// Update is called once per frame
protected override void Update()
{
steeringUpdate = new SteeringOutput();
steeringUpdate.linear = myMoveType.getSteering().linear;
steeringUpdate.angular = myRotateType.getSteering().angular;
base.Update();
}
void FixedUpdate()
{
Vector3 accel = Vector3.zero;
accel += cohesion.getSteering(sensor.targets) * cohesionWeight;
accel += separation.getSteering(sensor.targets) * separationWeight;
accel += velocityMatch.getSteering(sensor.targets) * velocityMatchWeight;
if (accel.magnitude < 0.005f)
{
accel = wander.getSteering();
}
steeringBasics.steer(accel);
steeringBasics.lookWhereYoureGoing();
}
void SeparationBehavior()
{
UpdatePositionRotation();
Separation separation = new Separation();
separation.character = this;
separation.targets.Add(target);
SteeringOutput separationSteering = separation.getSteering();
if (separationSteering != null)
{
linearVelocity += separationSteering.linear * Time.deltaTime;
angularVelocity += separationSteering.angular * Time.deltaTime;
}
}
// Update is called once per frame
void LateUpdate()
{
Vector2 targetPos;
Vector2 offsetAccel = offsetPursuit.getSteering(target, offset, out targetPos);
Vector2 sepAccel = separation.getSteering(sensor.targets);
steeringBasics.steer(offsetAccel + sepAccel);
/* If we are still arriving then look where we are going, else look the same direction as our formation target */
if (Vector2.Distance(transform.position, targetPos) > groupLookDist)
{
steeringBasics.lookWhereYoureGoing();
}
else
{
steeringBasics.lookAtDirection(target.rotation);
}
}
// Update is called once per frame
void Update()
{
/*
* My Implementation of flocking
*/
//Get the average group velocity and position
Vector3 averagePosition = new Vector3();
Vector3 averageVelocity = new Vector3();
foreach (GameObject character in characters)
{
averagePosition += character.transform.position;
averageVelocity += character.GetComponent <SteeringCharacter>().velocity;
}
averagePosition *= 1.0f / characters.Count;
averageVelocity *= 1.0f / characters.Count;
//averagePosition = targetObject.transform.position;
//Set to arrive at the average position
arrivalBehavior.target = averagePosition;
//Set to match the average velocity
velocityMatchBehavior.target = averageVelocity;
//Loop through every character
foreach (GameObject character in characters)
{
SteeringCharacter thisChar = character.GetComponent <SteeringCharacter>();
arrivalBehavior.character = thisChar;
separationBehavior.character = thisChar;
velocityMatchBehavior.character = thisChar;
SteeringOutput arrivalSteering = arrivalBehavior.getSteering();
SteeringOutput separationSteering = separationBehavior.getSteering();
SteeringOutput velocityMatchSteering = velocityMatchBehavior.getSteering();
thisChar.steering = new SteeringOutput();
//Combine all steering behaviors
thisChar.steering.linear = arrivalSteering.linear + separationSteering.linear + velocityMatchSteering.linear;
}
}
// Update is called once per frame
protected virtual void Update()
{
//Update pos rot
transform.position += linearVelocity * Time.deltaTime;
Vector3 angularIncrement = new Vector3(0, angularVelocity * Time.deltaTime, 0);
if (float.IsNaN(angularIncrement.y))
{
}
else
{
transform.eulerAngles += angularIncrement;
}
//Debug.Log(angularIncrement);
SteeringOutput steering = new SteeringOutput();
//Get Steerings
if (bIsSeeking)
{
steering = mySeek.getSteering();
}
else
{
//steering = myFlee.getSteering();
}
if (bCanArrive)
{
SteeringOutput _arrvSteering = myArrv.getSteering();
if (_arrvSteering != null)
{
linearVelocity += _arrvSteering.linear * Time.deltaTime;
angularVelocity += _arrvSteering.angular * Time.deltaTime;
}
else
{
linearVelocity = Vector3.zero;
}
}
if (bDoesAlign)
{
SteeringOutput _algnSteering = myAlgn.getSteering();
if (_algnSteering != null)
{
steering.angular += _algnSteering.angular * Time.deltaTime;
}
else
{
angularVelocity = 0f;
}
}
if (bDoesFace)
{
SteeringOutput _faceSteering = myFace.getSteering();
if (_faceSteering != null)
{
angularVelocity += _faceSteering.angular * Time.deltaTime;
}
}
if (bDoesLookWhereGoing)
