public Vector3 GetForce(Steering steering) { Vector3 currentOffset = target.GetPosition() - steering.GetPosition(); float dist = currentOffset.magnitude; Vector3 unitV = steering.GetVelocity().normalized; float parallelness = Vector3.Dot(unitV, target.GetVelocity().normalized); float forwardness = Vector3.Dot(unitV, currentOffset / dist); float halfsqrt2 = 0.707f; int f = SteeringUtilities.intervalComp(forwardness, -halfsqrt2, halfsqrt2); int p = SteeringUtilities.intervalComp(parallelness, -halfsqrt2, halfsqrt2); // approximate how far to lead the target float timeFactor = 1f; // case logic based on (ahead, aside, behind) X (parallel, perp, anti-parallel) switch (f) { case 1: //target is ahead switch (p) { case 1: timeFactor = 4f; break; case 0: timeFactor = 1.8f; break; case -1: timeFactor = 0.85f; break; } break; case 0: //target is aside switch (p) { case 1: timeFactor = 1f; break; case 0: timeFactor = 0.8f; break; case -1: timeFactor = 4f; break; } break; case -1: //target is behind switch (p) { case 1: timeFactor = 0.5f; break; case 0: timeFactor = 2f; break; case -1: timeFactor = 2f; break; } break; } // Multiply the timeToArrive by some approximate constants based on how similar the two velocities are. float approximateArrivalTime = dist / steering.GetMaxSpeed(); float improvedArrivalTimeEstimate = Mathf.Min(MAX_PREDICTION_TIME, approximateArrivalTime * timeFactor); Vector3 newTargetPosition = (Vector3)target.GetPosition() + improvedArrivalTimeEstimate * target.GetVelocity(); SteeringUtilities.drawDebugVector(target, newTargetPosition - target.GetPosition(), Color.white); SteeringUtilities.drawDebugVector(steering, newTargetPosition - steering.GetPosition(), Color.magenta); return(SteeringUtilities.getForceForDirection(steering, newTargetPosition - steering.GetPosition())); }