public FlyStraightBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "FlyStraight";
this.steeringWeight = 1.0f;
seek = new SeekBehaviour (manager);
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
public override Steering Update(SteeringManager manager, Actor actor,
float dt)
{
float threshold = base.MaxDistance;
Vector3 accum = Vector3.zero;
foreach (Actor f in Flock.Members)
{
if (base.IsAffecting(actor, f))
{
Vector3 v = actor.Position - f.Position;
float d = v.magnitude;
float str = Mathf.Max(0.0f, (threshold - d) / threshold)
* manager.MaxForce;
accum += (v / d) * str;
}
}
if (manager.IsPlanar)
{
accum.y = 0f;
}
return(new Steering(accum, Vector3.zero));
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
protected override Steering FlockingUpdate(SteeringManager manager, Actor actor,
float dt)
{
float smallestHitTime = float.PositiveInfinity;
Vector3 tgt = Vector3.zero;
bool hit = false;
foreach (Actor other in Flock.Members)
{
Vector3 a = actor.Position - other.Position;
Vector3 b = actor.Velocity - other.Velocity;
// Calculate future hit time
float hTime = -(Vector3.Dot(a, b)) / b.sqrMagnitude;
// We want the smallest hit time but it must be greater
// than zero. Zero and smaller means no collision
if (hTime < smallestHitTime && hTime > 0)
{
smallestHitTime = hTime;
// If we have the smallest hit time, compute where that
// actor will be at that time and set it to the target
hit = true;
tgt = smallestHitTime * other.Velocity + other.Position;
}
}
//Flee from the target
if (hit)
{
target.Point = tgt;
return flee.Update(manager, actor, dt);
}
return Steering.zero;
}
protected override void OnStart()
{
base.OnStart();
if (FollowTarget != null)
{
followTargetController = FollowTarget.GetComponent <SceneObjController>();
}
m_CheckAroundController = GetComponent <CheckAroundEntityController>();
if (m_CheckAroundController == null)
{
m_CheckAroundController = gameObject.AddComponent <CheckAroundEntityController>();
}
m_MoveSpeed_Max = 0.1f;
m_ForceSteer_Max = 1f;
m_StopRadius = 0.5f;
m_SlowingRadius = 1f;
m_CurrentVelocity = Vector2.zero;
m_TempMass = 1;
m_Steering = new SteeringManager(this);
m_PathfindingRequested = false;
InitAnimComponent();
}
public override void Update()
{
float range = 50.0f;
timeShot += Time.deltaTime;
float fov = Mathf.PI / 4.0f;
// Can I see the leader?
GameObject leader = SteeringManager.Instance().currentScenario.leader;
if ((leader.transform.position - entity.transform.position).magnitude > range)
{
entity.GetComponent <StateMachine>().SwicthState(new IdleState(entity));
}
else
{
float angle;
Vector3 toEnemy = (leader.transform.position - entity.transform.position);
toEnemy.Normalize();
angle = (float)Math.Acos(Vector3.Dot(toEnemy, entity.transform.forward));
if (angle < fov)
{
if (timeShot > 0.25f)
{
GameObject lazer = new GameObject();
lazer.AddComponent <Lazer>();
lazer.transform.position = entity.transform.position;
lazer.transform.forward = entity.transform.forward;
timeShot = 0.0f;
}
}
}
}
public override sealed Steering Update(SteeringManager manager, Actor actor, float dt)
{
if(flock == null) {
return Steering.zero;
}
return FlockingUpdate(manager, actor, dt);
}
public void Update()
{
if (currentState != null)
{
SteeringManager.PrintMessage("Current state: " + currentState.Description());
currentState.Update();
}
}
public override void Enter()
{
entity.GetComponent <SteeringBehaviours>().turnOffAll();
entity.GetComponent <SteeringBehaviours>().OffsetPursuitEnabled = true;
entity.GetComponent <SteeringBehaviours>().ObstacleAvoidanceEnabled = true;
entity.GetComponent <SteeringBehaviours>().offset = new Vector3(0, 0, 5);
entity.GetComponent <SteeringBehaviours>().leader = SteeringManager.Instance().currentScenario.leader;
}
// Use this for initialization
void Start()
{
mSettingsScript = GetComponent <EnemySettings>();
mSteeringManager = new SteeringManager();
mSteeringManager.Initiate(this.gameObject, mSettingsScript);
mTarget = GameObject.FindGameObjectWithTag("Player");
mRigidBody = GetComponent <Rigidbody>();
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = collisionReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planner, engine, agents, obstacles);
}
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
{
neighborhood.Init();
}
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
{
footsteps.Init(analyzer, planner, engine, neighborhood, obstacles);
}
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
{
nObstacles.Init();
}
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
