public static Vector2?ObstacleAvoidance(AIAgent requester, Vector2 position, Vector2 desiredDirection, out AIAgent avoidanceObjective)
{
if (requester.parent.ClosestUnit == null)
{
avoidanceObjective = null;
return(null);
}
float objectiveSqrDistance;
if (requester.Target is AIAgent)
{
if (!GetClosestAgent(requester, position, requester.parent.ClosestUnit.children,
out avoidanceObjective, out objectiveSqrDistance, (AIAgent)requester.Target))
{
return(null);
}
}
else
{
if (!GetClosestAgent(requester, position, requester.parent.ClosestUnit.children,
out avoidanceObjective, out objectiveSqrDistance))
{
return(null);
}
}
Vector2 objectiveDirection = ((Vector2)avoidanceObjective.transform.position - position).normalized;
Vector2 perpendicular = Vector2Utilities.VectorPerpendicularToDesired(desiredDirection, objectiveDirection);
return(position + perpendicular * requester.data.maxSpeed * Time.deltaTime);
}
public static Vector2?Separation(AIAgent requester, Vector2 position, Vector2 desiredDirection, out AIAgent closestSiblin, out Vector2 directionToClosestSiblin)
{
List <AIAgent> siblins = requester.parent.children;
float closestSiblinSqrDistance;
if (!GetClosestAgent(requester, position, siblins, out closestSiblin, out closestSiblinSqrDistance))
{
closestSiblin = null;
directionToClosestSiblin = Vector2.zero;
return(null);
}
float repulsionMaxSqrRange = Mathf.Pow(requester.data.radious * requester.data.separationRangeInRadious, 2);
directionToClosestSiblin = ((Vector2)closestSiblin.transform.position - position).normalized;
if (repulsionMaxSqrRange < closestSiblinSqrDistance)
{
return(null);
}
Vector2 perpendicular = Vector2Utilities.VectorPerpendicularToDesired(desiredDirection, directionToClosestSiblin);
return(position + perpendicular * requester.data.maxSpeed * Time.deltaTime);
}