protected virtual void FixedUpdate()
{
if (IsDead)
{
return;
}
steering = Vector3.zero;
aceleration = Vector3.zero;
if (!IsReachedTarget)
{
if (TargetEntity != null)
{
steering += steerBh.Seek(this, TargetEntity.Position) * SeekingWeight;
}
else
{
steering += steerBh.Seek(this, target) * SeekingWeight;
}
if (OnObsAvoidance)
{
neighbours = Owner.GetNeighbours(this);
steering += flockBh.Separation(this, neighbours) * Separation;
steering += flockBh.Alignment(this, neighbours) * Alignment;
steering += flockBh.Cohesion(this, neighbours) * Cohesion;
}
}
else
{
DetectEnemy();
}
// obstacle avoidance test
if (AgentRigid.velocity.sqrMagnitude > MinVelocity)
{
DetectBoxLenght = avoidanceBh.CalculateDetectBoxLenght(this);
obstacles = StoredManager.GetObstacle(this);
steering += avoidanceBh.GetObsAvoidanceForce(this, obstacles) * AvoidanceWeight;
}
aceleration = steering / AgentRigid.mass;
Vector3 tempVel = TruncateVel(AgentRigid.velocity + aceleration);
if (!float.IsNaN(tempVel.x) && !float.IsNaN(tempVel.y) && !float.IsNaN(tempVel.z))
{
AgentRigid.velocity = tempVel;
}
RotateAgent();
if (!IsReachedTarget)
{
IsReachedTarget = CheckReachedTarget();
if (IsReachedTarget)
{
AgentRigid.velocity = Vector3.zero;
}
}
}
private void FixedUpdate()
{
steering = Vector3.zero;
neighbours = StoredManager.GetNeighbours(this);
steering += steerBh.Seek(this, target.Position);
// steering += steerBh.Arrive(this, target.Position);
steering += flockBh.Separation(this, neighbours) * separation;
steering += flockBh.Alignment(this, neighbours) * alignment;
steering += flockBh.Cohesion(this, neighbours) * cohesion;
rigid.velocity += steering / rigid.mass;
transform.forward += rigid.velocity;
#if UNITY_EDITOR
Debug.Log("steer: " + steering + " velocity: " + rigid.velocity + " max speed: " + maxSpeed * rigid.velocity.normalized);
#endif
}