bool DetectCollision(VectorLine self, VectorLine other)
{
float[] constants = VectorLine.GetIntersectConstants(self, other);
if (constants[0] < 0 || constants[1] < 0) //both have to be positive for eminent collision
{
return false;
}
float collision_threshold = 0.5f; //give and take 0.5s
Vector3 collision_pt = VectorLine.GetIntersectionPoint(self, other);
//calculate time it takes for self
float self_disp = Mathf.Pow((collision_pt - self.GetPoint()).sqrMagnitude, 0.5f);
float self_time = self_disp / self.GetSpeed();
//calculate time it takes for other
float other_disp = Mathf.Pow((collision_pt - other.GetPoint()).sqrMagnitude, 0.5f);
float other_time = other_disp / other.GetSpeed();
float time_diff = Mathf.Abs(self_time - other_time);
Debug.Log("self time: " + self_time + "other time: " + other_time);
Debug.Log("time diff: " + time_diff);
return time_diff <= collision_threshold; //collision detected if they collide within 0.5s of each other
}
void Flee(Collider other)
{
if (other.tag != "Asteroid")
//if (other.tag != "Bolt")
{
return;
}
Debug.Log("own pos: " + GetComponent<Rigidbody>().position.ToString());
Debug.Log("hazard: " + other.tag.ToString());
Debug.Log("hazard pos: " + other.GetComponent<Rigidbody>().position.ToString());
VectorLine hazard = new VectorLine(other.GetComponent<Rigidbody>().transform.position, other.GetComponent<Rigidbody>().velocity);
//bool collision = hazard.VectorOnLineFront(GetComponent<Rigidbody>().transform.position);
/*Debug.Log("Collision eminent: " + collision.ToString());
if (!collision)
{
return;
}*/
Vector3 relative_velocity = other.GetComponent<Rigidbody>().velocity - GetComponent<Rigidbody>().velocity;
Vector3 relative_displacement = other.GetComponent<Rigidbody>().transform.position - GetComponent<Rigidbody>().transform.position;
//Vector3 relative_displacement = other.GetComponent<Rigidbody>().transform.position + GetComponent<Rigidbody>().transform.position;
/*if (relative_displacement.magnitude > minDistance)
{
return;
}*/
if (GetComponent<Rigidbody>().velocity.magnitude > 0)
{
VectorLine self = new VectorLine(GetComponent<Rigidbody>().transform.position, GetComponent<Rigidbody>().velocity);
bool collision = DetectCollision(self, hazard);
if (collision)
{
Vector3 collision_pt = VectorLine.GetIntersectionPoint(self, hazard);
relative_displacement = collision_pt - GetComponent<Rigidbody>().transform.position;
}
}
float self_time = relative_displacement.magnitude / hazard.GetSpeed();
Vector3 new_pos = other.GetComponent<Rigidbody>().position - relative_velocity * self_time;
target_position = new Vector3(
Mathf.Clamp(new_pos.x, boundary.xMin, boundary.xMax),
0.0f,
Mathf.Clamp(new_pos.z, boundary.zMin, boundary.zMax));
/*target_position = new Vector3(
Mathf.Clamp(-1* relative_displacement.x, boundary.xMin, boundary.xMax),
0.0f,
Mathf.Clamp(-1* relative_displacement.z, boundary.zMin, boundary.zMax));*/
Move(target_position.normalized);
}
