public void Execute(Entity entity, int index, [ReadOnly] ref Target target, ref DeployToPosition deployToPosition, [ReadOnly] ref Translation translation, [ReadOnly] ref CombatMovement combatMovement, [ReadOnly] ref PursueTarget pursueTarget, [ReadOnly] ref MovementStats movementStats)
{
if (TranslationData.Exists(target.TargetEntity) &&
VelocityData.Exists(target.TargetEntity))
{
var targetPosition = TranslationData[target.TargetEntity];
var targetVelocity = VelocityData[target.TargetEntity];
var distanceSq = math.distancesq(targetPosition.Value, translation.Value);
if (distanceSq > combatMovement.OptimalRangeSq)
{
if (combatMovement.OptimalRangeSq != 0f)
{
var direction = targetPosition.Value - translation.Value;
direction = math.normalizesafe(direction);
var optimalPosition = translation.Value + (direction * math.sqrt(combatMovement.OptimalRangeSq));
NaNDebugger.IsNan(targetPosition.Value.x, "target nan");
deployToPosition.Position = optimalPosition;
}
else
{
// This version ignores the timestep and uses relative distance instead.
var t = math.length(math.sqrt(distanceSq)) * movementStats.TopSpeed;
var desiredPosition = targetPosition.Value + targetVelocity.Value * t * DeltaTime;
//var desiredPosition = targetPosition.Value + targetVelocity.Value * LookAheadTimeStep * DeltaTime;
deployToPosition.Position = desiredPosition;
}
}
else
{
deployToPosition.Position = translation.Value;
}
}
}
public void Execute(Entity entity,
int jobIndex,
[ReadOnly] ref DeployToPosition deployment,
[ReadOnly] ref MovementStats stats,
[ReadOnly] ref Rotation rotation,
ref Translation translation,
ref Velocity velocity,
ref AngularVelocity angularVelocity)
{
NaNDebugger.IsNan(deployment.Position.x, $"[{jobIndex}, {entity.Index}] deployment.Position");
NaNDebugger.IsNan(translation.Value.x, $"[{jobIndex}, {entity.Index}] translation");
float3 toTarget = deployment.Position - translation.Value;
float distance = math.length(toTarget);
if (deployment.ShouldStop && distance <= k_DistanceTolerance)
{
velocity.Value = float3.zero;
angularVelocity.Velocity = 0f;
translation.Value = deployment.Position;
//CompletedDeployments.Enqueue(new CompletedDeployment() { Entity = entity, JobIndex = jobIndex });
return; // we're there, stop.
}
float speed = math.length(velocity.Value);
float3 forward = math.normalize(math.forward(rotation.Value));
float3 velocityDirection = speed == 0f ? forward : math.normalize(velocity.Value);
toTarget = toTarget / distance; // normalize
float costheta = distance == 0f ? 1 : math.dot(toTarget, forward);
// Rotation
if (distance != 0f)
{
float3 rotationAxis = costheta == -1 || costheta == 1 ? math.up() : math.normalize(math.cross(forward, toTarget));
float rotationDirection = math.saturate(math.sign(math.dot(rotationAxis, math.up())) + 1) * 2 - 1; // -1 or 1
float rotationSpeed = math.radians(stats.RotationSpeed) * rotationDirection;
rotationAxis = rotationAxis * rotationDirection;
if (costheta >= stats.ThrustTolerance) // have we turned enough to begin moving forward?
{
velocityDirection = forward;
}
else
{
rotationSpeed *= math.step(speed, /* < */ stats.MaxSpeedToTurn); // only turn if we've slowed down enough
}
if (costheta >= k_AngleTolerance)
{
float angleRadians = math.acos(costheta);
rotationSpeed = (float.IsNaN(angleRadians) ? 0f : angleRadians) * rotationDirection / DeltaTime; // take us directly there this frame.
}
velocityDirection = math.rotate(quaternion.AxisAngle(rotationAxis, rotationSpeed * DeltaTime), velocityDirection);
angularVelocity.Axis = rotationAxis;
angularVelocity.Velocity = rotationSpeed;
}
NaNDebugger.IsNan(angularVelocity.Axis.x, $"[{jobIndex}, {entity.Index}] rotationAxis");
NaNDebugger.IsNan(angularVelocity.Axis.x, $"[{jobIndex}, {entity.Index}] rotationSpeed");
NaNDebugger.IsNan(velocityDirection.x, $"[{jobIndex}, {entity.Index}] velocityDirection");
// Translation
{
if (costheta >= stats.ThrustTolerance) // have we turned enough to begin moving forward?
{
if (deployment.ShouldStop)
{
// https://math.stackexchange.com/questions/233107/finding-minimum-distance-traveled-with-specified-deceleration-from-starting-spee
float speedInDirection = math.dot(toTarget, velocityDirection * speed);
float distanceTravelledIfDecelerating = (speedInDirection * speedInDirection) / (2 * stats.Deceleration);
if (distanceTravelledIfDecelerating >= distance)
{
speed = math.clamp(speed - 0.5f * stats.Deceleration * DeltaTime, 0f, stats.TopSpeed); // t(v - at/2)
}
else
{
speed = math.clamp(speed + 0.5f * stats.Acceleration * DeltaTime, 0f, stats.TopSpeed); // t(v - at/2)
}
speedInDirection = math.dot(toTarget, velocityDirection * speed);
float distanceThisFrame = distance - speedInDirection * DeltaTime;
if (distanceThisFrame < k_DistanceTolerance)
{
speed = distance / DeltaTime; // take us right there this frame.
}
}
else
{
// don't stop, just keep accelerating.
speed = math.clamp(speed + 0.5f * stats.Acceleration * DeltaTime, 0f, stats.TopSpeed); // t(v - at/2)
}
}
else
{
// decelerate
speed = math.clamp(speed - 0.5f * stats.Deceleration * DeltaTime, 0f, stats.TopSpeed); // t(v - at/2)
}
velocity.Value = velocityDirection * speed;
}
NaNDebugger.IsNan(velocity.Value.x, $"[{jobIndex}, {entity.Index}] velocity");
}