public void UpdateFlightControl(Vessel vessel)
{
control = GetControllerByVessel(vessel);
if (steeringManager != null)
{
steeringManager = SteeringManagerProvider.SwapInstance(shared, steeringManager);
steeringManager.Update(vessel);
}
}
public void Dispose()
{
Enabled = false;
if (steeringManager != null)
{
SteeringManagerProvider.RemoveInstance(shared.Vessel);
steeringManager = null;
}
}
private void Awake()
{
home = new GameObject();
pivot = new GameObject();
home.transform.position = transform.position;
pivot.transform.position = new Vector3(transform.position.x, transform.position.y, transform.position.z + 1.5f);
manager = new SteeringManager();
steering = new Vector3(0.0f, 0.0f, 0.0f);
velocity = new Vector3(0.0f, 0.0f, 0.0f);
}
public GameObject CreateBoid(Vector3 position, GameObject prefab)
{
GameObject boid;
boid = (GameObject)SteeringManager.Instantiate(prefab);
boid.tag = "boid";
boid.AddComponent <SteeringBehaviours>();
boid.transform.position = position;
return(boid);
}
// Use this for initialization
//public void Init (FootstepPlanningTest planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles, RootMotionComputer computer) {
public void Init(Planner planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles)
{
steering = steeringManager;
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
navMeshLayer = 1 << LayerMask.NameToLayer("StaticWorld");
initialized = true;
}
protected BMovableGameObject(Texture2D texture, float positionX, float positionY, float textureOffsetX, float textureOffsetY, float collisionBoxSizeX = 0.7f, float collisionBoxSizeY = 0.7f)
: base(texture, positionX, positionY, textureOffsetX, textureOffsetY, collisionBoxSizeX, collisionBoxSizeY)
{
InputManager.AnyActionEvent += MoveToTarget;
mSteering = new SteeringManager(this);
mBloodAnimation = AnimationManager.GetAnimation(AnimationManager.Blood, this);
mBloodAnimation.AnimationFinished = true;
mBlood = TextureManager.GetTexture("blood", 32, 32, 0);
InputManager.AnyActionEvent += StopMovement;
Mass = 1;
Position += QuadTree.ClampPosition(this);
}
public override void Update()
{
float range = 50.0f;
// Can I see the leader?
GameObject leader = SteeringManager.Instance().currentScenario.leader;
if ((leader.transform.position - entity.transform.position).magnitude < range)
{
// Is the leader inside my FOV
entity.GetComponent <StateMachine>().SwicthState(new AttackingState(entity));
}
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
protected override Steering FlockingUpdate(SteeringManager manager, Actor actor,
float dt)
{
int count = 0;
Vector3 avg = Vector3.zero;
foreach (Actor f in Flock.Members)
{
avg += f.Position;
count++;
}
target.Point = count > 0 ? avg / count : avg;
return seeker.Update(manager, actor, dt);
}
public BankHardRightBehaviour(SteeringManager manager) : base(manager)
{
this.tag = "BankHardRight";
this.radius = 400;
this.dist = 600;
this.pointOnSphere = Vector3.zero;
this.sphere = new GameObject();
this.sphere.name = "BankHardRight";
seek = new SeekBehaviour(manager);
}
// Use this for initialization
//public void Init (FootstepPlanningTest planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles, RootMotionComputer computer) {
public void Init(Planner planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles)
{
steering = steeringManager;
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
navMeshLayer = 1 << LayerMask.NameToLayer("StaticWorld");
initialized = true;
}
public BankHardRightBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "BankHardRight";
this.radius = 400;
this.dist = 600;
this.pointOnSphere = Vector3.zero;
this.sphere = new GameObject ();
this.sphere.name = "BankHardRight";
seek = new SeekBehaviour (manager);
}
void Start()
{
myTransform = transform;
steering = GetComponent <SteeringManager>();
if (steering == null)
{
Debug.LogError("No steering manager found!");
}
model = myTransform.Find(modelName);
if (model == null)
{
Debug.LogWarning("No steerable model found!");
}
OnStart();
}
/// <summary>
/// After a decouple or part explosion, it's possible for this vessel to
/// still have an assigned flight control parameter that is coming from
/// a kOS core that is no longer on this vessel but is instead on the newly
/// branched vessel we left behind. If so, that parameter needs to be
/// removed from this vessel. The new kOSVesselModule will take care of
/// making a new parameter on the new vessel, but this kOSVesselModule needs
/// to detach it from this one.
