void OnDrawGizmosSelected()
{
if (path.waypoints != null && path.Size != 0)
{
path.DrawGizmos();
// Draw the arrival towards the last end point (if no looping)
if (_bUsingArrive)
{
Arrive2D.DrawGizmos(Agent, arriveSensor);
}
// Show which current waypoint we are traveling to.
else
{
Seek2D.DrawGizmos(path.CurrentWaypoint(), Agent);
}
}
}
public override Vector2 SteerForce()
{
if (leader == null)
{
return(Vector2.zero);
}
// Convert the offset position into world coordinates.
Vector2 worldOffset = leader.graphicTransform.TransformPoint(localOffset);
Vector2 toOffset = worldOffset - (Vector2)Agent.transform.position;
Vector2 leaderVelocity = leader.rigid.velocity;
float lookAheadTime = toOffset.magnitude / (Agent.maxSpeed + leaderVelocity.magnitude);
Vector2 futurePosition = worldOffset + leaderVelocity * lookAheadTime;
arriveSensor.target = futurePosition;
return(Arrive2D.SteerForce(Agent, arriveSensor));
}
public override Vector2 SteerForce()
{
// Invalid targets.
if (!targetsAreValid())
{
return(Vector2.zero);
}
Vector2 midpoint = (targetA.position + targetB.position) / 2f;
float timeToReachMidpoint = Vector2.Distance(Agent.transform.position, midpoint) / Agent.maxSpeed;
// Assume the targets will continue moving linearly in order to predict their future positions.
Vector2 futurePositionA = targetA.position + targetA.velocity * timeToReachMidpoint;
Vector2 futurePositionB = targetB.position + targetB.velocity * timeToReachMidpoint;
Vector2 futureMidpoint = (futurePositionA + futurePositionB) / 2f;
sensor.target = futureMidpoint;
return(Arrive2D.SteerForce(Agent, sensor));
}
public override Vector2 SteerForce()
{
if (!evadeSensor.ShouldAvoid(Agent))
{
arriveSensor.target = _lastHidingSpot;
return(Arrive2D.SteerForce(Agent, arriveSensor));
}
Vector2 hidingSpot = Vector2.zero;
// Arrive at the hiding position.
if (getNearestHidingSpot(ref hidingSpot))
{
_lastHidingSpot = hidingSpot;
arriveSensor.target = hidingSpot;
return(Arrive2D.SteerForce(Agent, arriveSensor));
}
// No hiding position available, evade target.
else
{
return(Evade2D.SteerForce(Agent, evadeSensor));
}
}
