// Update is called once per frame
public KinematicSteeringOutput updateSteering(DynoSteering ds, float time)
{
if (sp == null)
{
sp = GetComponent <SteeringParams>();
position = this.transform.position;
velc = new Vector3(0f, 0f, 0f);
rotation = 0f;
orientation = 0f;
}
steering = new KinematicSteeringOutput();
// make Updates
position += velc * time;
orientation += rotation * time;
velc += ds.force * time;
orientation += ds.torque * time;
if (velc.magnitude > sp.MAXSPEED)
{
velc.Normalize();
velc = velc * sp.MAXSPEED;
}
steering.position = position;
steering.orientation = orientation;
return(steering);
}
public DynoSteering getSteering(Vector3 i_GoalLocation)
{
ds = new DynoSteering();
//goal = goalObject.getGoal();
direction = i_GoalLocation - transform.position;
distance = direction.magnitude;
targetSpeed = sp.MAXSPEED;
targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity = targetVelocity * targetSpeed;
ds.force = targetVelocity - charRigidBody.getVelocity();
ds.force = ds.force / time_to_target;
if (ds.force.magnitude > sp.MAXACCEL)
{
ds.force.Normalize();
ds.force = ds.force * sp.MAXACCEL;
}
ds.torque = 0f;
return(ds);
}
// Update is called once per frame
public DynoSteering getSteering()
{
ds = new DynoSteering();
goal = goalObject.getGoal();
direction = goal.position - transform.position;
distance = direction.magnitude;
if (distance > slowRadius)
{
targetSpeed = sp.MAXSPEED;
}
else
{
targetSpeed = sp.MAXSPEED * distance / slowRadius;
}
targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity = targetVelocity * targetSpeed;
ds.force = targetVelocity - charRigidBody.velocity;
ds.force = ds.force / time_to_target;
if (ds.force.magnitude > sp.MAXACCEL)
{
ds.force.Normalize();
ds.force = ds.force * sp.MAXACCEL;
}
ds.torque = 0f;
return(ds);
}
// Use this for initialization
void Start()
{
char_RigidBody = GetComponent <Kinematic>();
//seek = GetComponent<DynoSeek>();
arrive = GetComponent <DynoArrive>();
align = GetComponent <DynoAlign>();
/*record and write out speed on timer*/
StartTime = Time.time;
FileName = "DynoTimer.txt";
System.IO.File.WriteAllText(@"C:\Grad School\AI\A1\" + FileName, "0");
AppearanceRate = 0.1f;
LastDroppedCrumb = 0.0f;
bHasGoal = false;
ds_wander = new DynoSteering();
toCenterWanderCircle = 10;
wanderCircleRad = 5;
UpperBoundX = -125;
LowerBoundX = -175;
UpperBoundZ = 40;
LowerBoundZ = -10;
SafeZoneGoalScript = GetComponent <Goal>();
}
// Update is called once per frame
public DynoSteering getSteering(Vector3 goal)
{
steering = new DynoSteering();
direction = goal - transform.localPosition;
distance = direction.magnitude;
Debug.Log(distance);
if (distance < changeGoalRadius)
{
changeGoal = true;
return(steering);
}
if (changeGoal)
{
changeGoal = false;
}
steering.force = direction;
steering.force.Normalize();
steering.force = steering.force * sp.MAXACCEL;
steering.torque = 0f;
return(steering);
}
// Update is called once per frame
public DynoSteering getSteering(Vector3 i_GoalLocation)
{
//goal = goalObject.getGoal();
ds = new DynoSteering();
//goal.position - transform.position;
targetOrientation = charRigidBody.getNewOrientation(i_GoalLocation - transform.position);
//rotation = goal.eulerAngles;
rotation = targetOrientation - charRigidBody.getOrientation();
rotation = Kinematic.mapToRange(rotation);
rotationSize = Mathf.Abs(rotation);
targetRotation = sp.MAXROTATION;
// Final target rotation combines speed (already in variable) with rotation direction
targetRotation = targetRotation * rotation / rotationSize;
ds.torque = targetRotation - charRigidBody.getRotation();
ds.torque = ds.torque / time_to_target;
angularAcceleration = Mathf.Abs(ds.torque);
if (angularAcceleration > sp.MAXANGULAR)
{
ds.torque = ds.torque / angularAcceleration;
ds.torque = ds.torque * sp.MAXANGULAR;
}
return(ds);
}
// Update is called once per frame
public KinematicSteeringOutput updateSteering(DynoSteering ds, float time)
{
steering = new KinematicSteeringOutput();
//perform wander behavior
// make Updates
position += (velc) * time;
orientation += rotation * time;
velc += ds.force * time;
orientation += ds.torque * time;
