public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidDistance = AVOID_MARGIN,
LookAhead = MAX_LOOK_AHEAD,
Character = this.character.KinematicData,
Target = new KinematicData(),
DebugColor = Color.magenta
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 2.0f));
this.priorityMovement.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in characters)
{
if (otherCharacter != this.character)
{
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
CollisionRadius = AVOID_MARGIN,
DebugColor = Color.cyan
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidCharacter, 2.0f));
this.priorityMovement.Movements.Add(avoidCharacter);
}
}
var targetPosition = this.character.KinematicData.Position + (Vector3.zero - this.character.KinematicData.Position) * 2;
this.patrolMovement = new DynamicPatrol(this.character.KinematicData.Position, targetPosition)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
StopRadius = 2.0f,
SlowRadius = 6.0f,
DebugColor = Color.yellow
};
this.rvoMovement = new RVOMovement(this.patrolMovement, characters.Select(c => c.KinematicData).ToList(), obstacles.Select(o => new StaticData(o.transform)).ToList())
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
};
this.priorityMovement.Movements.Add(patrolMovement);
this.blendedMovement.Movements.Add(new MovementWithWeight(patrolMovement, 1));
this.character.Movement = this.priorityMovement;
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidDistance = AVOID_MARGIN,
LookAhead = MAX_LOOK_AHEAD,
Character = this.character.KinematicData,
DebugColor = Color.magenta
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 4.0f));
this.priorityMovement.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in characters)
{
if (otherCharacter != this.character)
{
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
CollisionRadius = COLLISION_RADIUS,
DebugColor = Color.cyan
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidCharacter, 2.0f));
this.priorityMovement.Movements.Add(avoidCharacter);
}
}
var targetPosition = -this.character.KinematicData.Position;
this.patrolMovement = new DynamicPatrol(this.character.KinematicData.Position, targetPosition)
{
Character = this.character.KinematicData,
TimeToTarget = TIME_TO_TARGET,
SlowRadius = SLOW_RADIUS,
StopRadius = STOP_RADIUS,
MaxAcceleration = MAX_ACCELERATION,
DebugColor = Color.yellow
};
List <GameObject> obs = obstacles.ToList();
List <KinematicData> obst = new List <KinematicData>();
obst.AddRange(obs.Select(c => new KinematicData(new StaticData(c.transform))).ToList());
this.rvoMovement = new RVOMovement(this.patrolMovement, characters.Select(c => c.KinematicData).ToList(), obst, this.character.KinematicData)
{
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
CharacterSize = CHARACTER_SIZE,
IgnoreDistance = IGNORE_DISTANCE,
NumberOfSamples = NUMBER_OF_SAMPLES,
Weight = RVO_WEIGHT
};
this.priorityMovement.Movements.Add(patrolMovement);
this.blendedMovement.Movements.Add(new MovementWithWeight(patrolMovement, 1f));
this.character.Movement = this.priorityMovement;
}
private void InitializeCharacters(DynamicCharacter character, GameObject[] obstacles)
{
var Blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
WhiskersLength = MAX_WHISKERS_LOOK_AHEAD,
WhiskersSpan = MAX_WHISKERS_SPAN,
MovementDebugColor = Color.magenta
};
Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 7));
}
var separation = new DynamicSeparation()
{
Character = character.KinematicData,
flock = this.flock,
maxAcceleration = MAX_ACCELERATION,
radius = RADIUS,
separationFactor = SEPARATION_FACTOR
};
var flockVelocityMatching = new DynamicFlockVelocityMatching()
{
Character = character.KinematicData,
flock = this.flock,
radius = RADIUS,
fanAngle = FAN_ANGLE,
MaxAcceleration = MAX_ACCELERATION
};
var cohesion = new DynamicCohesion()
{
Character = character.KinematicData,
flock = this.flock,
MaxAcceleration = MAX_ACCELERATION,
radius = RADIUS,
fanAngle = FAN_ANGLE
};
var straightAhead = new DynamicStraightAhead
{
MaxAcceleration = MAX_ACCELERATION,
Character = character.KinematicData,
