public static Vector2 GetVelocity(SteeringAgent2D agent, IEnumerable <SteeringAgent2D> neighbors)
{
Vector2 centerOfMass = Vector2.zero, steeringForce = Vector2.zero;
foreach (var neighbor in neighbors)
{
if (neighbor == agent)
{
continue;
}
if (agent.TargetAgents.Contains(neighbor))
{
continue; //Ignore the target of evasion or pursue
}
centerOfMass += neighbor.Rigidbody2D.position;
}
int neighborCount = neighbors.Count();
if (neighborCount > 0)
{
centerOfMass /= (float)neighborCount;
steeringForce = Seek2D.GetVelocity(agent, centerOfMass);
}
return(steeringForce.normalized);
}
public override Vector2 GetVelocity()
{
//return GetVelocity(agent, agent.Neighbors);
Profiler.BeginSample("Cohesion2D");
centerOfMass = Vector2.zero;
steeringForce = Vector2.zero;
foreach (var neighbor in agent.Neighbors)
{
if (neighbor == agent)
{
continue;
}
if (agent.TargetAgents.Contains(neighbor))
{
continue; //Ignore the target of evasion or pursue
}
centerOfMass += neighbor.Rigidbody2D.position;
}
int neighborCount = agent.Neighbors.Count();
if (neighborCount > 0)
{
centerOfMass /= (float)neighborCount;
steeringForce = Seek2D.GetVelocity(agent, centerOfMass);
}
Profiler.EndSample();
return(steeringForce.normalized);
}
public static Vector2 GetVelocity(SteeringAgent2D agent, SteeringAgent2D evader, float turnCoefficient = 0f)
{
if (evader == null)
{
return(Vector2.zero);
}
var toEvader = evader.GetComponent <Rigidbody2D>().position - agent.Rigidbody2D.position;
float relativeHeading = Vector2.Dot(agent.Heading, evader.transform.up);
if ((Vector2.Dot(toEvader, agent.transform.up) > 0) &&
relativeHeading < -0.95) //acos(0.95) = 18 degs
{
return(Seek2D.GetVelocity(agent, evader.GetComponent <Rigidbody2D>().position));
}
//Not considered ahead so we predict where the evader will be
float lookAheadTime = toEvader.magnitude / (agent.MaxSpeed + evader.GetComponent <Rigidbody2D>().velocity.magnitude);
if (turnCoefficient != 0)
{
lookAheadTime += TurnaroundTime(agent, evader.GetComponent <Rigidbody2D>().position, turnCoefficient);
}
return(Seek2D.GetVelocity(agent, evader.GetComponent <Rigidbody2D>().position + evader.GetComponent <Rigidbody2D>().velocity *lookAheadTime));
}
public static Vector2 GetVelocity(SteeringAgent2D agent, NavMesh2D navMesh, float waypointSeekDistance = 0.5f)
{
if (navMesh == null || !navMesh.CurrentWaypoint.HasValue)
{
return(Vector2.zero);
}
var currentWaypoint = navMesh.CurrentWaypoint.Value;
if ((agent.Rigidbody2D.position - currentWaypoint).magnitude < waypointSeekDistance)
{
navMesh.SetNextWaypoint();
}
if (!navMesh.IsFinished())
{
return(Seek2D.GetVelocity(agent, navMesh.CurrentWaypoint.Value));
}
else
{
return(Arrive2D.GetVelocity(agent, navMesh.CurrentWaypoint.Value, 2f));
}
}
