/// <summary>
/// The WallAvoidance behavior. Will return a steering based on finding collisions and avoid them
/// </summary>
/// <param name="facingDir">The direction we are facing</param>
/// <returns></returns>
public Vector3 GetSteering(Vector3 facingDir)
{
var acceleration = Vector3.zero;
/* Creates the ray direction vector */
var rayDirs = new Vector3[3];
rayDirs[0] = facingDir.normalized;
var orientation = Mathf.Atan2(_rb.velocity.x, _rb.velocity.z);
rayDirs[1] = OrientationToVector(orientation + LookToSideAngle * Mathf.Deg2Rad);
rayDirs[2] = OrientationToVector(orientation - LookToSideAngle * Mathf.Deg2Rad);
/* If no collision do nothing */
if (FindObstacle(rayDirs, out var hit) == false)
{
return(acceleration);
}
/* Create a target away from the wall to seek */
var targetPosition = hit.point + hit.normal * WallAvoidDistance;
/* If velocity and the collision normal are parallel then move the target a bit to the left or right of the normal */
var cross = Vector3.Cross(_rb.velocity, hit.normal);
if (cross.magnitude < 0.005f)
{
targetPosition += new Vector3(-hit.normal.z, hit.normal.y, hit.normal.x);
}
return(_seek.GetSteering(targetPosition, MaxAcceleration));
}
public Steering GetSteering()
{
if (path == null || currentPoint >= path.Length)
{
if (path == null)
{
Debug.LogError("Path is invalid: Null");
}
if (currentPoint >= path.Length)
{
Debug.LogError("Path is invalid: Out of bounds");
}
return(new Steering());
}
UpdateExtraRadius();
float arrivalRadius2 = arrivalRadius + extraRadius;
float distance = Util.HorizontalDist(path[currentPoint], npc.position);
if (distance < arrivalRadius2)
{
if (currentPoint != Mathf.Min(currentPoint + 1, path.Length - 1))
{
extraRadius = 0;
near = false;
}
currentPoint = Mathf.Min(currentPoint + 1, path.Length - 1); //When it reaches the last stays on it
//if (currentPoint == path.Length - 2)
// return Arrive.GetSteering(path[currentPoint], npc, 1f, maxAccel /*50*/);
}
return(Seek.GetSteering(path[currentPoint], npc, maxAccel /*50*/, false));
}
/// <summary>
/// The Pursue behavior. Will return a steering based on prediction of the movement of the target
/// </summary>
/// <param name="target"></param>
/// <returns></returns>
public Vector3 GetSteering(Rigidbody target)
{
/* Calculate the distance to the target */
var direction = target.position - transform.position;
var distance = direction.magnitude;
/* Get the character's speed */
var speed = _rb.velocity.magnitude;
/* Calculate the prediction time */
float prediction;
if (speed <= distance / MaxPrediction)
{
prediction = MaxPrediction;
}
else
{
prediction = distance / speed;
}
/* Put the target together based on where we think the target will be */
var predictedTarget = target.position + target.velocity * prediction;
return(_seek.GetSteering(predictedTarget));
}
public static Steering GetSteering(Agent npc, float threshold, float decayCoefficient, float maxAccel, bool visibleRays)
{
Steering steering = new Steering();
int neighbours = 0;
Vector3 centerOfMass = Vector3.zero;
int layerMask = 1 << 9;
Collider[] hits = Physics.OverlapSphere(npc.position, threshold, layerMask);
foreach (Collider coll in hits)
{ //Comprobar con un SphereCast, en vez de Tag quiza usar Layers
Agent agent = coll.GetComponent <Agent>();
float distance = Util.HorizontalDist(agent.position, npc.position);
if (agent != npc && distance < threshold)
{
centerOfMass += agent.position;
neighbours++;
}
}
if (neighbours > 0)
{
centerOfMass /= neighbours;
return(Seek.GetSteering(centerOfMass, npc, maxAccel, visibleRays));
}
return(steering);
}
public Steering Apply()
{
Steering st = new Steering();
if (finished)
{
callback(true);
return(st);
}
if (followPath.HasPath())
{
if (Time.fixedTime - timeStamp > reconsiderSeconds)
{
timeStamp = Time.fixedTime;
SetNewTarget(target, false);
}
}
else
{
st += Seek.GetSteering(target, agent, 500f); //If path has not been solved yet just do Seek.
