public wanderSteering Flocking()
{
wanderSteering result = new wanderSteering();
Vector3 seperation = FlockCollisionDetectAndAvoid();
Vector3 cohesion = Cohesion();
wanderSteering align = AlignCloseBy();
result.angular = align.angular;
result.linear = result.linear + seperation * seperationMultiplier + cohesion * cohesionMultiplier + align.linear * alignMultiplier;
return(result);
}
private wanderSteering AlignCloseBy()
{
wanderSteering result = new wanderSteering();
result.angular = 0f;
result.linear = new Vector3(0f, 0f, 0f);
if (GameObject.Find("PhaseManager") == null)
{
return(result);
}
else if (GameObject.Find("PhaseManager").GetComponent <FieldMapManager>() == null)
{
return(result);
}
//get all npcs in the scene
List <GameObject> allNPCs = GameObject.Find("PhaseManager").GetComponent <FieldMapManager>().AllNPCs();
Vector3 averageVelocity = new Vector3();
int NPCCount = 0;
foreach (GameObject NPC in allNPCs)
{
if (NPC.tag == this.tag && NPC != this)
{
NPCController nc = NPC.GetComponent <NPCController>();
//if close enough
if ((nc.position - agent.position).magnitude < 5.0f)
{
averageVelocity += nc.velocity;
NPCCount += 1;
}
}
}
averageVelocity /= NPCCount;
result.angular = Align(averageVelocity + agent.position);
result.linear = Seek(averageVelocity - agent.velocity + agent.position);
return(result);
}
public void FixedUpdate()
{
//ensure it is time to start path following and you havent reached the end
if (current < Path.Length && startPathFollowing)
{
//get start and end points for section of path
startPos = agent.transform;
endPos = Path[current].transform;
//create struct to hold output
wanderSteering ret;
ret.linear = Vector3.zero;
ret.angular = 0f;
if (partTwo == true)
{
if (coneCheck)
{
//perform cone check
wanderSteering coneCheckRet = ConeCheck();
if (coneCheckRet.linear != Vector3.zero && Mathf.Abs(coneCheckRet.angular) > Mathf.Epsilon)
{
ret.linear = coneCheckRet.linear;
ret.angular = coneCheckRet.angular;
}
else
{
//calculate angular direction
ret.angular = Align(endPos.position);
}
}
else
{
//calculate angular direction
ret.angular = Align(endPos.position);
}
//check for collision detection otherwise keep linear normal
if (collisionPrediction)
{
Vector3 foundCollision = CollisionDetectAndAvoid();
if (foundCollision == Vector3.zero)
{
ret.linear = maxAcceleration * new Vector3(Mathf.Sin(agent.orientation), 0, Mathf.Cos(agent.orientation));
}
else
{
ret.linear = foundCollision;
}
}
else
{
ret.linear = maxAcceleration * new Vector3(Mathf.Sin(agent.orientation), 0, Mathf.Cos(agent.orientation));
}
}
if (partThree == true)
{
ret.angular = Align(endPos.position);
ret.linear = Seek(endPos.position);
wallAvoidanceSteering wa = Wallavoidance();
if (wa.needAvoidance == true)
{
ret.angular += 0.7f * wa.angular;
ret.linear += 0.7f * wa.linear;
}
wanderSteering flocking = Flocking();
if (flocking.linear == Vector3.zero && flocking.angular < Mathf.Epsilon)
{
ret.angular += 0.6f * flocking.angular;
ret.linear += 0.6f * flocking.linear;
}
}
agent.GetComponent <NPCController>().update(ret.linear, ret.angular, Time.deltaTime);
//if you reached endPos advance to next point in path
if ((agent.position - endPos.position).magnitude <= targetRadiusL)
{
Debug.Log("current is " + current);
current += 1;
}
}
/*//othewise dont move player
* else if (current >= Path.Length)
* {
* agent.GetComponent<NPCController>().UpdateMovement(Vector3.zero, 0f, Time.deltaTime);
* }*/
}
