public override void GetMaps(out DangerMap dangerMap, out InterestMap interestMap)
{
interestMap = new InterestMap(0f, _contextSteering.SteeringResolution);
dangerMap = new DangerMap(0f, _contextSteering.SteeringResolution);
if (_contextSteering.TargetData == null)
{
return;
}
Vector3 toTarget = _contextSteering.TargetData.GetDirectionToTarget(_mTransform);
float distance = _contextSteering.TargetData.GetColliderDistanceFromTarget(transform);
for (int i = 0; i < ContextMap.defaultDirections[_contextSteering.SteeringResolution].Length; i++)
{
float dot = Vector3.Dot(ContextMap.defaultDirections[_contextSteering.SteeringResolution][i], toTarget);
if (dot >= 0)
{
interestMap.InsertValue(i, dot * Mathf.Clamp(distance - stoppingDistance, 0f, 1f), (int)_contextSteering.SteeringResolution / 8);
}
}
interestMap = (InterestMap)ContextMap.Combine(interestMap, _lastFrameInterest, interestLoseRateo);
_lastFrameInterest = interestMap;
if (!debug)
{
return;
}
interestMap.DebugMap(transform.position);
dangerMap.DebugMap(transform.position);
}
public static Vector3 CalculateDirection(InterestMap interestMap, DangerMap dangerMap)
{
Vector3[][] safeDirections = new Vector3[interestMap.Map.Length][];
int r = 0;
int c = 0;
for (int i = 0; i < interestMap.Map.Length; i++)
{
if (IsSafeDirection(interestMap.Map[i], dangerMap.Map[i]))
{
if (c == 0)
{
safeDirections[r] = new Vector3[interestMap.Map.Length];
}
safeDirections[r][c] = interestMap.Map[i].normalized * Mathf.Clamp(interestMap.Map[i].magnitude - dangerMap.Map[i].magnitude, 0f, 1f);
c++;
}
else
{
c = 0;
r++;
}
}
Vector3[] directions = safeDirections.
Where(entry => entry != null).
OrderByDescending(entry => entry.Aggregate((acc, next) => acc + next).magnitude).
FirstOrDefault();
return(directions != null && directions.Length > 0 ? directions.Aggregate((acc, next) => acc + next).normalized : Vector3.zero);
}
public override void GetMaps(out DangerMap dangerMap, out InterestMap interestMap)
{
interestMap = new InterestMap(0f, _contextSteering.SteeringResolution);
dangerMap = new DangerMap(0f, _contextSteering.SteeringResolution);
if (_groupManager == null)
{
return;
}
if (_contextSteering.TargetData.Target == null)
{
return;
}
// Group Number (4) hardcoded.
// Group enum has 6 values so we can't use it
float step = 360f / 4;
Vector3 targetPosition = _contextSteering.TargetData.Target.position + _contextSteering.TargetData.Target.forward * _currentDecenter +
Quaternion.Euler(0f, step * (int)_groupManager.ThisGroupName, 0f) *
(Vector3.forward * (_currentCloseness + _contextSteering.TargetData.Target.GetComponent <CapsuleCollider>().radius));
Vector3 toDesiredPosition = (targetPosition - transform.position).normalized;
_currentDistance = Vector3.Distance(transform.position, targetPosition);
// TODO :- Find better solution
_needsUpdate = false;
for (int i = 0; i < ContextMap.defaultDirections[_contextSteering.SteeringResolution].Length; i++)
{
float dot = Vector3.Dot(ContextMap.defaultDirections[_contextSteering.SteeringResolution][i],
toDesiredPosition);
if (dot >= 0)
{
interestMap.InsertValue(i, dot * Mathf.Clamp(_currentDistance - _currentStoppingDistance, 0f, 1f), (int)_contextSteering.SteeringResolution / 8);
}
}
interestMap = (InterestMap)ContextMap.Combine(interestMap, _lastFrameInterest, interestLoseRateo);
dangerMap = (DangerMap)ContextMap.Combine(dangerMap, _lastFrameDanger, dangerLoseRateo);
_lastFrameInterest = interestMap;
_lastFrameDanger = dangerMap;
if (!debug)
{
return;
}
interestMap.DebugMap(transform.position);
dangerMap.DebugMap(transform.position);
}
public override void GetMaps(out DangerMap dangerMap, out InterestMap interestMap)
{
