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, SteeringAgent2D target, Vector2 offset, float slowingDistance = 1f)
{
Vector2 worldOffsetPos = target.transform.TransformPoint(offset);
Vector2 toOffset = worldOffsetPos - agent.Rigidbody2D.position;
float lookAheadTime = toOffset.magnitude / (agent.MaxSpeed + target.GetComponent <Rigidbody2D>().velocity.magnitude);
return(Arrive2D.GetVelocity(agent, worldOffsetPos + target.GetComponent <Rigidbody2D>().velocity *lookAheadTime, slowingDistance));
}
public static Vector2 GetVelocity(SteeringAgent2D agent, SteeringAgent2D target, float hidingDistanceFromObstacle, float slowingDistance = 1f, float panicDistance = -1)
{
if (panicDistance > 0)
{
var sqrDistance = (agent.Rigidbody2D.position - target.GetComponent <Rigidbody2D>().position).magnitude;
if (sqrDistance > panicDistance)
{
return(Vector2.zero);
}
}
float distToClosest = float.MaxValue;
Vector2 bestHidingSpot = Vector2.zero;
foreach (var obstacle in World2D.Instance.Obstacles)
{
var hidingSpot = GetHidingPosition(obstacle.transform.position, obstacle.radius, target.GetComponent <Rigidbody2D>().position, hidingDistanceFromObstacle);
var dist = (hidingSpot - agent.Rigidbody2D.position).magnitude;
if (dist < distToClosest)
{
distToClosest = dist;
bestHidingSpot = hidingSpot;
}
}
if (distToClosest == float.MaxValue)
{
return(Evade2D.GetVelocity(agent, target));
}
return(Arrive2D.GetVelocity(agent, bestHidingSpot, slowingDistance));
}
public static Vector2 GetVelocity(SteeringAgent2D agent, SteeringAgent2D pursuer, float panicDistance = -1)
{
if (pursuer == null)
{
return(Vector2.zero);
}
var toPursuer = pursuer.GetComponent <Rigidbody2D>().position - agent.Rigidbody2D.position;
if (panicDistance != -1 && toPursuer.sqrMagnitude > panicDistance * panicDistance)
{
return(Vector2.zero);
}
//Not considered ahead so we predict where the evader will be
float lookAheadTime = toPursuer.magnitude / (agent.MaxSpeed + pursuer.GetComponent <Rigidbody2D>().velocity.magnitude);
return(Flee2D.GetVelocity(agent, pursuer.GetComponent <Rigidbody2D>().position + pursuer.GetComponent <Rigidbody2D>().velocity *lookAheadTime));
}
public void UpdateEntity(SteeringAgent2D entity, Vector2 previousPosition)
{
Vector2 currentPosition = entity.GetComponent <Rigidbody2D>().position;
int prevIndex = IndexFromPosition(previousPosition);
int curIndex = IndexFromPosition(currentPosition);
if (prevIndex != curIndex)
{
Cells[prevIndex].Members.Remove(entity);
Cells[curIndex].Members.Add(entity);
}
}
public static Vector2 GetVelocity(SteeringAgent2D thisAgent, SteeringAgent2D agentA, SteeringAgent2D agentB, float slowingDistance = 1f)
{
if (agentA == null || agentB == null)
{
return(Vector2.zero);
}
if (slowingDistance < 0)
{
throw new InvalidOperationException("The slowing distance can't be negative.");
}
Vector2 midPoint = (agentA.GetComponent <Rigidbody2D>().position + agentB.GetComponent <Rigidbody2D>().position) / 2;
float timeToReachMidPoint = (thisAgent.Rigidbody2D.position - midPoint).magnitude / thisAgent.MaxSpeed;
//Position in the future
Vector2 AFuturePos = agentA.GetComponent <Rigidbody2D>().position + agentA.GetComponent <Rigidbody2D>().velocity *timeToReachMidPoint;
Vector2 BFuturePos = agentB.GetComponent <Rigidbody2D>().position + agentB.GetComponent <Rigidbody2D>().velocity *timeToReachMidPoint;
midPoint = (AFuturePos + BFuturePos) / 2;
return(Arrive2D.GetVelocity(thisAgent, midPoint, slowingDistance));
}
