public Vector3 getSteering(Rigidbody target)
{
/* Calculate the distance to the target */
Vector3 displacement = target.position - transform.position;
float distance = displacement.magnitude;
/* Get the character's speed */
float 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 */
Vector3 explicitTarget = target.position + target.velocity * prediction;
return(steeringBasics.seek(explicitTarget));
}
// Update is called once per frame
void Update()
{
Vector3 accel = steeringBasics.seek(target.position);
steeringBasics.Steer(accel);
steeringBasics.LookWhereYoureGoing();
}
public Vector3 getSteering(Vector3 facingDir)
{
Vector3 acceleration = Vector3.zero;
/* Creates the ray direction vector */
Vector3[] rayDirs = new Vector3[3];
rayDirs[0] = facingDir.normalized;
float orientation = Mathf.Atan2(rb.velocity.y, rb.velocity.x);
rayDirs[1] = orientationToVector(orientation + sideWhiskerAngle * Mathf.Deg2Rad);
rayDirs[2] = orientationToVector(orientation - sideWhiskerAngle * Mathf.Deg2Rad);
RaycastHit hit;
/* If no collision do nothing */
if (!findObstacle(rayDirs, out hit))
{
return(acceleration);
}
/* Create a target away from the wall to seek */
Vector3 targetPostition = 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 */
Vector3 cross = Vector3.Cross(rb.velocity, hit.normal);
if (cross.magnitude < 0.005f)
{
targetPostition = targetPostition + new Vector3(-hit.normal.y, hit.normal.x, hit.normal.z);
}
return(steeringBasics.seek(targetPostition, maxAcceleration));
}
public Vector3 getSteering(Rigidbody target)
{
/* 计算到目标的距离 */
Vector3 displacement = target.position - transform.position;
float distance = displacement.magnitude;
/* 当前的速度 */
float speed = rb.velocity.magnitude;
/* 计算预测时间 */
float prediction;
if (speed <= distance / maxPrediction) // 加速
{
prediction = maxPrediction;
}
else
{
prediction = distance / speed; // 保持当前速度
}
/* 显式目标： 根据我们 thsink 的目标将目标放在一起*/
Vector3 explicitTarget = target.position + target.velocity * prediction;
Debug.Log("target.position= " + target.position + " : prediction =" + target.velocity * prediction);
return(steeringBasics.seek(explicitTarget));
}
public Vector2 getSteering(Vector2 facingDir)
{
Vector2 acceleration = Vector2.zero;
/* Creates the ray direction vector */
Vector2[] rayDirs = new Vector2[3];
rayDirs[0] = facingDir.normalized;
float orientation = Mathf.Atan2(rb.velocity.y, rb.velocity.x);
rayDirs[1] = orientationToVector(orientation + sideWhiskerAngle * Mathf.Deg2Rad);
rayDirs[2] = orientationToVector(orientation - sideWhiskerAngle * Mathf.Deg2Rad);
RaycastHit hit;
/* If no collision do nothing */
if (!findObstacle(rayDirs, out hit))
{
return(acceleration);
}
/* Create a target away from the wall to seek */
Vector2 targetPostition = hit.point + hit.normal * wallAvoidDistance;
return(steeringBasics.seek(targetPostition, maxAcceleration));
}
public Vector3 getSteering()
{
//get the jitter for this time frame
float jitter = wanderJitter * Time.deltaTime;
//add a small random vector to the target's position
wanderTarget += new Vector3(Random.Range(-1f, 1f) * jitter, 0f, Random.Range(-1f, 1f) * jitter);
//make the wanderTarget fit on the wander circle again
wanderTarget.Normalize();
wanderTarget *= wanderRadius;
//move the target in front of the character
Vector3 targetPosition = transform.position + transform.forward * wanderDistance + wanderTarget;
//Debug.DrawLine(transform.position, targetPosition);
return(steeringBasics.seek(targetPosition));
}
public Vector3 GetSteering()
{
// 得到一帧时间的 最大位移
float jitter = wanderJitter * Time.deltaTime;
// 向目标的位置添加一个小的随机向量（每一帧都调整新的）
wanderTarget += new Vector3(Random.Range(-1f, 1f) * jitter, Random.Range(-1f, 1f) * jitter, 0f);
// 得到新的漫游圈
wanderTarget.Normalize();
wanderTarget *= wanderRadius;
// 得到目标位置， 在角色的前方 right = ( 1, 0, 0 )
Vector3 targetPosition = transform.position + transform.right * wanderDistance + wanderTarget;
// 为了调试用
Debug.DrawLine(transform.position, targetPosition);
return(steeringBasics.seek(targetPosition));
}
public Vector3 getSteering(Rigidbody target)
{
// Calculate the distance to the target
Vector3 displacement = target.position - transform.position;
float distance = displacement.magnitude;
// Get the character's speed
float speed = rb.velocity.magnitude;
// Calculate the prediction time
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / speed;
}
// Set where the AI thinks the target will be and look at it
