public void Steer(Vector3 origin, Vector3 target, bool departed, bool arrive)
{
// assume position already set
currentGoal = target;
seekTask = () => Seek(arrive);
alignTask = Align;
Mathf.Lerp(transform.position.x, origin.x, 1f);
Mathf.Lerp(transform.position.z, origin.z, 1f);
//Mathf.SmoothDamp(transform.position.x, origin.x, ref positionRefx, 1f);
//Mathf.SmoothDamp(transform.position.z, origin.z, ref positionRefz, 1f);
//transform.position = origin;
KinematicBody.position = transform.position;
if (departed)
{
// current Velocity is the position + directino * max speed
var direction = currentGoal - transform.position;
var currentVelocity = direction.normalized * SP.MAXSPEED;
// instantaneously set orientation and velocity
KinematicBody.setVelocity(currentVelocity);
KinematicBody.setOrientation(KinematicBody.getNewOrientation(currentVelocity));
transform.position = new Vector3(KinematicBody.position.x, transform.position.y, KinematicBody.position.z);
transform.rotation = Quaternion.Euler(0f, KinematicBody.getOrientation() * Mathf.Rad2Deg - 90f, 0f);
}
steering = true;
playingClip = true;
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
//******seeking_output = arrive.getSteering();
seeking_output = arrive.getSteering();
ds_torque = align.getSteering();
//******
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
/*Replace these three lines with a dynamic rotation*/
//float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
//char_kinematic.setOrientation(new_orient);
//char_kinematic.setRotation(0f);
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
/*record and write out speed on timer*/
string t = (Time.time - StartTime).ToString();
using (System.IO.StreamWriter file =
new System.IO.StreamWriter(@"C:\Grad School\AI\A1\" + FileName, true))
{
file.WriteLine(t + " | " + char_kinematic.getVelocity().ToString());
}
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
seeking_output = arrive.getSteering();
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
char_kinematic.setOrientation(new_orient);
char_kinematic.setRotation(0f);
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
// Update is called once per frame
void Update()
{
ds = new DynoSteering();
if (bHasGoal)
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
}
else
{
Vector3 tempGoal = ds_wander.getWanderGoal(char_RigidBody.getVelocity(), transform.position, toCenterWanderCircle, wanderCircleRad); //, UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ);
ds_force = arrive.getSteering(tempGoal);
ds_torque = align.getSteering(tempGoal);
}
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
/*record and write out speed on timer*/
string t = (Time.time - StartTime).ToString();
using (System.IO.StreamWriter file =
new System.IO.StreamWriter(@"C:\Grad School\AI\A1\" + FileName, true))
{
file.WriteLine(t + " | " + char_RigidBody.getVelocity().ToString());
}
DropCrumb(char_RigidBody.getVelocity());
if (!(CheckInBounds(transform.position, UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ)))
{
char_RigidBody.setVelocity(char_RigidBody.getVelocity() * -1);
//char_RigidBody.setRotation(char_RigidBody.getRotation () * -1);
//char_RigidBody.setOrientation(char_RigidBody.getOrientation () - 180);
//transform.Rotate (0, 180, 0);
//float targetOrientation = char_RigidBody.getNewOrientation ((transform.position + char_RigidBody.getVelocity ()));
//char_RigidBody.setRotation (targetOrientation - char_RigidBody.getOrientation ());
//char_RigidBody.setOrientation (targetOrientation);
//char_RigidBody.setRotation (char_RigidBody.getRotation () - 180);
//char_RigidBody.setOrientation
/*
* if (CheckInBounds (transform.position + (char_RigidBody.getVelocity () * -1), UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ))
* {
* char_RigidBody.setVelocity (char_RigidBody.getVelocity () * -1);
* }
*/
//transform.Rotate (0, 180, 0);
//char_RigidBody.setOrientation( char_RigidBody() * (-1) );//char_RigidBody.getNewOrientation())// char_RigidBody.getOrientation() - 180 );//char_RigidBody.getNewOrientation (char_RigidBody.getVelocity ()));
//transform.rotation = Quaternion.Euler (0, kso.orientation * Mathf.Rad2Deg * -1 ,0);
//char_RigidBody.setRotation(char_RigidBody.getRotation () * -1);
}
}