MovementDebugColor = Color.yellow
};
Blended.Movements.Add(new MovementWithWeight(straightAhead, 3));
Blended.Movements.Add(new MovementWithWeight(separation, 4));
Blended.Movements.Add(new MovementWithWeight(flockVelocityMatching, 3));
Blended.Movements.Add(new MovementWithWeight(cohesion, 3));
character.Movement = Blended;
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = this.character.KinematicData,
DebugColor = Color.magenta
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 2.0f));
this.priorityMovement.Movements.Add(avoidObstacleMovement);
}
if (characters.Any())
{
foreach (var otherCharacter in characters)
{
if (otherCharacter != this.character)
{
//TODO: add your AvoidCharacter movement here
//EX2
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
DebugColor = Color.cyan,
MaxTimeLookAhead = MAX_TIME_LOOK_AHEAD,
AvoidMargin = COLLISION_RADIUS,
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidCharacter, 2.0f));
this.priorityMovement.Movements.Add(avoidCharacter);
}
}
}
this.patrolMovement = new DynamicPatrol(this.character.KinematicData.Position, new Vector3(0.0f, 0.0f, 0.0f))
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
DebugColor = Color.yellow
};
this.rvoMovement = new RVOMovement(this.patrolMovement, characters.Select(c => c.KinematicData).ToList(), obstacles.ToList())
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
DebugColor = Color.black
};
this.priorityMovement.Movements.Add(patrolMovement);
this.blendedMovement.Movements.Add(new MovementWithWeight(patrolMovement, 1));
this.character.Movement = this.priorityMovement;
this.ChangeTargetRandom();
}
private BlendedMovement GenerateBlendingMovementFor(DynamicCharacter character)
{
var blending = new BlendedMovement
{
MaxAcceleration = this.MaximumAcceleration,
Character = character.KinematicData
};
var cohesion = new DynamicCohesion(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
MaxSpeed = this.MaximumSpeed,
FlockRadius = this.FlockRadius,
MovementDebugColor = Color.yellow
};
var separation = new DynamicSeparation(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
FlockRadius = this.FlockRadius,
SeparationFactor = this.SeparationFactor,
MovementDebugColor = Color.red
};
var velocityMatch = new DynamicFlockVelocityMatching(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
FlockRadius = this.FlockRadius,
MovementDebugColor = Color.green
};
var collisionDetection = new PriorityMovement
{
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
foreach (var obstacle in this.Obstacles)
{
var avoidMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = this.MaximumAcceleration,
AvoidMargin = 4.0f,
MaxLookAhead = 10.0f,
};
collisionDetection.Movements.Add(avoidMovement);
}
var flockSeek = new DynamicFlockTarget(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
MovementDebugColor = Color.cyan
};
blending.Movements.Add(new MovementWithWeight(cohesion));
blending.Movements.Add(new MovementWithWeight(separation, 2.0f));
blending.Movements.Add(new MovementWithWeight(velocityMatch));
blending.Movements.Add(new MovementWithWeight(collisionDetection, 1000.0f));
blending.Movements.Add(new MovementWithWeight(flockSeek));
return(blending);
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
WhiskerLookAhead = WHISKER_LOOK_AHEAD,
Character = this.character.KinematicData,
Target = new KinematicData(),
DebugColor = Color.magenta
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 15f));
this.priorityMovement.Movements.Add(avoidObstacleMovement);
}
/*
* foreach (var otherCharacter in characters)
* {
* if (otherCharacter != this.character)
* {
* var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
* {
* Character = this.character.KinematicData,
* MaxAcceleration = 10f,
* CollisionRadius = AVOID_MARGIN,
* MaxTimeLookAhead = 3f,
* DebugColor = Color.cyan
* };
*
* this.blendedMovement.Movements.Add(new MovementWithWeight(avoidCharacter, 3f));
* this.priorityMovement.Movements.Add(avoidCharacter);
* }
* }
*/
var avoidCharacter = new DynamicAvoidCharacter(characters.Where(c => c != this.character).Select(d => d.KinematicData).ToList())