/// </summary>
private void ResetPhysicallyDetachedParameters()
{
List <string> removeKeys = new List <string>();
foreach (string key in flightControlParameters.Keys)
{
IFlightControlParameter p = flightControlParameters[key];
if (p.GetShared() != null && p.GetShared().Vessel != null && Vessel != null &&
p.GetShared().Vessel.id != Vessel.id)
{
removeKeys.Add(key);
}
}
foreach (string key in removeKeys)
{
SafeHouse.Logger.SuperVerbose(string.Format(
"kOSVesselModule: re-defaulting parameter \"{0}\" because it's on a detached part of the vessel.", key));
RemoveFlightControlParameter(key);
IFlightControlParameter p = null;
if (key.Equals("steering"))
{
p = new SteeringManager(Vessel);
}
else if (key.Equals("throttle"))
{
p = new ThrottleManager(Vessel);
}
else if (key.Equals("wheelsteering"))
{
p = new WheelSteeringManager(Vessel);
}
else if (key.Equals("wheelthrottle"))
{
p = new WheelThrottleManager(Vessel);
}
else if (key.Equals("flightcontrol"))
{
p = new FlightControl(Vessel);
}
if (p != null)
{
AddFlightControlParameter(key, p);
}
}
foundWrongVesselAutopilot = false;
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
public override Steering Update(SteeringManager manager, Actor actor,
float dt)
{
int count = 0;
Vector3 avg = Vector3.zero;
foreach (Actor f in Flock.Members)
{
if (base.IsAffecting(actor, f))
{
avg += f.Position;
count++;
}
}
target.Point = count > 0 ? avg / count : avg;
return(seeker.Update(manager, actor, dt));
}
public FlightCtrlParam(string name, SharedObjects sharedObjects)
{
this.name = name;
shared = sharedObjects;
control = GetControllerByVessel(sharedObjects.Vessel);
binding = sharedObjects.BindingMgr;
Enabled = false;
value = null;
if (string.Equals(name, "steering", StringComparison.CurrentCultureIgnoreCase))
{
steeringManager = SteeringManagerProvider.GetInstance(sharedObjects);
}
HookEvents();
}
protected void Awake()
{
actor = GetComponent<GameObjectActor>();
if(!actor) {
Debug.LogError("Steering manager is not attached to an actor!");
}
manager = new SteeringManager();
behaviors = new Dictionary<string, SteeringBehaviorProxy>();
foreach(SteeringBehaviorAsset asset in steeringAssets) {
SteeringBehaviorProxy proxy = new SteeringBehaviorProxy(asset);
behaviors[asset.name] = proxy;
foreach(SteeringBehavior behavior in proxy.behaviors) {
manager.AddBehavior(behavior);
}
}
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
protected override Steering FlockingUpdate(SteeringManager manager, Actor actor,
float dt)
{
Vector3 accum = Vector3.zero;
int count = 0;
foreach (Actor f in Flock.Members)
{
Vector3 vel = f.Velocity;
vel.Normalize();
accum += vel;
count++;
}
accum /= count > 0 ? count : 1.0f;
return new Steering(SteerToward(manager, actor,
actor.Position + accum, dt), Vector3.zero);
}
public GameObject CreateCamFollower(GameObject leader, Vector3 offset)
{
GameObject camFollower = new GameObject();
camFollower.tag = "camFollower";
camFollower.AddComponent <SteeringBehaviours>();
camFollower.GetComponent <SteeringBehaviours>().leader = leader;
camFollower.GetComponent <SteeringBehaviours>().offset = offset;
camFollower.transform.position = leader.transform.TransformPoint(offset);
camFollower.GetComponent <SteeringBehaviours> ().OffsetPursuitEnabled = true;
//camFighter.GetComponent<SteeringBehaviours>().turnOn(SteeringBehaviours.behaviour_type.wall_avoidance);
camFollower.GetComponent <SteeringBehaviours> ().ObstacleAvoidanceEnabled = true;
