void DetermineStrategy(int[] s, bool frontal2 = false)
{
bool sameStrategy = false;
foreach (var ss in s)
{
if (curStrategy == (strategies)ss)
{
sameStrategy = true;
break;
}
}
if (!sameStrategy && System.Array.IndexOf(s, curStrategy) == -1)
{
ResetStrategy();
int i = Random.Range(0, s.Length);
curStrategy = (strategies)s[i];
if (debugLog) Debug.Log(id + " , The current strategy is: " + curStrategy);
}
switch (curStrategy)
{
case strategies.DCC:
velocity = Behaviours.GetSteering(position, goal, prefSpeed);
velocity = Behaviours.DecelerationStrategy(min_ttc, velocity);
break;
case strategies.CH:
int turnTo = TurnTo;
velocity = Behaviours.GetSteering(position, goal, prefSpeed);
velocity = Behaviours.ChangeDirectionStrategy((velocity,
neighbor.position - position, min_ttc, timeHorizon, neighbor.TurnTo, out turnTo, frontal2);
TurnTo = turnTo;
break;
case strategies.F:
velocity = Behaviours.GetSteering(position, goal, prefSpeed);
velocity = Behaviours.FollowStrategy(radius, prefSpeed, position,
velocity, neighbor.position, neighbor.velocity);
break;
case strategies.A:
velocity += Behaviours.CollisionAvoidance(position, velocity,
Behaviours.GetSteering(position, goal, prefSpeed), timeHorizon, ttc, group_ttc);
break;
case strategies.N:
velocity = Behaviours.GetSteering(position, goal, prefSpeed);
break;
}
if (debugLog) Debug.DrawRay(new Vector3(position.x, 1.5f, position.y),
new Vector3(velocity.x, 0, velocity.y), Color.green);
}