Vector3 explicitTarget = target.position + target.velocity * prediction;
/*
* if (distance < closingDistance)
* {
* steeringBasics.LookAtDirection(target.position);
* }
* else
* {
* steeringBasics.LookAtDirection(explicitTarget);
* }
*/
Debug.DrawLine(transform.position, explicitTarget);
//transform.Translate(Vector3.forward * maxAcceleration * Time.deltaTime);
return(steeringBasics.seek(explicitTarget));
}
public Vector3 GetSteering(Vector3 facingDir)
{
Vector3 acceleration = Vector3.zero;
/* 创建射线方向向量 */
Vector3[] rayDirs = new Vector3[3];
// 自己前进的方向
rayDirs[0] = facingDir.normalized;
// 返回弧度， 对边y/临边x
float orientation = Mathf.Atan2(rb.velocity.y, rb.velocity.x);
// 两边的射线方向
rayDirs[1] = orientationToVector(orientation + sideWhiskerAngle * Mathf.Deg2Rad);
rayDirs[2] = orientationToVector(orientation - sideWhiskerAngle * Mathf.Deg2Rad);
RaycastHit hit;
/* 如果没有碰撞，什么也不做 */
if (!findObstacle(rayDirs, out hit))
{
return(acceleration);
}
/* 从墙上创建一个目标来 seek （这个方向和射线方向相反）*/
Vector3 targetPostition = hit.point + hit.normal * wallAvoidDistance;
/* 如果速度和碰撞法线平行，则将目标向左或向右移动一点 (如果不矫正就会一直 垂直撞一个地方)*/
Vector3 cross = Vector3.Cross(rb.velocity, hit.normal); // 叉乘 判断两个向量是否平行
// 点乘“·”计算得到的结果是一个标量； 平行向量 normalized的点乘 是 -1 或者 1， 垂直是0
// 叉乘“×”得到的结果是一个垂直于原向量构成平面的向量。 平行向量的叉乘是零向量
if (cross.magnitude < 0.005f)
{
targetPostition = targetPostition + new Vector3(-hit.normal.y, hit.normal.x, hit.normal.z);
}
// 返回最大加速度
return(steeringBasics.seek(targetPostition, maxAcceleration));
}
public Vector3 collisionAvoid(Vector3 target)
{
Vector3 dvelocity = steeringBasics.seek(target);
Vector3 ahead = rb.position + Vector3.Normalize(dvelocity) * maxLookAhead; // calculate the look ahead vector
Vector3 steeravoid;
Ray sweep = new Ray(rb.transform.position, target);
if (LineIntersects(ahead) == true)
{
Physics.Raycast(sweep, out hit, maxLookAhead);
target += hit.normal * maxAvoidForce;
steeravoid = target;
Debug.Log(steeravoid);
return(steeravoid);
}
else
{
steeravoid = Vector3.zero;
}
return(steeravoid);
}
public Vector2 getSteering()
{
float characterOrientation = transform.rotation.eulerAngles.z * Mathf.Deg2Rad;
/* Update the wander orientation */
wanderOrientation += randomBinomial() * wanderRate;
/* Calculate the combined target orientation */
float targetOrientation = wanderOrientation + characterOrientation;
/* Calculate the center of the wander circle */
Vector2 targetPosition = (Vector2)transform.position + (orientationToVector(characterOrientation) * wanderOffset);
//debugRing.transform.position = targetPosition;
/* Calculate the target position */
targetPosition = targetPosition + (orientationToVector(targetOrientation) * wanderRadius);
//Debug.DrawLine (transform.position, targetPosition);
return(steeringBasics.seek(targetPosition));
}
public Vector3 getSteering()
{
// 当前角色的方向（弧度）
float characterOrientation = transform.rotation.eulerAngles.z * Mathf.Deg2Rad;
// 随机一个漫游方向（弧度）
wanderOrientation += randomBinomial() * wanderRate;
// 目标方向结合（弧度）， 就是在角色方向上的一个偏移
float targetOrientation = wanderOrientation + characterOrientation;
// 角色的前方（偏移量）
Vector3 targetPosition = transform.position + (orientationToVector(characterOrientation) * wanderOffset);
// 得到目标位置 向量 c = a + b 就是对角线的方向
targetPosition = targetPosition + (orientationToVector(targetOrientation) * wanderRadius);
Debug.DrawLine(transform.position, targetPosition);
// 得到 最大加速度
return(steeringBasics.seek(targetPosition));
}
public Vector3 getSteering()
{
float characterOrientation = rb.rotationInRadians;
/* Update the wander orientation */
wanderOrientation += randomBinomial() * wanderRate;
/* Calculate the combined target orientation */
float targetOrientation = wanderOrientation + characterOrientation;
/* Calculate the center of the wander circle */
Vector3 targetPosition = transform.position + (SteeringBasics.orientationToVector(characterOrientation, rb.is3D) * wanderOffset);
//debugRing.transform.position = targetPosition;
/* Calculate the target position */
targetPosition = targetPosition + (SteeringBasics.orientationToVector(targetOrientation, rb.is3D) * wanderRadius);
//Debug.DrawLine (transform.position, targetPosition);
return(steeringBasics.seek(targetPosition));
}
public Vector3 getSteering(Vector3 targetPosition)
{
//Vector3 targetAvoid = collisionAvoidance.collisionAvoid(targetPosition);
return(steeringBasics.seek(targetPosition));
}