SteeringManager.Instance().camFighter = camFollower;
GameObject.FindGameObjectWithTag("MainCamera").transform.position = camFollower.transform.position;
return(camFollower);
}
public AvoidLockOnRightLeftBehaviour(SteeringManager manager) : base(manager)
{
this.tag = "AvoidLockOnRightLeft";
this.left = false;
this.timeMax = 4.0f;
this.radius = 200;
this.dist = 400;
this.pointOnSphere = Vector3.zero;
this.sphere = new GameObject();
this.sphere.name = "AvoidLockOnSphere";
seek = new SeekBehaviour(manager);
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = collisionReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planner,engine,agents,obstacles);
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
neighborhood.Init();
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
footsteps.Init(analyzer,planner,engine,neighborhood,obstacles);
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
nObstacles.Init();
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
protected override Steering FlockingUpdate(SteeringManager manager, Actor actor,
float dt)
{
Vector3 accum = Vector3.zero;
foreach (Actor f in Flock.Members)
{
Vector3 v = actor.Position - f.Position;
float d = v.magnitude;
float str = Mathf.Max(0.0f, (threshold - d) / threshold)
* manager.MaxForce;
accum += (v / d) * str;
}
if(manager.IsPlanar) {
accum.y = 0f;
}
return new Steering(accum, Vector3.zero);
}
protected void Awake()
{
actor = GetComponent <GameObjectActor>();
if (!actor)
{
Debug.LogError("Steering manager is not attached to an actor!");
}
manager = new SteeringManager();
behaviors = new Dictionary <string, SteeringBehaviorProxy>();
foreach (SteeringBehaviorAsset asset in steeringAssets)
{
SteeringBehaviorProxy proxy = new SteeringBehaviorProxy(asset);
behaviors[asset.name] = proxy;
foreach (SteeringBehavior behavior in proxy.behaviors)
{
manager.AddBehavior(behavior);
}
}
}
public AvoidLockOnBehaviour(SteeringManager manager) : base(manager)
{
this.tag = "AvoidLockOn";
this.firstTime = true;
this.timePassed = 0.0f;
this.timeMax = 10.0f;
this.radius = 100;
this.dist = 200;
this.range = 300;
this.FOV = 60.0f;
this.pointOnSphere = new Vector3(0, 0, 0);
this.targetPos = manager.transform.position + (Vector3.forward * manager.maxSpeed);
this.maxUp = 0.0f;
this.sphere = new GameObject();
this.sphere.name = "AvoidLockOnSphere";
}
protected override void OnStart()
{
base.OnStart();
if (FollowTarget != null)
{
followTargetController = FollowTarget.GetHostGameObject().GetComponent <SceneObjController>();
}
m_MoveSpeed_Max = 0.1f;
m_ForceSteer_Max = 1f;
m_StopRadius = 0.5f;
m_SlowingRadius = 1f;
m_CurrentVelocity = Vector2.zero;
m_TempMass = 1;
m_Steering = new SteeringManager(this);
m_Position = new Vector2(transform.position.x, transform.position.y);
InitAnimComponent();
}
public AvoidLockOnBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "AvoidLockOn";
this.firstTime = true;
this.timePassed = 0.0f;
this.timeMax = 10.0f;
this.radius = 100;
this.dist = 200;
this.range = 300;
this.FOV = 60.0f;
this.pointOnSphere = new Vector3 (0, 0, 0);
this.targetPos = manager.transform.position + (Vector3.forward * manager.maxSpeed);
this.maxUp = 0.0f;
this.sphere = new GameObject ();
this.sphere.name = "AvoidLockOnSphere";
}
public static SteeringManager GetInstance(SharedObjects shared)
{
string key = shared.Vessel.id.ToString();
if (AllInstances.Keys.Contains(key))