interestMap = new InterestMap(0f, _contextSteering.SteeringResolution);
dangerMap = new DangerMap(0f, _contextSteering.SteeringResolution);
Vector3 forward = transform.forward;
for (int i = 0; i < ContextMap.defaultDirections[_contextSteering.SteeringResolution].Length; i++)
{
if (!TestDirection(out RaycastHit hitInfo, i))
{
continue;
}
if (hitInfo.transform.root == transform)
{
continue;
}
float dot = Mathf.Abs(Vector3.Dot(ContextMap.defaultDirections[_contextSteering.SteeringResolution][i],
forward));
float distance = Vector3.Distance(hitInfo.point, _collider.ClosestPoint(hitInfo.point));
dangerMap.InsertValue(i, Mathf.Min(k / (distance * distance), dot), (int)_contextSteering.SteeringResolution / 8);
interestMap.InsertValue(interestMap.GetOppositeDirection(i), Mathf.Min(k / (distance * distance), dot), (int)_contextSteering.SteeringResolution / 8);
// dangerMap.InsertValue(i,Mathf.Max(dot/distance,1f),(int)_contextSteering.SteeringResolution/8);
// interestMap.InsertValue(dangerMap.GetOppositeDirection(i),Mathf.Max(dot/distance,1f),(int)_contextSteering.SteeringResolution/8);
}
interestMap = (InterestMap)ContextMap.Combine(interestMap, _lastFrameInterest, interestLoseRateo);
dangerMap = (DangerMap)ContextMap.Combine(dangerMap, _lastFrameDanger, dangerLoseRateo);
_lastFrameInterest = interestMap;
_lastFrameDanger = dangerMap;
if (!debug)
{
return;
}
interestMap.DebugMap(transform.position);
dangerMap.DebugMap(transform.position);
}
public override void GetMaps(out DangerMap dangerMap, out InterestMap interestMap)
{
interestMap = new InterestMap(0f, _contextSteering.SteeringResolution);
dangerMap = new DangerMap(0f, _contextSteering.SteeringResolution);
if (_currentArena == null)
{
return;
}
Vector3 toDesiredPosition = (_currentArena.transform.position - transform.position).normalized;
float distance = Vector3.Distance(transform.position, _currentArena.transform.position);
for (int i = 0; i < ContextMap.defaultDirections[_contextSteering.SteeringResolution].Length; i++)
{
float dot = Vector3.Dot(ContextMap.defaultDirections[_contextSteering.SteeringResolution][i],
toDesiredPosition);
if (dot >= 0)
{
//interestMap.InsertValue(i, Mathf.Min((distance * distance) / k,dot), (int)_contextSteering.SteeringResolution/8);
dangerMap.InsertValue(dangerMap.GetOppositeDirection(i), Mathf.Min((distance * distance) / k, dot), (int)_contextSteering.SteeringResolution / 8);
}
}
//interestMap = (InterestMap) ContextMap.Combine(interestMap, _lastFrameInterest, interestLoseRateo);
dangerMap = (DangerMap)ContextMap.Combine(dangerMap, _lastFrameDanger, dangerLoseRateo);
_lastFrameInterest = interestMap;
_lastFrameDanger = dangerMap;
if (!debug)
{
return;
}
interestMap.DebugMap(transform.position);
dangerMap.DebugMap(transform.position);
}
public static void Combine(out InterestMap finalInterest, out DangerMap finalDanger, List <InterestMap> interestMaps, List <DangerMap> dangerMaps)
{
InterestMap combinedInterest = interestMaps[0];
DangerMap combinedDanger = dangerMaps[0];
for (int j = 1; j < interestMaps.Count; j++)
{
for (int i = 0; i < interestMaps[j].Map.Length; i++)
{
if (!(combinedInterest.Map[i].magnitude > interestMaps[j].Map[i].magnitude))
{
combinedInterest.Map[i] = interestMaps[j].Map[i];
}
if (!(combinedDanger.Map[i].magnitude > dangerMaps[j].Map[i].magnitude))
{
combinedDanger.Map[i] = dangerMaps[j].Map[i];
}
}
}
finalInterest = combinedInterest;
finalDanger = combinedDanger;
}
public abstract void GetMaps(out DangerMap dangerMap, out InterestMap interestMap);
private void Start()
{
_lastFrameInterest = new InterestMap(0f, _contextSteering.SteeringResolution);
_lastFrameDanger = new DangerMap(0f, _contextSteering.SteeringResolution);
}
