override public SteeringOutput GetSteering()
{
float shortestTime = Mathf.Infinity;
Kinematic firstTarget = null;
float firstMinSeparation = 0;
float firstDistance = 0;
Vector3 firstRelativePosition = Vector3.zero;
Vector3 firstRelativeVelocity = Vector3.zero;
foreach (Kinematic t in targets)
{
Vector3 relativePosition = character.position - t.position;
Vector3 relativeVelocity = t.velocity - character.velocity;
float relativeSpeed = relativeVelocity.magnitude;
float timeToCollision = Vector3.Dot(relativePosition, relativeVelocity) / (relativeSpeed * relativeSpeed);
float distance = relativePosition.magnitude;
float minSeparation = distance - relativeSpeed * timeToCollision;
if (minSeparation > 2 * radius)
{
continue;
}
if (timeToCollision > 0 && timeToCollision < shortestTime)
{
shortestTime = timeToCollision;
firstTarget = t;
firstMinSeparation = minSeparation;
firstDistance = distance;
firstRelativePosition = relativePosition;
firstRelativeVelocity = relativeVelocity;
}
}
if (firstTarget == null)
{
return(null);
}
Vector3 position;
if (firstMinSeparation <= 0 || firstDistance < 2 * radius)
{
position = character.position - firstTarget.position;
}
else
{
position = firstRelativePosition + firstRelativeVelocity * shortestTime;
}
SteeringOutput output = new SteeringOutput();
output.linear = position.normalized * maxAcceleration;
output.angular = 0;
return(output);
}
public static Kinematic RigidbodyToKinematic(Rigidbody rigidbody)
{
Kinematic kinematic = new Kinematic();
kinematic.position = rigidbody.position;
kinematic.orientation = rigidbody.rotation.eulerAngles.y;
kinematic.velocity = rigidbody.velocity;
kinematic.rotation = rigidbody.angularVelocity.y;
return(kinematic);
}
public virtual void Initialize(Kinematic target, Kinematic character)
{
this.target = target;
this.character = character;
}