if (velc.magnitude > sp.MAXSPEED)
{
velc.Normalize();
velc = velc * sp.MAXSPEED;
}
steering.position = position;
steering.orientation = orientation;
return(steering);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds = arrive.getSteering();
// Update Kinematic Steering
char_RigidBody.AddForce(ds.force * 20);
char_RigidBody.AddTorque(new Vector3(0f, ds.torque * Mathf.Rad2Deg, 0f));
}
// Update is called once per frame
public DynoSteering getSteering()
{
steering = new DynoSteering();
goal = goalObject.getGoal();
steering.force = goal.position - transform.position;
steering.force.Normalize();
steering.force = steering.force * sp.MAXACCEL;
steering.torque = 0f;
return(steering);
}
// Update is called once per frame
void Update()
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
ds = new DynoSteering(ds_force.force, ds_torque.torque);
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
private void kinematicSeekBehavior()
{
ds = new DynoSteering();
// Decide on behavior
seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
char_kinematic.setOrientation(new_orient);
char_kinematic.setRotation(0f);
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
//public virtual DynoSteering getSteering();
// Update is called once per frame
public DynoSteering getSteering()
{
goal = goalObject.getGoal();
ds = new DynoSteering();
//goal.position - transform.position;
targetOrientation = charRigidBody.getNewOrientation(goal.position - transform.position);
//rotation = goal.eulerAngles;
rotation = targetOrientation - charRigidBody.getOrientation();
rotation = Kinematic.mapToRange(rotation);
rotationSize = Mathf.Abs(rotation);
if (rotationSize < goalRadius)
{
return(ds);
}
// if we're outside the slow Radius
if (rotationSize > slowRadius)
{
targetRotation = sp.MAXROTATION;
}
else
{
targetRotation = sp.MAXROTATION * rotationSize / slowRadius;
}
// Final target rotation combines speed (already in variable) with rotation direction
targetRotation = targetRotation * rotation / rotationSize;
ds.torque = targetRotation - charRigidBody.getRotation();
ds.torque = ds.torque / time_to_target;
angularAcceleration = Mathf.Abs(ds.torque);
if (angularAcceleration > sp.MAXANGULAR)
{
ds.torque = ds.torque / angularAcceleration;
ds.torque = ds.torque * sp.MAXANGULAR;
}
return(ds);
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
//******seeking_output = arrive.getSteering();
seeking_output = arrive.getSteering();
ds_torque = align.getSteering();
//******
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
/*Replace these three lines with a dynamic rotation*/
//float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
//char_kinematic.setOrientation(new_orient);
//char_kinematic.setRotation(0f);
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
/*record and write out speed on timer*/
string t = (Time.time - StartTime).ToString();
using (System.IO.StreamWriter file =
new System.IO.StreamWriter(@"C:\Grad School\AI\A1\" + FileName, true))
{
file.WriteLine(t + " | " + char_kinematic.getVelocity().ToString());
}
}
private void kinematicSeekBehavior()
{
ds = new DynoSteering();
// Decide on behavior
//******
seeking_output = seek.getSteering();
//******seeking_output = align.getSteering();
//******
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
/*Replace these three lines with a dynamic rotation*/
//float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
//char_kinematic.setOrientation(new_orient);
//char_kinematic.setRotation(0f);
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
void Update()
{
currentGoalTile = goalComponent.getGoalTile();
currentTile = QuantizeLocalize.Quantize(transform.position, tg);
if (prevGoalTile != currentGoalTile)
{
foreach (TileNode tn in currentPath)
{
if (tn.isEqual(currentTile))
{
continue;
}
tn.setOffMaterial();
}
currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
prevGoalTile = currentGoalTile;
// light up all tiles
foreach (TileNode tn in currentPath)
{
if (tn.isEqual(currentGoalTile))
{
continue;
}
tn.setPlanMaterial();
}
currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
}
// determine how to set force