}
st += followPath.Apply(); //If there is no path just avoid collisions
return(st);
}
void Update()
{
SteeringOutput steering;
//Update position and rotation
transform.position += linearVelocity * Time.deltaTime;
Vector3 angularIncrement = new Vector3(0, angularVelocity * Time.deltaTime, 0);
transform.eulerAngles += angularIncrement;
switch (type)
{
case SteeringType.Pursue:
steering = pursueAI.GetSteering();
break;
case SteeringType.Evade:
steering = evadeAI.GetSteering();
break;
case SteeringType.FollowPath:
steering = followAI.GetSteering();
break;
case SteeringType.Seek:
steering = seekAI.GetSteering();
break;
case SteeringType.Flee:
steering = fleeAI.GetSteering();
break;
case SteeringType.Seperation:
steering = seperationAI.GetSteering();
break;
default:
steering = seekAI.GetSteering();
break;
}
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
//Update kinematic reference with complex data it can't get by itself
kinematic.GetData(steering);
}
public override void GetAction(AIInputController script)
{
script.steering += Seek.GetSteering(script.target._static.position, script.self._static.position, script.tank.maxSpeed).Weight(1.0f);
if (script.CheckShieldDanger())
{
transitions[0].bTriggered = true;
}
}
public static Steering GetSteering(Vector3 target, Agent npc, float maxAccel, bool visibleRays = false)
{
Steering steering = -Seek.GetSteering(target, npc, maxAccel, false);
if (visibleRays)
{
drawRays(npc.position, steering.linear, Color.magenta);
}
return(steering);
}
public Steering GetSteering()
{
if (path == null || currentPoint >= path.Length)
{
if (path == null)
{
Debug.LogError("Path is invalid: Null");
}
if (currentPoint >= path.Length)
{
Debug.LogError("Path is invalid: Out of bounds");
}
return(new Steering());
}
float distance = Util.HorizontalDist(path[currentPoint], npc.position);
if (distance < arrivalRadius)
{
if (type == FollowT.STAY)
{
currentPoint = Mathf.Min(currentPoint + 1, path.Length - 1); //When it reaches the last stays on it
//if (currentPoint == path.Length - 1)
// return Arrive.GetSteering(path[currentPoint], npc, 1f,maxAccel /*50*/);
}
else if (type == FollowT.BACK)
{
currentPoint += direction;
//Needs to be run twice, since the currentPoint will remain the same the first time
if (currentPoint >= path.Length || currentPoint < 0)
{
direction = 1 - direction;
currentPoint += direction;
}
}
else if (type == FollowT.LOOP)
{
//When it reaches the last it starts from the begging
currentPoint++;
if (currentPoint >= path.Length)
{
currentPoint = 0;
}
}
}
return(Seek.GetSteering(path[currentPoint], npc, maxAccel /*50*/, visibleRays));
}
/// <summary>
/// The Wander behavior. Will return a steering based on its current postion and the its target
/// </summary>
/// <returns></returns>
public Vector3 GetSteering()
{
_wanderTargetPosition = WanderTargetTransform.position;
//get the jitter for this time frame
var jitter = WanderJitter * Time.deltaTime;
//add a small random vector to the target's position
_wanderTargetPosition += new Vector3(Random.Range(-1f, 1f) * jitter, 0, Random.Range(-1f, 1f) * jitter);
//make the wanderTarget fit on the wander circle again
_wanderTargetPosition *= WanderRadius;
//move the target in front of the character
var targetPosition = transform.forward * WanderDistance + _wanderTargetPosition;
// TODO this line is not optimal and should be only used for debugging
Debug.DrawLine(transform.position, targetPosition);
return(_seek.GetSteering(targetPosition));
}
public Steering Apply()
{
if (IsFinished())
{
callback(true);
}
if (Time.frameCount % 1 == 0)
{
RequestPath();
}
if (pathF.path != null)
{
return(pathF.GetSteering());
}
else
{
return(Seek.GetSteering(target, agent, 50f)); //If path has not been solved yet just do Seek.
