private static bool shouldStopCompletely(AutonomousAgent2D agent, ArriveSensor2D sensor)
{
var vel = agent.rigid.velocity;
var sqStop = sensor.stopSpeed * sensor.stopSpeed;
return(!vel.IsZero() && vel.sqrMagnitude < sqStop);
}
public static Vector2 SteerForce(AutonomousAgent2D agent, ArriveSensor2D sensor)
{
Vector2 desired = sensor.target - (Vector2)agent.transform.position;
float distanceToTarget = desired.magnitude;
desired.Normalize();
// Stop completely.
if (shouldStopSteering(distanceToTarget, sensor))
{
if (shouldStopCompletely(agent, sensor))
{
agent.rigid.velocity = Vector2.zero;
}
return(Vector2.zero);
}
// Slow down.
else if (shouldSlowDown(distanceToTarget, sensor))
{
float speed = agent.maxSpeed * (distanceToTarget / sensor.slowRadius);
desired *= speed;
}
// Full speed.
else
{
desired *= agent.maxSpeed;
}
return((desired - agent.rigid.velocity) * (1f / sensor.decelerationFactor));
}
protected void Awake()
{
if (path == null)
{
path = new Path2D();
}
if (arriveSensor == null)
{
arriveSensor = new ArriveSensor2D();
}
}
public static void DrawGizmos(AutonomousAgent2D agent, ArriveSensor2D sensor)
{
// Draw the slow radius
DrawUtil.DrawCircle(agent.transform.position, sensor.slowRadius, Color.green);
// Draw the stop radius
DrawUtil.DrawCircle(agent.transform.position, sensor.stopRadius, Color.green);
// Draw a line between the agent and its target.
DrawUtil.DrawArrow(agent.transform.position, sensor.target, Color.green, 1f);
// Draw the target position
DrawUtil.DrawCircle(sensor.target, 0.15f, Color.green);
}
private static bool shouldStopSteering(float distanceToTarget, ArriveSensor2D sensor)
{
return(distanceToTarget <= sensor.stopRadius);
}
private static bool shouldSlowDown(float distanceToTarget, ArriveSensor2D sensor)
{
return(distanceToTarget <= sensor.slowRadius);
}