{
SteeringManager instance = AllInstances[key];
if (!instance.SubscribedParts.Contains(shared.KSPPart.flightID))
{
AllInstances[key].SubscribedParts.Add(shared.KSPPart.flightID);
}
return(AllInstances[key]);
}
SteeringManager sm = new SteeringManager(shared);
sm.SubscribedParts.Add(shared.KSPPart.flightID);
AllInstances.Add(key, sm);
return(sm);
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
public override Steering Update(SteeringManager manager, Actor actor,
float dt)
{
Vector3 accum = Vector3.zero;
int count = 0;
foreach (Actor f in Flock.Members)
{
if (base.IsAffecting(actor, f))
{
Vector3 vel = f.Velocity;
vel.Normalize();
accum += vel;
count++;
}
}
accum /= count > 0 ? count : 1.0f;
return(new Steering(SteerToward(manager, actor,
actor.Position + accum, dt), Vector3.zero));
}
/// <summary>
/// Update the behavior.
/// </summary>
/// <param name="manager">The steering manager.</param>
/// <param name="actor">The actor being updated.</param>
/// <param name="dt">The time since the last update, in seconds.
/// </param>
/// <returns>The steering object.</returns>
public override Steering Update(SteeringManager manager, Actor actor,
float dt)
{
float smallestHitTime = float.PositiveInfinity;
Vector3 tgt = Vector3.zero;
bool hit = false;
foreach (Actor other in Flock.Members)
{
if (!base.IsAffecting(actor, other))
{
continue;
}
Vector3 a = actor.Position - other.Position;
Vector3 b = actor.Velocity - other.Velocity;
// Calculate future hit time
float hTime = -(Vector3.Dot(a, b)) / b.sqrMagnitude;
// We want the smallest hit time but it must be greater
// than zero. Zero and smaller means no collision
if (hTime < smallestHitTime && hTime > 0)
{
smallestHitTime = hTime;
// If we have the smallest hit time, compute where that
// actor will be at that time and set it to the target
hit = true;
tgt = smallestHitTime * other.Velocity + other.Position;
}
}
//Flee from the target
if (hit)
{
target.Point = tgt;
return(flee.Update(manager, actor, dt));
}
return(Steering.zero);
}
void Update()
{
if (!SteeringManager.IsValid(SteeringManager.ToVector2(myTransform.position)) && !steering.ignoreWalls)
{
myTransform.position = lastGoodPosition;
}
else
{
lastGoodPosition = myTransform.position;
}
DoBoundaryBehavior();
if (!isAvoiding)
{
DoBehavior();
}
if (model != null)
{
model.rotation = Quaternion.Euler(0, -steering.facing * Mathf.Rad2Deg, 0);
}
steering.UpdateSteering();
}
public static SteeringManager SwapInstance(SharedObjects shared, SteeringManager oldInstance)
{
if (shared.Vessel == oldInstance.Vessel)
{
return(oldInstance);
}
if (oldInstance.SubscribedParts.Contains(shared.KSPPart.flightID))
{
oldInstance.SubscribedParts.Remove(shared.KSPPart.flightID);
}
SteeringManager instance = SteeringManager.DeepCopy(oldInstance, shared);
if (oldInstance.Enabled)
{
if (oldInstance.PartId == shared.KSPPart.flightID)
{
oldInstance.DisableControl();
instance.EnableControl(shared);
instance.Value = oldInstance.Value;
}
}
return(instance);
}
public FollowBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "Follow";
seek = new SeekBehaviour (manager);
}
public SteeringBehaviour( SteeringManager manager )
{
this.manager = manager;
this.isEnabled = false;
this.steeringWeight = 1.0f;
}
public FleeBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "Flee";
this.panicDist = 500.0f;
}
public OffsetPursueBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "OffsetPursue";