if (currentPath.Count > 0)
{
ds_force = seek.getSteering(currentGoal);
// pop when seek says we've made it into range and seek the next target
if (seek.changeGoal)
{
nextTile = currentPath.Pop();
nextTile.setNextMaterial();
currentGoal = QuantizeLocalize.Localize(nextTile);
if (currentPath.Count > 0)
{
ds_force = seek.getSteering(currentGoal);
}
else
{
ds_force = arrive.getSteering(currentGoal);
}
}
}
else if (currentPath.Count == 0)
{
ds_force = arrive.getSteering(currentGoal);
}
ds_torque = align.getSteering(currentGoal);
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
void Update()
{
// check what the current goal is
currentGoalTile = goalComponent.tileGoal;
// check if we are at the goal position
currentTile = QuantizeLocalize.Quantize(transform.position, tg);
// if we're at the goal position, then pick a new goal
if (currentTile == currentGoalTile)
{
Debug.Log("here");
goalSetter.SetNextGoal();
currentGoalTile = goalComponent.tileGoal;
// find path to new goal
currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
// pick next point to seek
currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
}
else if (!hasPath)
{
currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile);
currentGoal = QuantizeLocalize.Localize(currentPath.Pop());
hasPath = true;
}
// if we are not at last point on path
if (currentPath.Count > 0)
{
// seek next point on path
ds_force = seek.getSteering(currentGoal);
// pop when seek says we've made it into range and seek the next target
if (seek.changeGoal)
{
nextTile = currentPath.Pop();
currentGoal = QuantizeLocalize.Localize(nextTile);
if (currentPath.Count > 0)
{
ds_force = seek.getSteering(currentGoal);
}
else
{
ds_force = arrive.getSteering(currentGoal);
}
}
}
// otherwise, we are approaching the path goal. we should arrive.
else if (currentPath.Count == 0)
{
ds_force = arrive.getSteering(currentGoal);
}
ds_torque = align.getSteering(currentGoal);
ds = new DynoSteering();
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
}
// Update is called once per frame
void Update()
{
ds = new DynoSteering();
if (bHasGoal)
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
}
else
{
Vector3 tempGoal = ds_wander.getWanderGoal(char_RigidBody.getVelocity(), transform.position, toCenterWanderCircle, wanderCircleRad); //, UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ);
ds_force = arrive.getSteering(tempGoal);
ds_torque = align.getSteering(tempGoal);
}
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
/*record and write out speed on timer*/
string t = (Time.time - StartTime).ToString();
using (System.IO.StreamWriter file =
new System.IO.StreamWriter(@"C:\Grad School\AI\A1\" + FileName, true))
{
file.WriteLine(t + " | " + char_RigidBody.getVelocity().ToString());
}
DropCrumb(char_RigidBody.getVelocity());
if (!(CheckInBounds(transform.position, UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ)))
{
char_RigidBody.setVelocity(char_RigidBody.getVelocity() * -1);
//char_RigidBody.setRotation(char_RigidBody.getRotation () * -1);
//char_RigidBody.setOrientation(char_RigidBody.getOrientation () - 180);
//transform.Rotate (0, 180, 0);
//float targetOrientation = char_RigidBody.getNewOrientation ((transform.position + char_RigidBody.getVelocity ()));
//char_RigidBody.setRotation (targetOrientation - char_RigidBody.getOrientation ());
//char_RigidBody.setOrientation (targetOrientation);
//char_RigidBody.setRotation (char_RigidBody.getRotation () - 180);
//char_RigidBody.setOrientation
/*
* if (CheckInBounds (transform.position + (char_RigidBody.getVelocity () * -1), UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ))
* {
* char_RigidBody.setVelocity (char_RigidBody.getVelocity () * -1);
* }
*/
//transform.Rotate (0, 180, 0);
//char_RigidBody.setOrientation( char_RigidBody() * (-1) );//char_RigidBody.getNewOrientation())// char_RigidBody.getOrientation() - 180 );//char_RigidBody.getNewOrientation (char_RigidBody.getVelocity ()));
//transform.rotation = Quaternion.Euler (0, kso.orientation * Mathf.Rad2Deg * -1 ,0);
//char_RigidBody.setRotation(char_RigidBody.getRotation () * -1);
}
}
