private bool canPlaceObject(float halfSize, Vector3 pos)
{
//Make sure it does not overlap with any thing to avoid
for (int i = 0; i < thingsToAvoid.Length; i++)
{
float dist = Vector3.Distance(thingsToAvoid[i].position, pos);
if (dist < halfSize + thingsToAvoidRadius[i])
{
return(false);
}
}
//Make sure it does not overlap with any existing object
foreach (Rigidbody o in objs)
{
float dist = Vector3.Distance(o.position, pos);
float oRadius = SteeringBasics.getBoundingRadius(o.transform);
if (dist < oRadius + spaceBetweenObjects + halfSize)
{
return(false);
}
}
return(true);
}
public Vector2 getSteering(ICollection <Rigidbody2D> targets)
{
Vector2 acceleration = Vector2.zero;
foreach (Rigidbody2D r in targets)
{
/* Get the direction and distance from the target */
Vector2 direction = (Vector2)transform.position - r.position;
float dist = direction.magnitude;
if (dist < maxSepDist)
{
float targetRadius = SteeringBasics.getBoundingRadius(r.transform);
/* Calculate the separation strength (can be changed to use inverse square law rather than linear) */
var strength = sepMaxAcceleration * (maxSepDist - dist) / (maxSepDist - boundingRadius - targetRadius);
/* Added separation acceleration to the existing steering */
direction.Normalize();
acceleration += direction * strength;
}
}
return(acceleration);
}
// Use this for initialization
void Start()
{
//Find the size of the map
float z = -1 * Camera.main.transform.position.z;
bottomLeft = Camera.main.ViewportToWorldPoint(new Vector3(0, 0, z));
Vector3 topRight = Camera.main.ViewportToWorldPoint(new Vector3(1, 1, z));
widthHeight = topRight - bottomLeft;
//Find the radius' of the things to avoid
thingsToAvoidRadius = new float[thingsToAvoid.Length];
for (int i = 0; i < thingsToAvoid.Length; i++)
{
thingsToAvoidRadius[i] = SteeringBasics.getBoundingRadius(thingsToAvoid[i].transform);
}
//Create the create the objects
for (int i = 0; i < numberOfObjects; i++)
{
//Try to place the objects multiple times before giving up
for (int j = 0; j < 10; j++)
{
if (tryToCreateObject())
{
break;
}
}
}
}
private Vector3 getHidingPosition(Rigidbody2D obstacle, Rigidbody2D target)
{
float distAway = SteeringBasics.getBoundingRadius(obstacle.transform) + distanceFromBoundary;
Vector2 dir = obstacle.position - target.position;
dir.Normalize();
return(obstacle.position + dir * distAway);
}
// Use this for initialization
void Start()
{
boundingRadius = SteeringBasics.getBoundingRadius(transform);
}
public Vector2 getSteering(ICollection <Rigidbody2D> targets)
{
Vector2 acceleration = Vector2.zero;
/* 1. Find the target that the character will collide with first */
/* The first collision time */
float shortestTime = float.PositiveInfinity;
/* The first target that will collide and other data that
* we will need and can avoid recalculating */
Rigidbody2D firstTarget = null;
//float firstMinSeparation = 0, firstDistance = 0;
float firstMinSeparation = 0, firstDistance = 0, firstRadius = 0;
Vector2 firstRelativePos = Vector2.zero, firstRelativeVel = Vector2.zero;
foreach (Rigidbody2D r in targets)
{
/* Calculate the time to collision */
Vector2 relativePos = (Vector2)transform.position - r.position;
Vector2 relativeVel = rb.velocity - r.velocity;
float distance = relativePos.magnitude;
float relativeSpeed = relativeVel.magnitude;
if (relativeSpeed == 0)
{
continue;
}
float timeToCollision = -1 * Vector2.Dot(relativePos, relativeVel) / (relativeSpeed * relativeSpeed);
/* Check if they will collide at all */
Vector2 separation = relativePos + relativeVel * timeToCollision;
float minSeparation = separation.magnitude;
float targetRadius = SteeringBasics.getBoundingRadius(r.transform);
if (minSeparation > characterRadius + targetRadius)
//if (minSeparation > 2 * agentRadius)
{
continue;
}
/* Check if its the shortest */
if (timeToCollision > 0 && timeToCollision < shortestTime)
{
shortestTime = timeToCollision;
firstTarget = r;
firstMinSeparation = minSeparation;
firstDistance = distance;
firstRelativePos = relativePos;
firstRelativeVel = relativeVel;
firstRadius = targetRadius;
}
}
/* 2. Calculate the steering */
/* If we have no target then exit */
if (firstTarget == null)
{
return(acceleration);
}
/* If we are going to collide with no separation or if we are already colliding then
* steer based on current position */
if (firstMinSeparation <= 0 || firstDistance < characterRadius + firstRadius)
//if (firstMinSeparation <= 0 || firstDistance < 2 * agentRadius)
{
acceleration = (Vector2)transform.position - firstTarget.position;
}
/* Else calculate the future relative position */
else
{
acceleration = firstRelativePos + firstRelativeVel * shortestTime;
}
/* Avoid the target */
acceleration.Normalize();
acceleration *= maxAcceleration;
return(acceleration);
}
// Use this for initialization
void Start()
{
characterRadius = SteeringBasics.getBoundingRadius(transform);
rb = GetComponent <Rigidbody2D>();
}
