0f), .0f);
SteeringOutput.SteeringOutput auxSteering;
for (int i = 0; i < weightedBehaviours.Count; i++)
{
auxSteering = weightedBehaviours [i].behaviour.getSteering();
auxSteering.linear.x *= weightedBehaviours [i].weight;
auxSteering.linear.y *= weightedBehaviours [i].weight;
auxSteering.angular *= weightedBehaviours [i].weight;
steering += auxSteering;
}
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
if (steering.linear.magnitude > Character.maxAcceleration)
{
steering.linear = steering.linear.normalized * Character.maxAcceleration;
}
if (steering.angular > Character.maxAngularAcceleration)
{
steering.angular = Character.maxAngularAcceleration;
}
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
Behaviour seek = new Seek(Target, Character);
Behaviour lwyg = new LWYG(Character);
SteeringOutput.SteeringOutput steering = lwyg.getSteering() + seek.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
steering.linear = Character.position - Target.position;
steering.linear = steering.linear.normalized * Character.maxAcceleration;
steering.angular = 0.0f;
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
return(steering);
}
// Update is called once per frame
void Update()
{
if (behaviorNum != 0)
{
// update my position and rotation
this.transform.position += linearVelocity * Time.deltaTime;
Vector3 v = new Vector3(0, angularVelocity, 0);
this.transform.eulerAngles += v * Time.deltaTime;
}
// update linear and angular velocities
SteeringOutput steering = new SteeringOutput();
// Seek: target is "alsoMyTargetForPursueTho"
if (behaviorNum == 1)
{
text.text = "Seek";
Seek mySeek = new Seek();
mySeek.target = alsoMyTargetForPursueTho;
mySeek.character = this;
steering = mySeek.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
// Flee
else if (behaviorNum == 2)
{
Flee myFlee = new Flee();
text.text = "Flee";
myFlee.character = this;
myFlee.target = myTarget;
steering = myFlee.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
// Arrive
else if (behaviorNum == 3)
{
Arrive myArrive = new Arrive();
text.text = "Arrive";
myArrive.character = this;
myArrive.target = myTarget;
steering = myArrive.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else
{
linearVelocity = Vector3.zero;
}
}
// Align
else if (behaviorNum == 4)
{
Align myAlign = new Align();
text.text = "Align";
myAlign.character = this;
myAlign.target = myTarget;
steering = myAlign.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Face
else if (behaviorNum == 5)
{
Face myFace = new Face();
text.text = "Face";
myFace.character = this;
myFace.target = myTarget;
steering = myFace.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Look where you're going
else if (behaviorNum == 6)
{
LWYG myLook = new LWYG();
text.text = "LWYG";
myLook.character = this;
steering = myLook.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Path following
else if (behaviorNum == 7)
{
text.text = "Path Follow";
myPathFollow.character = this;
myPathFollow.path = pathToFollow;
steering = myPathFollow.getSteering();
if (steering != null)
{
if (linearVelocity.magnitude > 2)
{
linearVelocity = linearVelocity.normalized * 2;
}
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Pursue
else if (behaviorNum == 8)
{
Pursue myPursue = new Pursue();
text.text = "Pursue";
myPursue.character = this;
myPursue.target = alsoMyTargetForPursueTho;
steering = myPursue.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Seperate
else if (behaviorNum == 9)
{
text.text = "Seperate";
mySeperate.character = this;
mySeperate.targets = targetsForSeperate;
steering = mySeperate.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Collision Avoidance
else if (behaviorNum == 10)
{
text.text = "Collision Avoidance";
CollisionAvoidance myCollision = new CollisionAvoidance();
myCollision.character = this;
myCollision.targets = targetsForSeperate;
steering = myCollision.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Obstacle Avoidance
else if (behaviorNum == 11)
{
text.text = "Obstacle Avoidance";
ObstacleAvoid myObstacleAvoid = new ObstacleAvoid();
myObstacleAvoid.character = this;
myObstacleAvoid.target = myTarget;
steering = myObstacleAvoid.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Flocking
else if (behaviorNum == 12)
{
text.text = "Flocking";
if (!setUp)
{
// BehaviorAndWeight1 : Seperate
BehaviorAndWeight behavior1 = new BehaviorAndWeight();
Seperate mySeperate = new Seperate();
mySeperate.character = this;
GameObject[] birds = GameObject.FindGameObjectsWithTag("Bird");
Kinematic[] kBirds = new Kinematic[birds.Length - 1];
int j = 0;
for (int i = 0; i < birds.Length - 1; i++)
{
if (birds[i] == this)
{
continue;
}
kBirds[j++] = birds[i].GetComponent <Kinematic>();
}
mySeperate.targets = kBirds;
behavior1.behavior = mySeperate;
behavior1.weight = 10f;
// BehaviorAndWeight2 : Arrive
BehaviorAndWeight behavior2 = new BehaviorAndWeight();
Arrive myArrive = new Arrive();
myArrive.character = this;
myArrive.target = myTarget;
behavior2.behavior = myArrive;
behavior2.weight = 10f;
// BehaviorAndWeight3 : Align
BehaviorAndWeight behavior3 = new BehaviorAndWeight();
Align myAlign = new Align();
myAlign.character = this;
myAlign.target = myTarget;
behavior3.behavior = myAlign;
behavior3.weight = 3f;
// BehaviorAndWeight4 : ObstacleAvoidance
BehaviorAndWeight behavior4 = new BehaviorAndWeight();
ObstacleAvoid myObstacle = new ObstacleAvoid();
myObstacle.character = this;
myObstacle.target = myTargetObstacle; // Does this make sense?