}
}
/// <summary>
/// The Wander behavior. Will return a steering based on its current postion and the radius where it can wander
/// </summary>
/// <returns></returns>
public Vector3 GetSteering()
{
var characterOrientation = transform.rotation.eulerAngles.y * Mathf.Deg2Rad;
/* Update the wander orientation */
_wanderOrientation += RandomBinomial() * WanderRate;
/* Calculate the combined target orientation */
var targetOrientation = _wanderOrientation + characterOrientation;
/* Calculate the center of the wander circle */
var targetPosition = transform.position + OrientationToVector(characterOrientation) * WanderOffset;
//debugRing.transform.position = targetPosition;
/* Calculate the target position */
targetPosition = targetPosition + OrientationToVector(targetOrientation) * WanderRadius;
//Debug.DrawLine (transform.position, targetPosition);
return(_seek.GetSteering(targetPosition));
}
public static Steering GetSteering(Agent npc, float maxAccel, LayerMask layerMask, float obstacleMaxDist, float avoidDist, float whiskerSeparation, bool visibleRays = false)
{
Steering steering = new Steering();
Vector3 target = Vector3.zero;
Vector3 leftRay = npc.position + npc.getRight() * whiskerSeparation / 2f;
Vector3 rightRay = npc.position - npc.getRight() * whiskerSeparation / 2f;
Vector3 centerRay = npc.position;
AvoidanceRay[] rays = { new AvoidanceRay(leftRay, Util.RotateVector(npc.velocity.normalized, 30) * obstacleMaxDist / 2.2f),
new AvoidanceRay(rightRay, Util.RotateVector(npc.velocity.normalized, -30) * obstacleMaxDist / 2.2f),
new AvoidanceRay(centerRay, npc.velocity.normalized * obstacleMaxDist) };
RaycastHit hitInfo;
bool rayHit = false;
foreach (AvoidanceRay ray in rays)
{
if (Physics.Raycast(ray.startPoint, ray.direction, out hitInfo, ray.length, layerMask) && !rayHit)
{
target = hitInfo.normal * avoidDist + npc.position; //Errata, book proposes hitInfo.point instead of npc.position
if (visibleRays)
{
Debug.DrawLine(ray.startPoint, hitInfo.point, Color.red);
}
rayHit = true;
steering = Seek.GetSteering(target, npc, maxAccel, visibleRays);
}
else if (visibleRays)
{
Debug.DrawRay(ray.startPoint, ray.direction.normalized * ray.length, Color.yellow);
}
}
return(steering);
}
// Update is called once per frame
void Update()
{
//Debug.Log(target);
// Check distance to see if steering behavior should be applied to AI
// float targetDist = (transform.position - target.transform.position).magnitude;
// if (!DistanceActivation || targetDist >= activationRange) { }
transform.position += linearVelocity * Time.deltaTime;
// adding angular velocity to current transform rotation y component
if (float.IsNaN(angularVelocity))
{
angularVelocity = 0;
}
transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
// control to switch to proper steering behavior
if (avoidObstacles)
{
ObstacleAvoidance avoid = new ObstacleAvoidance();
avoid.ai = this;
SteeringOutput avoidForce = avoid.GetSteering();
if (avoidForce != null)
{
linearVelocity += avoidForce.linear;
}
}
if (seperationObstacles.Length > 0)
{
Seperation seperation = new Seperation();
seperation.targets = seperationObstacles;
seperation.ai = this;
SteeringOutput seperateForce = seperation.GetSteering();
// check to see if steering is greater than zero and lock out control from other steering
if (seperateForce.linear.magnitude > 0)
{
seperating = true;
}
else
{
seperating = false;
}
linearVelocity += seperateForce.linear * Time.deltaTime;
}
if (collisionAvoidance.Length > 0)
{
CollisionAvoidance avoidKinematic = new CollisionAvoidance();
avoidKinematic.ai = this;
avoidKinematic.targets = collisionAvoidance;
SteeringOutput avoidKinematicForce = avoidKinematic.GetSteering();
if (avoidKinematicForce != null)
{
linearVelocity += avoidKinematicForce.linear;
}
}
switch (movementType)
{
case "seek":
Seek mySeek = new Seek();
mySeek.ai = this;
// if seek is false set seek property on class to false to activate flee
mySeek.seek = true;
mySeek.target = target;
SteeringOutput steeringSeek = mySeek.GetSteering();
if (!seperating)
{
linearVelocity += steeringSeek.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "flee":
Seek myFlee = new Seek();
myFlee.ai = this;
// if seek is false set seek property on class to false to activate flee
myFlee.seek = false;
myFlee.target = target;
SteeringOutput steeringFlee = myFlee.GetSteering();
if (!seperating)
{
linearVelocity += steeringFlee.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "arrive":
Arrive myArrive = new Arrive();
myArrive.ai = this;
myArrive.target = target;
SteeringOutput steeringArrive = myArrive.GetSteering();
if (!seperating)
{
linearVelocity += steeringArrive.linear * Time.deltaTime;
}
break;
case "pursue":
Pursue myPursue = new Pursue();
myPursue.ai = this;
myPursue.target = target;