{
SteeringOutput _lwygSteering = myLWYG.getSteering();
if (_lwygSteering != null)
{
angularVelocity += _lwygSteering.angular * Time.deltaTime;
}
}
if (bDoesFollowPath)
{
SteeringOutput _fpthSteering = myFPth.getSteering();
if (_fpthSteering != null)
{
linearVelocity += _fpthSteering.linear * Time.deltaTime;
}
}
if (bDoesSeparate)
{
SteeringOutput _seprSteering = mySepr.getSteering();
if (_seprSteering != null)
{
linearVelocity += _seprSteering.linear * Time.deltaTime;
}
}
if (bDoesPursue)
{
SteeringOutput _prsuSteering = myPrsu.getSteering();
if (_prsuSteering != null)
{
linearVelocity += _prsuSteering.linear * Time.deltaTime;
}
}
if (bDoesAvoidColl)
{
SteeringOutput _clAvSteering = myClAv.getSteering();
if (_clAvSteering != null)
{
linearVelocity += _clAvSteering.linear * Time.deltaTime;
}
}
if (bDoesObstAvoid)
{
SteeringOutput _obAvSteering = myObAv.getSteering();
if (_obAvSteering != null)
{
linearVelocity += _obAvSteering.linear * Time.deltaTime;
}
}
///Check for controlled steering updates
if (controlledSteeringUpdate != null)
{
linearVelocity += controlledSteeringUpdate.linear * Time.deltaTime;
angularVelocity += controlledSteeringUpdate.angular * Time.deltaTime;
}
//update lin ang vel
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
void MainSteeringBehaviors()
{
ResetOrientation();
switch (choiceOfBehavior)
{
case SteeringBehaviors.Seek:
Seek seek = new Seek();
seek.character = this;
seek.target = newTarget;
SteeringOutput seeking = seek.getSteering();
if (seeking != null)
{
linear += seeking.linear * Time.deltaTime;
angular += seeking.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Flee:
Flee flee = new Flee();
flee.character = this;
flee.target = newTarget;
SteeringOutput fleeing = flee.getSteering();
if (fleeing != null)
{
linear += fleeing.linear * Time.deltaTime;
angular += fleeing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Align:
Align align = new Align();
align.character = this;
align.target = newTarget;
SteeringOutput aligning = align.getSteering();
if (aligning != null)
{
linear += aligning.linear * Time.deltaTime;
angular += aligning.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Face:
Face face = new Face();
face.character = this;
face.target = newTarget;
SteeringOutput facing = face.getSteering();
if (facing != null)
{
linear += facing.linear * Time.deltaTime;
angular += facing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.LookWhereGoing:
LookWhereGoing look = new LookWhereGoing();
look.character = this;
look.target = newTarget;
SteeringOutput looking = look.getSteering();
if (looking != null)
{
linear += looking.linear * Time.deltaTime;
angular += looking.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Arrive:
Arrive arrive = new Arrive();
arrive.character = this;
arrive.target = newTarget;
SteeringOutput arriving = arrive.getSteering();
if (arriving != null)
{
linear += arriving.linear * Time.deltaTime;
angular += arriving.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.PathFollow:
follow.character = this;
lookwg.character = this;
follow.path = myPath;
lookwg.target = newTarget;
SteeringOutput following = follow.getSteering();
SteeringOutput lookingwg = lookwg.getSteering();
if (following != null)
{
linear += following.linear * Time.deltaTime;
// angular += lookingwg.angular* Time.deltaTime;
}
break;
case SteeringBehaviors.Pursue:
Pursue pursue = new Pursue();
LookWhereGoing PursuelookWhereGoing = new LookWhereGoing();
pursue.character = this;
PursuelookWhereGoing.character = this;
pursue.target = newTarget;
PursuelookWhereGoing.target = newTarget;
SteeringOutput pursuing = pursue.getSteering();
SteeringOutput pursuelookingWhereGoing = PursuelookWhereGoing.getSteering();
if (pursuing != null)
{
if (pursuing.linear.magnitude <= maxSpeed)
{
linear += pursuing.linear * Time.deltaTime;
}
angular += pursuing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Separate:
Separation separate = new Separation();
LookWhereGoing lookWhereGoing = new LookWhereGoing();
separate.character = this;
lookWhereGoing.character = this;
separate.targets = targets;