behavior4.behavior = myObstacle;
behavior4.weight = 1f;
// Lower priority steering behaviors: Arrive, Align, & Seperate
BlendedSteeringDemo myBlended = new BlendedSteeringDemo();
myBlended.behaviors = new BehaviorAndWeight[3];
myBlended.behaviors[0] = new BehaviorAndWeight();
myBlended.behaviors[0] = behavior1;
myBlended.behaviors[1] = new BehaviorAndWeight();
myBlended.behaviors[1] = behavior2;
myBlended.behaviors[2] = new BehaviorAndWeight();
myBlended.behaviors[2] = behavior3;
// Higher priority steering behavior: Obstacle avoidance
BlendedSteeringDemo myBlendedAvoid = new BlendedSteeringDemo();
myBlendedAvoid.behaviors = new BehaviorAndWeight[1];
myBlendedAvoid.behaviors[0] = new BehaviorAndWeight();
myBlendedAvoid.behaviors[0] = behavior4;
// Initialize myPriority's array of groups with two groups
myPriority.groups = new BlendedSteeringDemo[2];
myPriority.groups[0] = new BlendedSteeringDemo();
myPriority.groups[0] = myBlendedAvoid;
myPriority.groups[1] = new BlendedSteeringDemo();
myPriority.groups[1] = myBlended;
setUp = true;
}
steering = myPriority.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
}
public override Steering GetSteering()
{
return(LWYG.GetSteering(target, npc, maxPrediction, npc.interiorAngle, npc.exteriorAngle, timeToTarget, visibleRays));
}
// Update is called once per frame
void Update()
{
if (behaviorNum != 0)
{
// update my position and rotation
this.transform.position += linearVelocity * Time.deltaTime;
Vector3 v = new Vector3(0, angularVelocity, 0);
this.transform.eulerAngles += v * Time.deltaTime;
}
// update linear and angular velocities
SteeringOutput steering = new SteeringOutput();
// Seek: target is "alsoMyTargetForPursueTho"
if (behaviorNum == 1)
{
Seek mySeek = new Seek();
text.text = "Seek";
mySeek.target = alsoMyTargetForPursueTho;
mySeek.character = this;
steering = mySeek.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
// Flee
else if (behaviorNum == 2)
{
Flee myFlee = new Flee();
text.text = "Flee";
myFlee.character = this;
myFlee.target = myTarget;
steering = myFlee.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
// Arrive
else if (behaviorNum == 3)
{
Arrive myArrive = new Arrive();
text.text = "Arrive";
myArrive.character = this;
myArrive.target = myTarget;
steering = myArrive.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else
{
linearVelocity = Vector3.zero;
}
}
// Align
else if (behaviorNum == 4)
{
Align myAlign = new Align();
text.text = "Align";
myAlign.character = this;
myAlign.target = myTarget;
steering = myAlign.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Face
else if (behaviorNum == 5)
{
Face myFace = new Face();
text.text = "Face";
myFace.character = this;
myFace.target = myTarget;
steering = myFace.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Look where you're going
else if (behaviorNum == 6)
{
LWYG myLook = new LWYG();
text.text = "LWYG";
myLook.character = this;
steering = myLook.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Path following
else if (behaviorNum == 7)
{
text.text = "Path Follow";
myPathFollow.character = this;
myPathFollow.path = pathToFollow;
steering = myPathFollow.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Pursue
else if (behaviorNum == 8)
{
Pursue myPursue = new Pursue();
text.text = "Pursue";
myPursue.character = this;
myPursue.target = alsoMyTargetForPursueTho;
steering = myPursue.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Seperate
else if (behaviorNum == 9)
{
text.text = "Seperate";
mySeperate.character = this;
mySeperate.targets = targetsForSeperate;
steering = mySeperate.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Collision Avoidance
else if (behaviorNum == 10)
{
text.text = "Collision Avoidance";
CollisionAvoidance myCollision = new CollisionAvoidance();
myCollision.character = this;
myCollision.targets = targetsForSeperate;
steering = myCollision.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Obstacle Avoidance
else if (behaviorNum == 11)
{
text.text = "Obstacle Avoidance";
ObstacleAvoid myObstacleAvoid = new ObstacleAvoid();
myObstacleAvoid.character = this;
myObstacleAvoid.target = myTarget;
steering = myObstacleAvoid.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