{
Character = this.character.KinematicData,
MaxAcceleration = 10f,
CollisionRadius = AVOID_MARGIN,
MaxTimeLookAhead = 3f,
DebugColor = Color.cyan
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidCharacter, 10f));
this.priorityMovement.Movements.Add(avoidCharacter);
var targetPosition = this.character.KinematicData.Position + (Vector3.zero - this.character.KinematicData.Position) * 2;
this.patrolMovement = new DynamicPatrol(this.character.KinematicData.Position, targetPosition)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
DebugColor = Color.yellow
};
this.rvoMovement = new RVOMovement(this.patrolMovement, characters.Select(c => c.KinematicData).ToList(), obstacles.Select(o => new StaticData(o.transform)).ToList())
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
};
this.priorityMovement.Movements.Add(patrolMovement);
this.blendedMovement.Movements.Add(new MovementWithWeight(patrolMovement, 1.5f));
this.character.Movement = this.priorityMovement;
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
bool avoidingObstacle = false;
this.Priority = new PriorityMovement
{
Character = character.KinematicData
};
this.Blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = 100f,
avoidDistance = 10f,
lookAhead = 10f
};
//Target = character.KinematicData
//MovementDebugColor = Color.magenta
if (!avoidingObstacle)
{
avoidingObstacle = avoidObstacleMovement._avoiding;
}
this.Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 8f));
//this.Priority.Movements.Add(avoidObstacleMovement);
}
var straight = new DynamicStraightAhead
{
MaxAcceleration = MAX_ACCELERATION,
Target = character.KinematicData
};
var separation = new Separation
{
MaxAcceleration = MAX_ACCELERATION,
separationFactor = 3f,
radius = 5f,
flock = Characters
};
var flockVelocityMatch = new FlockVelocityMatching
{
flock = Characters,
radius = 5.0f,
fanAngle = 60.0f,
Target = character.KinematicData,
Character = character.KinematicData,
TimeToTargetSpeed = .1f
};
var cohesion = new Cohesion
{
flock = Characters,
radius = 5.0f,
fanAngle = 60.0f,
maxSpeed = MAX_SPEED,
slowRadius = 1f,
};
var fleeFromClick = new FleeFromClick
{
camera = Camera.main,
fleeRadius = 10f,
MaxAcceleration = MAX_ACCELERATION
};
this.Blended.Movements.Add(new MovementWithWeight(straight, 3f));
this.Blended.Movements.Add(new MovementWithWeight(fleeFromClick, 4f));
this.Blended.Movements.Add(new MovementWithWeight(separation, 1f));
this.Blended.Movements.Add(new MovementWithWeight(flockVelocityMatch, 3f));
this.Blended.Movements.Add(new MovementWithWeight(cohesion, 2f));
character.Movement = this.Blended;
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
target = new KinematicData();
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
MaxLookAhead = MAX_LOOK_AHEAD,
AvoidMargin = AVOID_MARGIN,
Character = this.character.KinematicData,
DebugColor = Color.magenta
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 1000000000000000000000000000000000000.0f));
}
//foreach (var boid in characters)
//{
//TODO: add your AvoidObstacle movement here
var separationMovement = new DynamicSeparation()
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.character.KinematicData,
Radius = RADIUS_SEPARATION,
Flock = characters,
SeparationFactor = SEPARATION_FACTOR
};
this.blendedMovement.Movements.Add(new MovementWithWeight(separationMovement, 5.0f));
var cohesionMovement = new DynamicCohesion()
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.character.KinematicData,
radius = RADIUS_COHESION,
flock = characters,
fanAngle = FAN_ANGLE,
Target = target
};
this.blendedMovement.Movements.Add(new MovementWithWeight(cohesionMovement, 0.2f));
var velocityMatchingMovement = new FlockVelocityMatching()
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.character.KinematicData,
Radius = RADIUS_VELOCITY_MATCHING,
Flock = characters,
FanAngle = FAN_ANGLE,
Target = target
};
this.blendedMovement.Movements.Add(new MovementWithWeight(velocityMatchingMovement, 0.5f));
//}
this.character.Movement = this.blendedMovement;
}