public void TagAIAgentWithinViewRange(AIAgent entity, float radius)
{
foreach (KeyValuePair <int, AIGroup> ai in m_aiGroup)
{
List <AIAgent> entities = ai.Value.Agents();
for (int i = 0; i < entities.Count; ++i)
{
AIAgent curEntity = entities[i];
//first clear any current tag
curEntity.UnTagging();
Vector3 to = curEntity.VPos() - entity.VPos();
//the bounding radius of the other is taken into account by adding it
//to the range
float range = radius + curEntity.BRadius();
//if entity within range, tag for further consideration. (working in
//distance-squared space to avoid sqrts)
if ((curEntity.GetHashCode() != entity.GetHashCode()) &&
(to.sqrMagnitude < range * range))
{
curEntity.Tagging();
}
}
}
}
public void AIUpdate()
{
//update the time elapsed
//keep a record of its old position so we can update its cell later
//in this method
Vector3 OldVelocity = aiAgent.Velocity();
Vector3 SteeringForce = Vector3.zero;
//calculate the combined force from each steering behavior in the
//vehicle's list
SteeringForce = steeringBehaviour.Calculate();
//Acceleration = Force/Mass
Vector3 acceleration = SteeringForce / aiAgent.Mass();
Vector3 gravityaccel = steeringBehaviour.GravityAccel();
grounded = (gravityaccel.magnitude > 0) ? true : false;
aiAgent.Update(acceleration, gravityaccel, useWrapAround, Time.deltaTime);
Vector3 vPos = aiAgent.VPos();
vPos.y = steeringBehaviour.GravityTruncate(vPos.y);
aiAgent.SetVPos(vPos);
//EnforceNonPenetrationConstraint(this, World()->Agents());
//update the vehicle's current cell if space partitioning is turned on
if (isSmoothingOn())
{
m_vSmoothedHeading = m_pHeadingSmoother.Update(aiAgent.Heading());
}
//moveState
if (steeringBehaviour.IsSteering())
{
float epsillon = 0.01f;
if (MathUtil.Equal(aiAgent.Velocity(), Vector3.zero, epsillon) &&
OldVelocity.magnitude >= epsillon)
{
if (onMoveComplete != null)
{
onMoveComplete(aiAgent, steeringBehaviour, MoveCompleteState.Reached);
}
}
else if (gravityaccel.magnitude <= 0 &&
gravityaccel_old.magnitude > 0)
{
if (onMoveComplete != null)
{
onMoveComplete(aiAgent, steeringBehaviour, MoveCompleteState.Landed);
}
}
}
gameObject.transform.position = aiAgent.VPos();
if (useRotation)
{
Vector3 vDir = aiAgent.Heading();
if (vDir.magnitude > 0)
{
gameObject.transform.rotation = Quaternion.LookRotation(vDir);
}
}
Vector3 target = gameObject.transform.position + gameObject.transform.rotation * Vector3.forward * aiAgent.BRadius();
gravityaccel_old = gravityaccel;
DebugExtension.DebugCircle(target, 0.5f);
}
/**
* Given a vector of obstacles, this method returns a steering force
* that will prevent the agent colliding with the closest obstacle
*/
private Vector3 ObstacleAvoidance(List <AIObject> obstacles)
{
//*
//the detection box length is proportional to the agent's velocity
m_fDBoxLength = minDetectionBoxLength
+ (m_entity.Speed() / m_entity.MaxSpeed())
* minDetectionBoxLength;
//tag all obstacles within range of the box for processing
m_entity.World().TagObstaclesWithinViewRange(m_entity, m_fDBoxLength);
//this will keep track of the closest intersecting obstacle (CIB)
AIObject ClosestIntersectingObstacle = null;
//this will be used to track the distance to the CIB
float DistToClosestIP = float.MaxValue;
//this will record the transformed local coordinates of the CIB
Vector3 LocalPosOfClosestObstacle = Vector3.zero;
IEnumerator <AIObject> it = obstacles.GetEnumerator();
for (int i = 0; i < obstacles.Count; ++i)
{
//if the obstacle has been tagged within range proceed
AIObject curOb = obstacles[i];
if (curOb.Tag)
{
//calculate this obstacle's position in local space
Vector3 LocalPos = MathUtil.PointToLocalSpace(curOb.VPos(),
m_entity.Heading(),
m_entity.Side(),
m_entity.VPos());
// entity Heading and LocalPos is
if (Vector3.Dot(LocalPos, Vector3.forward) > 0)
{
//than its radius + half the width of the detection box then there
//is a potential intersection.
float ExpandedRadius = curOb.BRadius() + m_entity.BRadius();
if (Mathf.Abs(LocalPos.x) < ExpandedRadius)
{
//test to see if this is the closest so far. If it is keep a
//record of the obstacle and its local coordinates
if (LocalPos.magnitude < DistToClosestIP)
{
DistToClosestIP = LocalPos.magnitude;
ClosestIntersectingObstacle = curOb;
LocalPosOfClosestObstacle = LocalPos;
}
}
}
}
}
//if we have found an intersecting obstacle, calculate a steering
//force away from it
Vector3 steeringForce = Vector3.zero;
if (ClosestIntersectingObstacle != null)
{
//should be
//the closer the agent is to an object, the stronger the
//steering force should be
float multiplier = 1.0f + (m_fDBoxLength - LocalPosOfClosestObstacle.z)
/ m_fDBoxLength;
//calculate the lateral force
steeringForce.x = (ClosestIntersectingObstacle.BRadius()
- LocalPosOfClosestObstacle.x) * multiplier;
//apply a braking force proportional to the obstacles distance from
//the vehicle.
float BrakingWeight = 0.2f;
steeringForce.z = (ClosestIntersectingObstacle.BRadius()
- LocalPosOfClosestObstacle.z)
* BrakingWeight;
}
//finally, convert the steering vector from local to world space
return(MathUtil.VectorToWorldSpace(steeringForce,
m_entity.Heading(),
m_entity.Side()));
}