}
// Update is called once per frame
void Update()
{
// update my position and rotation
this.transform.position += linearVelocity * Time.deltaTime;
Vector3 v = new Vector3(0, angularVelocity, 0); // TODO - don't make a new Vector3 every update you silly person
this.transform.eulerAngles += v * Time.deltaTime;
// update linear and angular velocities
SteeringOutput steering = new SteeringOutput();
if (behaviorType == "Seek" || behaviorType == "seek")
{
Seek mySeek = new Seek();
mySeek.character = this;
mySeek.target = myTarget;
steering = mySeek.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else if (behaviorType == "Flee" || behaviorType == "flee")
{
Flee myFlee = new Flee();
myFlee.character = this;
myFlee.target = myTarget;
steering = myFlee.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else if (behaviorType == "Arrive" || behaviorType == "arrive")
{
Arrive myArrive = new Arrive();
myArrive.character = this;
myArrive.target = myTarget;
steering = myArrive.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else
{
linearVelocity = Vector3.zero;
}
}
else if (behaviorType == "Align" || behaviorType == "align")
{
Align myAlign = new Align();
myAlign.character = this;
myAlign.target = myTarget;
steering = myAlign.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
else if (behaviorType == "Face" || behaviorType == "face")
{
Face myFace = new Face();
myFace.character = this;
myFace.target = myTarget;
steering = myFace.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
else if (behaviorType == "LWYG" || behaviorType == "lwyg" || behaviorType == "Lwyg")
{
LWYG myLook = new LWYG();
myLook.character = this;
steering = myLook.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
}
// Update is called once per frame
void Update()
{
// update my position and rotation
this.transform.position += linearVelocity * Time.deltaTime;
Vector3 v = new Vector3(0, angularVelocity, 0);
this.transform.eulerAngles += v * Time.deltaTime;
// update linear and angular velocities
SteeringOutput steering = new SteeringOutput();
// Seek: target is "alsoMyTargetForPursueTho"
if (behaviorType == "Seek" || behaviorType == "seek")
{
Seek mySeek = new Seek();
mySeek.target = alsoMyTargetForPursueTho;
mySeek.character = this;
steering = mySeek.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
// Flee
else if (behaviorType == "Flee" || behaviorType == "flee")
{
Flee myFlee = new Flee();
myFlee.character = this;
myFlee.target = myTarget;
steering = myFlee.getSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
// Arrive
else if (behaviorType == "Arrive" || behaviorType == "arrive")
{
Arrive myArrive = new Arrive();
myArrive.character = this;
myArrive.target = myTarget;
steering = myArrive.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else
{
linearVelocity = Vector3.zero;
}
}
// Align
else if (behaviorType == "Align" || behaviorType == "align")
{
Align myAlign = new Align();
myAlign.character = this;
myAlign.target = myTarget;
steering = myAlign.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Face
else if (behaviorType == "Face" || behaviorType == "face")
{
Face myFace = new Face();
myFace.character = this;
myFace.target = myTarget;
steering = myFace.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Look where you're going
else if (behaviorType == "LWYG" || behaviorType == "lwyg" || behaviorType == "Lwyg")
{
LWYG myLook = new LWYG();
myLook.character = this;
steering = myLook.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Path following
else if (behaviorType == "pathFollow" || behaviorType == "PathFollow")
{
myPathFollow.character = this;
myPathFollow.path = pathToFollow;
steering = myPathFollow.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Pursue
else if (behaviorType == "Pursue" || behaviorType == "pursue")
{
Pursue myPursue = new Pursue();
myPursue.character = this;
myPursue.target = alsoMyTargetForPursueTho;
steering = myPursue.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
// Seperate
else if (behaviorType == "Seperate" || behaviorType == "seperate")
{
mySeperate.character = this;
mySeperate.targets = targetsForSeperate;
steering = mySeperate.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
}
