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);
}