lookWhereGoing.target = newTarget;
SteeringOutput lookingWhereGoing = lookWhereGoing.getSteering();
SteeringOutput separating = separate.getSteering();
if (separating != null)
{
linear += separating.linear * Time.deltaTime;
angular += separating.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.CollisionAvoidance:
CollisionAvoidance avoid = new CollisionAvoidance();
LookWhereGoing AvoidlookWhereGoing = new LookWhereGoing();
avoid.character = this;
AvoidlookWhereGoing.character = this;
avoid.targets = targets;
AvoidlookWhereGoing.target = newTarget;
SteeringOutput AvoidlookingWhereGoing = AvoidlookWhereGoing.getSteering();
SteeringOutput avoiding = avoid.getSteering();
if (avoiding != null)
{
linear += avoiding.linear * Time.deltaTime;
angular += avoiding.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.ObstacleAvoidance:
ObstacleAvoidance obAvoid = new ObstacleAvoidance();
LookWhereGoing obAvoidlookWhereGoing = new LookWhereGoing();
obAvoid.character = this;
obAvoidlookWhereGoing.character = this;
obAvoid.target = newTarget;
obAvoidlookWhereGoing.target = newTarget;
SteeringOutput obAvoiding = obAvoid.getSteering();
SteeringOutput obAvoidlookingWhereGoing = obAvoidlookWhereGoing.getSteering();
if (obAvoiding != null)
{
if (obAvoiding.linear.magnitude <= maxSpeed)
{
linear += obAvoiding.linear * Time.deltaTime;
}
angular += obAvoiding.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Flocking:
Separation sepFlock = new Separation();
Arrive arriveFlock = new Arrive();
LookWhereGoing lwgFlock = new LookWhereGoing();
BlendedSteering mySteering = new BlendedSteering();
Kinematic[] kBirds;
sepFlock.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("Pengu");
kBirds = new Kinematic[goBirds.Length - 1];
int j = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
goBirds[i].GetComponent <Animator>().SetInteger("Walk", 1);
kBirds[j++] = goBirds[i].GetComponent <Kinematic>();
}
sepFlock.targets = kBirds;
arriveFlock.character = this;
//Debug.Log(arriveFlock.character);
arriveFlock.target = newTarget;
//Debug.Log(arriveFlock.target);
lwgFlock.character = this;
lwgFlock.target = newTarget;
mySteering.behaviors = new BehaviorAndWeight[3];
mySteering.behaviors[0] = new BehaviorAndWeight();
mySteering.behaviors[0].behavior = sepFlock;
mySteering.behaviors[0].weight = 1f;
mySteering.behaviors[1] = new BehaviorAndWeight();
mySteering.behaviors[1].behavior = arriveFlock;
mySteering.behaviors[1].weight = 1f;
mySteering.behaviors[2] = new BehaviorAndWeight();
mySteering.behaviors[2].behavior = lwgFlock;
mySteering.behaviors[2].weight = 1f;
ObstacleAvoidance myAvoid = new ObstacleAvoidance();
myAvoid.character = this;
myAvoid.target = newTarget;
myAvoid.flee = true;
BlendedSteering myHighPrioritySteering = new BlendedSteering();
myHighPrioritySteering.behaviors = new BehaviorAndWeight[1];
myHighPrioritySteering.behaviors[0] = new BehaviorAndWeight();
myHighPrioritySteering.behaviors[0].behavior = myAvoid;
myHighPrioritySteering.behaviors[0].weight = 0.1f;
myAdvancedSteering.groups = new BlendedSteering[2];
myAdvancedSteering.groups[0] = new BlendedSteering();
myAdvancedSteering.groups[0] = myHighPrioritySteering;
myAdvancedSteering.groups[1] = new BlendedSteering();
myAdvancedSteering.groups[1] = mySteering;
//steeringUpdate = mySteering.getSteering();
avoidObstacles = true;
if (!avoidObstacles)
{
steeringUpdate = mySteering.getSteering();
if (steeringUpdate != null)
{
linear += steeringUpdate.linear * Time.deltaTime;
angular += steeringUpdate.angular * Time.deltaTime;
}
}
else
{
steeringUpdate = myAdvancedSteering.getSteering();
if (steeringUpdate != null)
{
linear += steeringUpdate.linear * Time.deltaTime;
angular += steeringUpdate.angular * Time.deltaTime;
}
}
break;
case SteeringBehaviors.PathFinder:
SteeringOutput lwyger = myRotateType.getSteering();
linear += myMoveType.getSteering().linear *Time.deltaTime;
angular += myMoveType.getSteering().angular *Time.deltaTime;
break;
}
}
void Update()
{
//Perseguimos al enemigo
// con seek aceleracion
steeringAgent.UpdateSteering(separation.getSteering());
}