this.arrive = new ArriveBehaviour (manager);
}
public AvoidLockOnRightLeftBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "AvoidLockOnRightLeft";
this.left = false;
this.timeMax = 4.0f;
this.radius = 200;
this.dist = 400;
this.pointOnSphere = Vector3.zero;
this.sphere = new GameObject ();
this.sphere.name = "AvoidLockOnSphere";
seek = new SeekBehaviour (manager);
}
public ArriveBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "Arrive";
this.slowingDist = 10.0f;
}
public TurnRight( SteeringManager manager )
: base(manager)
{
this.tag = "TurnRight";
this.left = false;
this.timePassed = 20.0f;
this.timeMax = 3.0f;
this.radius = 200;
this.dist = 600;
this.pointOnSphere = Vector3.zero;
pointOnSphere.x = 0.8f;
pointOnSphere *= radius;
this.sphere = new GameObject ();
this.sphere.name = "AvoidLockOnSphere";
seek = new SeekBehaviour (manager);
}
public EvadeBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "Evade";
flee = new FleeBehaviour (manager);
}
protected abstract Steering FlockingUpdate(SteeringManager manager, Actor actor, float dt);
public FleeBehaviour(SteeringManager manager) : base(manager)
{
this.tag = "Flee";
this.panicDist = 500.0f;
}
public SeekBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "Seek";
}
public static void CalculateNavigationMeshPath(Vector3 startPosition, Vector3 goalPosition, int passableMask)
{
ClearNavigationMeshPath ();
switch (navigationMeshChoice)
{
default:
case NavigationMeshChoice.USE_UNITY :
NavMeshPath unityPath = new NavMeshPath();
NavMesh.CalculatePath(startPosition,goalPosition, passableMask,unityPath);
pathStatus = unityPath.status;
if (pathStatus == NavMeshPathStatus.PathInvalid)
{
numberOfNodes = 0;
}
else
{
if ( unityPath.corners.Length >= maxNumberOfNodes)
{
Debug.LogWarning("Navigation mesh path greater than maximum number of nodes");
numberOfNodes = maxNumberOfNodes;
pathStatus = NavMeshPathStatus.PathPartial;
}
else
{
numberOfNodes = unityPath.corners.Length;
}
for(int i =0; i < numberOfNodes; i++)
{
// MAKING SURE LAST WAYPOINT IS THE GOAL
if ( i == numberOfNodes - 1)
path[i] = goalPosition;
else
path[i] = unityPath.corners[i];
// computing path cost
if (i==0)
pathCost[i] = 0.0f;
else
{
// assuming that all off mesh links will override cost
if (CentralizedManager.IsOffMeshLink(path[i]))
pathCost[i] = CentralizedManager.GetOffMeshLinkInformation(path[i]).offMeshLink.costOverride;
else
pathCost[i] = Vector3.Distance(path[i],path[i-1]);
}
totalPathCost += pathCost[i];
}
}
break;
case NavigationMeshChoice.USE_RECAST:
if (recastSteeringManager == null)
recastSteeringManager = GameObject.Find("ADAPTPrefab").GetComponentInChildren<SteeringManager>();
numberOfNodes = recastSteeringManager.FindPath(startPosition,goalPosition,path,maxNumberOfNodes);
if( numberOfNodes > 0)
path[numberOfNodes-1] = goalPosition;
// computing path cost
for (int i=1; i < numberOfNodes; i++)
{
// TODO : incorporate number of obstacles from centralized manager here
pathCost[i] = Vector3.Distance(path[i],path[i-1]);
totalPathCost += pathCost[i];
}
if (numberOfNodes == 0)
pathStatus = NavMeshPathStatus.PathInvalid;
else if ( numberOfNodes == maxNumberOfNodes)
pathStatus = NavMeshPathStatus.PathPartial;
else
pathStatus = NavMeshPathStatus.PathComplete;
break;
}
}
public PursueBehaviour( SteeringManager manager )
: base(manager)
{
this.tag = "Pursue";
seek = new SeekBehaviour (manager);
}
