Vector3 Calculate()
{
Vector3 steeringBehaviourForce = Vector3.zero;
steeringBehaviourForce += steeringBehaviour.Calculate() * steeringBehaviour.weight;
return(steeringBehaviourForce);
}
//IEnumerator Calculate()
//{
// while (true)
// {
// yield return new WaitForFixedUpdate();
// }
//}
// Update the physics and velocity of the vehicle
void FixedUpdate()
{
//SteeringBehaviour.instance.SetDestination(target.position);
// calculate the combine force form each steering behavior in the
// vehicle's list
my_SteeringForce = my_SteeringBehaviour.Calculate();
Vector3 steeringForce = my_SteeringForce;
Debug.DrawLine(Position(), Position() + steeringForce, Color.red);
// calculate the acceleration
Vector3 acceleration = steeringForce / rig.mass;
// update the velocity
velocity += acceleration * Time.deltaTime;
// make sure the velocity doesn't exceed the max velocity
Vector3 normalized = velocity.normalized;
if (velocity.magnitude >= maxSpeed)
{
velocity = normalized * maxSpeed;
}
// update the position
Vector3 previousPosition = transform.position;
transform.position += velocity * Time.deltaTime;
//Debug.Log("velocity2: " + velocity);
//Debug.DrawLine(Position(), Position() + velocity, Color.green);
// replaceable method
//rig.AddForce(steeringForce);
// update the rotation
if (transform.position - previousPosition != Vector3.zero)
{
transform.rotation = Quaternion.LookRotation(transform.position - previousPosition);
}
//Debug.Break();
// update the heading and side if the velocity is greater than 0
if (velocity.sqrMagnitude > 0.00000001)
{
heading = normalized;
side = new Vector3(velocity.x, -velocity.y, velocity.z);
}
}
public override void Update(float timeElapsed)
{
if (Target != null)
{
//calculate the combined force from each steering behavior in the vehicle's list
Vector2D steeringForce = SB.Calculate();
//Acceleration = Force/Mass
Vector2D acceleration = steeringForce / Mass;
//update velocity
Velocity += (acceleration * timeElapsed);
//make sure vehicle does not exceed maximum velocity
Velocity = Velocity.Truncate(MaxSpeed);
//update the position
Pos += (Velocity * timeElapsed);
//update the heading if the vehicle has a non zero velocity
if (Velocity.LengthSquared() > 0.00000001)
{
Heading = Velocity.Normalize();
Side = Heading.Perp();
}
}
else if (Velocity.LengthSquared() > 0.00000001)
{
Velocity *= 0;
}
if (this.Pos.X > MyWorld.Width)
{
this.Pos = new Vector2D(1, Pos.Y);
}
else if (this.Pos.X < 0)
{
this.Pos = new Vector2D(MyWorld.Width - 1, Pos.Y);
}
if (this.Pos.Y > MyWorld.Height)
{
this.Pos = new Vector2D(Pos.X, 1);
}
else if (this.Pos.Y < 0)
{
this.Pos = new Vector2D(Pos.X, MyWorld.Height - 1);
}
}
public override Vector2D Calculate()
{
Vertex followPath = path.bestPath;
if (followPath == null)
{
return(new Vector2D());
}
if (followPath.adj.Count == 0 && movingEntity.Pos.DistanceSqrt(followPath.position) <= 50f)
{
movingEntity.Velocity = new Vector2D();
return(new Vector2D());
}
Vector2D force = sb.Calculate(followPath.position);
followPath = setNextTarget(followPath);
path.bestPath = followPath;
return(force);
}
public override void Update(float timeElapsed)
{
// Calculate the combined force from each steering behaviour.
Vector2D steeringForce = SteeringBehaviour.Calculate();
// Acceleration = Force / Mass (Newton's laws of physics).
Vector2D acceleration = steeringForce.Clone().Divide(Mass);
// Update velocity.
Velocity.Add(acceleration.Clone().Multiply(timeElapsed));
// Make sure the moving entity does not exceed maximum speed.
Velocity.Truncate(MaxSpeed);
// Update position.
Pos.Add(Velocity.Clone().Multiply(timeElapsed));
// Update heading if the velocity is bigger than 0
if (Velocity.LengthSquared() > 0)
{
Heading = Velocity.Clone().Normalize();
Side = Heading.Perpendicular();
}
}
void FixedUpdate()
{
elapsedTime = Time.fixedDeltaTime;
Vector2 resultanteForces = new Vector2(0, 0);
setDirection();
//Combiner les forces ici
resultanteForces += steeringBehaviour.Calculate();
//Finalement appliquer la resultante
acceleration = resultanteForces;
Vector2 vel = rb.velocity + resultanteForces * elapsedTime;
if (vel.magnitude > maxSpeed)
{
rb.velocity = vel.normalized * maxSpeed;
}
else
{
rb.velocity = vel;
}
}
public void AIUpdate()
{
//update the time elapsed
//keep a record of its old position so we can update its cell later
//in this method
Vector3 OldVelocity = aiAgent.Velocity();
Vector3 SteeringForce = Vector3.zero;
//calculate the combined force from each steering behavior in the
//vehicle's list
SteeringForce = steeringBehaviour.Calculate();
//Acceleration = Force/Mass
Vector3 acceleration = SteeringForce / aiAgent.Mass();
Vector3 gravityaccel = steeringBehaviour.GravityAccel();
grounded = (gravityaccel.magnitude > 0) ? true : false;
aiAgent.Update(acceleration, gravityaccel, useWrapAround, Time.deltaTime);
Vector3 vPos = aiAgent.VPos();
vPos.y = steeringBehaviour.GravityTruncate(vPos.y);
aiAgent.SetVPos(vPos);
//EnforceNonPenetrationConstraint(this, World()->Agents());
//update the vehicle's current cell if space partitioning is turned on
if (isSmoothingOn())
{
m_vSmoothedHeading = m_pHeadingSmoother.Update(aiAgent.Heading());
}
//moveState
if (steeringBehaviour.IsSteering())
{
float epsillon = 0.01f;
if (MathUtil.Equal(aiAgent.Velocity(), Vector3.zero, epsillon) &&
OldVelocity.magnitude >= epsillon)
{
if (onMoveComplete != null)
{
onMoveComplete(aiAgent, steeringBehaviour, MoveCompleteState.Reached);
}
}
else if (gravityaccel.magnitude <= 0 &&
gravityaccel_old.magnitude > 0)
{
if (onMoveComplete != null)
{
onMoveComplete(aiAgent, steeringBehaviour, MoveCompleteState.Landed);
}
}
}
gameObject.transform.position = aiAgent.VPos();
if (useRotation)
{
Vector3 vDir = aiAgent.Heading();
if (vDir.magnitude > 0)
{
gameObject.transform.rotation = Quaternion.LookRotation(vDir);
}
}
Vector3 target = gameObject.transform.position + gameObject.transform.rotation * Vector3.forward * aiAgent.BRadius();
gravityaccel_old = gravityaccel;
DebugExtension.DebugCircle(target, 0.5f);
}
