// Update is called once per frame
public KinematicSteeringOutput updateSteering(DynoSteering ds, float time)
{
if (sp == null)
{
sp = GetComponent <SteeringParams>();
position = this.transform.position;
velc = new Vector3(0f, 0f, 0f);
rotation = 0f;
orientation = 0f;
}
steering = new KinematicSteeringOutput();
// make Updates
position += velc * time;
orientation += rotation * time;
velc += ds.force * time;
orientation += ds.torque * time;
if (velc.magnitude > sp.MAXSPEED)
{
velc.Normalize();
velc = velc * sp.MAXSPEED;
}
steering.position = position;
steering.orientation = orientation;
return(steering);
}
//public void RegisterPlayableToList
// Update is called once per frame
void Update()
{
if (!initiatedExternally)
{
steering = false;
//throw new System.Exception();
}
if (steering)
{
//Debug.Log(gameObject.name + " " + transform.position);
//Debug.Log(transform.name + force.ToString());
seekTask();
// Strategy to prevent sudden re-allignment.
if (playingClip)
{
alignTask();
//Debug.Log("aligning " + transform.name);
}
kso = KinematicBody.updateSteering(new DynoSteering(force, torque), 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);
playingClip = false;
}
}
// Update is called once per frame
public KinematicSteeringOutput updateSteering(DynoSteering ds, float time)
{
steering = new KinematicSteeringOutput();
//perform wander behavior
// make Updates
position += (velc) * time;
orientation += rotation * time;
velc += ds.force * time;
orientation += ds.torque * time;
if (velc.magnitude > sp.MAXSPEED)
{
velc.Normalize();
velc = velc * sp.MAXSPEED;
}
steering.position = position;
steering.orientation = orientation;
return(steering);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
ds = new DynoSteering(ds_force.force, 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);
}
private void kinematicSeekBehavior()
{
ds = new DynoSteering();
// Decide on behavior
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()
{
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());
}
}
private void kinematicSeekBehavior()
{
ds = new DynoSteering();
// Decide on behavior
//******
seeking_output = seek.getSteering();
//******seeking_output = align.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);
}
void Update()
{
currentGoalTile = goalComponent.getGoalTile();
currentTile = QuantizeLocalize.Quantize(transform.position, tg);
if (prevGoalTile != currentGoalTile)
{
foreach (TileNode tn in currentPath)
{
if (tn.isEqual(currentTile))
{
continue;
}
tn.setOffMaterial();
}
currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
prevGoalTile = currentGoalTile;
// light up all tiles
foreach (TileNode tn in currentPath)
{
if (tn.isEqual(currentGoalTile))
{
continue;
}
tn.setPlanMaterial();
}
currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
}
// determine how to set force
if (currentPath.Count > 0)
{
ds_force = seek.getSteering(currentGoal);
// pop when seek says we've made it into range and seek the next target
if (seek.changeGoal)
{
nextTile = currentPath.Pop();
nextTile.setNextMaterial();
currentGoal = QuantizeLocalize.Localize(nextTile);
if (currentPath.Count > 0)
{
ds_force = seek.getSteering(currentGoal);
}
else
{
ds_force = arrive.getSteering(currentGoal);
}
}
}
else if (currentPath.Count == 0)
{
ds_force = arrive.getSteering(currentGoal);
}
ds_torque = align.getSteering(currentGoal);
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
kso = char_RigidBody.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);
}
}
void Update()
{
// check what the current goal is
currentGoalTile = goalComponent.tileGoal;
// check if we are at the goal position
currentTile = QuantizeLocalize.Quantize(transform.position, tg);
// if we're at the goal position, then pick a new goal
if (currentTile == currentGoalTile)
{
Debug.Log("here");
goalSetter.SetNextGoal();
currentGoalTile = goalComponent.tileGoal;
// find path to new goal
currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
// pick next point to seek
currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
}
else if (!hasPath)
{
currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
hasPath = true;
}
// if we are not at last point on path
if (currentPath.Count > 0)
{
// seek next point on path
ds_force = seek.getSteering(currentGoal);
// pop when seek says we've made it into range and seek the next target
if (seek.changeGoal)
{
nextTile = currentPath.Pop();
currentGoal = QuantizeLocalize.Localize(nextTile);
if (currentPath.Count > 0)
{
ds_force = seek.getSteering(currentGoal);
}
else
{
ds_force = arrive.getSteering(currentGoal);
}
}
}
// otherwise, we are approaching the path goal. we should arrive.
else if (currentPath.Count == 0)
{
ds_force = arrive.getSteering(currentGoal);
}
ds_torque = align.getSteering(currentGoal);
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
kso = char_RigidBody.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);
}