SteeringOutput steeringPursue = myPursue.GetSteering();
if (!seperating)
{
linearVelocity += steeringPursue.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "evade":
Pursue myEvade = new Pursue();
myEvade.ai = this;
myEvade.target = target;
// This changes the seek flag in the parent Seek class of Pursue, sending it the flee vector instead
myEvade.seek = false;
SteeringOutput steeringEvade = myEvade.GetSteering();
if (!seperating)
{
linearVelocity += steeringEvade.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
default:
// provide no input
break;
// If obstacles have been provided, return steering to seperate from them
}
switch (rotationType)
{
case "face":
Face myFace = new Face();
myFace.ai = this;
myFace.target = target;
SteeringOutput steeringFace = myFace.GetSteering();
if (steeringFace != null)
{
// linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringFace.angular * Time.deltaTime;
}
break;
case "align":
Align myAlign = new Align();
myAlign.ai = this;
myAlign.target = target;
SteeringOutput steeringAlign = myAlign.GetSteering();
if (steeringAlign != null)
{
//linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringAlign.angular * Time.deltaTime;
}
break;
case "look":
LookWhereGoing myLook = new LookWhereGoing();
myLook.ai = this;
myLook.target = target;
SteeringOutput steeringLook = myLook.GetSteering();
if (steeringLook != null)
{
//linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringLook.angular * Time.deltaTime;
}
break;
default:
//provide no input
break;
}
}
// Update is called once per frame
void Update()
{
transform.position += linearVelocity * Time.deltaTime;
// adding angular velocity to current transform rotation y component
if (float.IsNaN(angularVelocity))
{
angularVelocity = 0;
}
transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
//dynamicSteering steering = new Seek();
// control to switch to proper steering behavior
if (!arrive)
{
Seek mySeek = new Seek();
mySeek.ai = this;
// if seek is false set seek property on class to false to activate flee
if (!seek)
{
mySeek.seek = false;
}
else
{
mySeek.seek = true;
}
mySeek.target = target;
SteeringOutput steering = mySeek.GetSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
}
else
{
Arrive myArrive = new Arrive();
myArrive.ai = this;
myArrive.target = target;
SteeringOutput steering = myArrive.GetSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
if (align)
{
Align myAlign = new Align();
myAlign.ai = this;
myAlign.target = target;
SteeringOutput steering = myAlign.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
if (lookWhereGoing && !align && !face)
{
LookWhereGoing myLook = new LookWhereGoing();
myLook.ai = this;
myLook.target = target;
SteeringOutput steering = myLook.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else
{
Debug.Log("Returning Null");
}
}
if (!lookWhereGoing && !align && face)
{
Face myFace = new Face();
myFace.ai = this;
myFace.target = target;
SteeringOutput steering = myFace.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
}
void Update()
{
SteeringOutput movementSteering;
//SteeringOutput lookSteering;
//Update position and rotation
transform.position += linearVelocity * Time.deltaTime;
Vector3 angularIncrement = new Vector3(0, angularVelocity * Time.deltaTime, 0);
transform.eulerAngles += angularIncrement;
switch (moveType)
{
case SteeringType.Pursue:
movementSteering = pursueAI.GetSteering();
break;
case SteeringType.Evade:
movementSteering = evadeAI.GetSteering();
break;
case SteeringType.FollowPath:
movementSteering = followAI.GetSteering();
break;
case SteeringType.Seek:
movementSteering = seekAI.GetSteering();
break;
case SteeringType.Flee:
movementSteering = fleeAI.GetSteering();
break;
case SteeringType.Seperation:
movementSteering = seperationAI.GetSteering();
break;
case SteeringType.Arrive:
movementSteering = arriveAI.GetSteering();
break;
case SteeringType.CollisionAvoidance:
movementSteering = avoidAI.GetSteering();
break;
case SteeringType.ObstacleAvoidance:
movementSteering = obstacleAI.GetSteering();
break;
default:
movementSteering = new SteeringOutput();
break;
}
if (movementSteering != null)
{
linearVelocity += movementSteering.linear * Time.deltaTime;
//angularVelocity += movementSteering.angular * Time.deltaTime;
}
switch (lookType)
{
case LookType.None:
break;
case LookType.Align:
lookSteering = alignAI.GetSteering();
break;
case LookType.Face:
lookSteering = faceAI.GetSteering();
break;
case LookType.LookWhereGoing:
lookSteering = lookAI.GetSteering();
break;
default:
lookSteering = alignAI.GetSteering();
break;
}
if (lookSteering != null)
{
angularVelocity += lookSteering.angular * Time.deltaTime;
}
//Update kinematic reference with complex data it can't get by itself
kinematic.GetData(movementSteering);
kinematic.GetData(lookSteering);
}
