public override Steering GetSteering()
{
Steering steering = new Steering();
float wanderOrientation = Random.Range(-1.0f, 1.0f) * Rate;
float targetOrientation = wanderOrientation + Agent.GetOrientation();
if (Agent is Agent2D)
{
Vector3 orientationVec = GetOriAsVec2D(Agent.GetOrientation());
Vector3 targetPosition = (Offset * orientationVec) + transform.position;
targetPosition = targetPosition + (GetOriAsVec2D(targetOrientation) * Radius);
Target.transform.position = targetPosition;
}
else
{
Vector3 orientationVec = GetOriAsVec(Agent.GetOrientation());
Vector3 targetPosition = (Offset * orientationVec) + transform.position;
targetPosition = targetPosition + (GetOriAsVec(targetOrientation) * Radius);
Target.transform.position = targetPosition;
}
steering = base.GetSteering();
steering.linear = Target.transform.position - transform.position;
steering.linear.Normalize();
steering.linear *= Agent.GetMaxAccel();
return(steering);
}
public override Steering GetSteering()
{
Steering steering = new Steering();
float shortestTime = Mathf.Infinity;
GameObject firstTarget = null;
float firstMinSeparation = 0.0f;
float firstDistance = 0.0f;
Vector3 firstRelativePos = Vector3.zero;
Vector3 firstRelativeVel = Vector3.zero;
foreach (GameObject t in targets)
{
Vector3 relativePos;
IAgent targetAgent = t.GetComponent <IAgent>();
relativePos = t.transform.position - transform.position;
Vector3 relativeVel = targetAgent.GetVelocity() - Agent.GetVelocity();
float relativeSpeed = relativeVel.magnitude;
float timeToCollision = Vector3.Dot(relativePos, relativeVel);
timeToCollision /= relativeSpeed * relativeSpeed * -1;
float distance = relativePos.magnitude;
float minSeparation = distance - relativeSpeed * timeToCollision;
if (minSeparation > 2 * CollisionRadius)
{
continue;
}
if (timeToCollision > 0.0f && timeToCollision < shortestTime)
{
shortestTime = timeToCollision;
firstTarget = t;
firstMinSeparation = minSeparation;
firstRelativePos = relativePos;
firstRelativeVel = relativeVel;
}
}
if (firstTarget == null)
{
return(steering);
}
if (firstMinSeparation <= 0.0f || firstDistance < 2 * CollisionRadius)
{
firstRelativePos = firstTarget.transform.position;
}
else
{
firstRelativePos += firstRelativeVel * shortestTime;
}
firstRelativePos.Normalize();
steering.linear = -firstRelativePos *Agent.GetMaxAccel();
return(steering);
}
public Steering GetSteering(Vector3 targetPosition)
{
Steering steering = new Steering();
if (Agent is Agent2D)
{
steering.linear = (Vector2)targetPosition - (Vector2)_transform.position;
}
else
{
steering.linear = targetPosition - _transform.position;
}
steering.linear.Normalize();
steering.linear = steering.linear * Agent.GetMaxAccel();
return(steering);
}
