public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
float rayDist = lookAheadSeconds * mine.Velocity.magnitude;
Ray myRay = new Ray(mine.WorldPosition, mine.WorldForward);
if (!ObstacleInPath(myRay, mine.shape.radius + clearance, rayDist, ref hit, mask))
{
steer = Vector3.zero;
mine.SetAgentProperty(lastClearDirectionKey, steer);
return;
}
float hitDist = hit.distance;
Vector3 lastClearWorldDirection = Vector3.zero;
if (mine.HasAgentProperty(lastClearDirectionKey))
{
lastClearWorldDirection = mine.GetAgentProperty <Vector3>(lastClearDirectionKey);
}
if (lastClearWorldDirection == Vector3.zero)
{
lastClearWorldDirection = myRay.direction;
}
myRay.direction = lastClearWorldDirection;
steer = ObstacleRays(myRay, mine.shape.radius + clearance, rayDist, ref hit, mask);
mine.SetAgentProperty(lastClearDirectionKey, steer.normalized);
float smooth = (1f - (hitDist / rayDist));
steer = mine.WorldToFlockBoxDirection(steer);
steer = steer.normalized * mine.activeSettings.maxForce - mine.Velocity;
steer *= smooth;
}
public override void DrawPropertyGizmos(SteeringAgent agent, bool drawLabels)
{
base.DrawPropertyGizmos(agent, drawLabels);
Color areaFill = debugColor;
areaFill.a *= .1f;
if (agent.HasAgentProperty(leaderIDAttributeName))
{
int leaderId = agent.GetAgentProperty <int>(leaderIDAttributeName);
Agent leader = Agent.GetAgentById(leaderId);
if (leader != null)
{
Handles.matrix = leader.transform.localToWorldMatrix;
Gizmos.matrix = leader.transform.localToWorldMatrix;
areaFill = Color.clear;
}
}
DrawCylinderGizmo(clearAheadRadius, clearAheadDistance);
Handles.DrawLine(Vector3.zero, Vector3.back * followDistance);
Gizmos.DrawWireSphere(Vector3.back * followDistance, stoppingRadius);
if (drawLabels)
{
Handles.Label(Vector3.forward * clearAheadDistance, new GUIContent("Clear Ahead Distance"));
Handles.Label(Vector3.forward * clearAheadDistance + Vector3.up * clearAheadRadius, new GUIContent("Clear Ahead Radius"));
Handles.Label(Vector3.back * followDistance, new GUIContent("Follow Distance"));
Handles.Label(Vector3.back * followDistance + Vector3.up * stoppingRadius, new GUIContent("Stopping Radius"));
}
}
public static bool HasPursuitTarget(SteeringAgent mine)
{
if (!mine.HasAgentProperty(targetIDAttributeName))
{
return(false);
}
return(mine.GetAgentProperty <int>(targetIDAttributeName) >= 0);
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
if (!mine.HasAgentProperty(targetIDAttributeName))
{
mine.SetAgentProperty(targetIDAttributeName, -1);
}
int chosenTargetID = mine.GetAgentProperty <int>(targetIDAttributeName);
HashSet <Agent> allTargets = GetFilteredAgents(surroundings, this);
if (allTargets.Count == 0)
{
if (HasPursuitTarget(mine))
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
Agent closestTarget = ClosestPursuableTarget(allTargets, mine);
if (!closestTarget || !closestTarget.CanBeCaughtBy(mine))
{
if (HasPursuitTarget(mine))
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
if (closestTarget.agentID != chosenTargetID)
{
DisengagePursuit(mine, chosenTargetID);
EngagePursuit(mine, closestTarget);
}
Vector3 distance = closestTarget.Position - mine.Position;
float est_timeToIntercept = distance.magnitude / mine.activeSettings.maxSpeed;
Vector3 predictedInterceptPosition = closestTarget.Position + closestTarget.Velocity * est_timeToIntercept;
AttemptCatch(mine, closestTarget);
mine.GetSeekVector(out steer, predictedInterceptPosition);
}
public override void GetSteeringBehaviorVector(out Vector3 steer, SteeringAgent mine, SurroundingsContainer surroundings)
{
if (!mine.HasAgentProperty(targetIDAttributeName))
{
mine.SetAgentProperty(targetIDAttributeName, -1);
}
int chosenTargetID = mine.GetAgentProperty <int>(targetIDAttributeName);
HashSet <Agent> allTargets = GetFilteredAgents(surroundings, this);
if (allTargets.Count == 0)
{
if (chosenTargetID != -1)
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
Agent closestTarget = ClosestPursuableTarget(allTargets, mine);
if (!closestTarget || !closestTarget.CanBeCaughtBy(mine))
{
if (chosenTargetID != -1)
{
DisengagePursuit(mine, chosenTargetID);
}
steer = Vector3.zero;
return;
}
if (closestTarget.agentID != chosenTargetID)
{
DisengagePursuit(mine, chosenTargetID);
EngagePursuit(mine, closestTarget);
}
AttemptCatch(mine, closestTarget);
Vector3 desired_velocity = (closestTarget.Position - mine.Position).normalized * mine.activeSettings.maxSpeed;
steer = desired_velocity - mine.Velocity;
steer = steer.normalized * Mathf.Min(steer.magnitude, mine.activeSettings.maxForce);
}