void Evaluate()
{
duration -= Engine.timeStep;
if (duration <= 0) ResetStrategy();
bool targetIsGroup = false;
int j = -1; // id del agente o grupo con el ttc mas bajo
min_ttc = Mathf.Infinity;
foreach(var key in ttc.Keys) {
if (ttc[key] < min_ttc)
{
j = key;
min_ttc = ttc[key];
}
}
foreach (var key in group_ttc.Keys)
{
if (group_ttc[key] < min_ttc)
{
j = key;
min_ttc = group_ttc[key];
targetIsGroup = true;
}
}
if (j != -1 && min_ttc < timeHorizon)
{
if (!targetIsGroup) neighbor = Engine.Instance.GetAgent(j);
else neighbor = Engine.Instance.GetVirtualAgent(j);
ApplyStrategy();
}
else { velocity = Behaviours.GetSteering(position, goal, prefSpeed); }
}
public bool DoStep()
{
Vector2 dir = goal - position;
float distSqToGoal = dir.sqrMagnitude;
if (distSqToGoal <= goalRadius * goalRadius)
{
velocity = Vector2.zero;
return true;
}
velocity = Behaviours.GetSteering(position, goal, prefSpeed);
ttc.Clear();
DetectingNeighbors(neighborDist, dir, viewAngle);
DetectingNeighbors(personalSpace, -dir, 360 - viewAngle);
if (useGroups) DetectingGroups();
Evaluate();
// Limit velocity to prefSpeed of agent
if (velocity.sqrMagnitude > (prefSpeed * prefSpeed))
{
velocity.Normalize();
velocity *= prefSpeed;
}
position += velocity * Engine.timeStep;
UpdateDB();
MoveInRealWorld();
return false;
}
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);
}
