public override Vector3 Evaluate(IBoid boid)
{
Assert.IsNotNull(boid);
var neighbors = boid.Neighbors;
Assert.IsNotNull(neighbors);
var n = neighbors.Count;
var v = Vector3.zero;
if (n <= 0)
{
return(v);
}
var position = boid.Transform.position;
foreach (var other in neighbors)
{
var distance = other.Transform.position - position;
if (distance.sqrMagnitude < 3 * 3)
{
v -= distance;
}
}
return(v.normalized);
}
// Use this for initialization
void Start()
{
GameObject ballCarrier = GameObject.FindGameObjectWithTag("offense");
target = ballCarrier.GetComponent <OffensePlayerController>();
steering = new MovementManager(this);
}
public override Vector3 Evaluate(IBoid boid)
{
Assert.IsNotNull(boid);
var neighbors = boid.Neighbors;
Assert.IsNotNull(neighbors);
var n = neighbors.Count;
var v = Vector3.zero;
if (n <= 0)
{
return(v);
}
foreach (var other in neighbors)
{
v += other.Transform.forward;
}
var average = v / n;
return(average.normalized);
}
public override Vector3 Evaluate(IBoid boid)
{
Assert.IsNotNull(boid);
var neighbors = boid.Neighbors;
Assert.IsNotNull(neighbors);
var n = neighbors.Count;
var p = Vector3.zero;
if (n <= 0)
{
return(p);
}
foreach (var other in neighbors)
{
p += other.Transform.position;
}
var centroid = p / n;
return((centroid - boid.Transform.position).normalized);
}
public xxxFollowLeader(IBoid host)
{
_host = host;
_flockers = new List <IBoid>();
_behind = new Boid();
_behind._position = _host._Position;
_behind._velocity = _host._Velocity;
_behind._maxVelocity = _host._MaxVelocity;
_ahead = new Boid();
_ahead._position = _host._Position;
_ahead._velocity = _host._Velocity;
_ahead._maxVelocity = _host._MaxVelocity;
_arrive = new Arrive(_host);
_evade = new Evade(_host);
_separation = new Separation(_host);
_aligement = new Aligement(_host);
_separation._boids = _flockers;
_aligement._boids = _flockers;
_aligement._RADIUS = 15f;
_separation._RADIUS = 3f;
_aligement._WEIGHT = 1f;
_separation._WEIGHT = 9f;
}
void IBoidFoundHandler.OnBoidFound(IBoid boid)
{
Assert.AreNotEqual(this, boid);
Assert.IsFalse(this.Neighbors.Contains(boid));
this.Neighbors.Add(boid);
}
void IBoidLostHandler.OnBoidLost(IBoid boid)
{
Assert.AreNotEqual(this, boid);
Assert.IsTrue(this.Neighbors.Contains(boid));
this.Neighbors.Remove(boid);
}
public SeekTargetStrategy(
IBoid host,
float weight,
ITarget target)
: base(host, weight)
{
SeekTarget = target;
}
public AbstractFleeStrategy(
IBoid host,
float weight,
float proximityTreshold)
: base(host, weight)
{
ProximityTreshold = proximityTreshold;
}
Vector3 DoPursue(IBoid target)
{
float distanceToTarget = (NavPoint - target.NavPoint).magnitude;
int t = Mathf.RoundToInt(distanceToTarget / maxSpeed);
Vector3 futurePosition = target.NavPoint + target.Velocity * t;
return(DoSeek(futurePosition));
}
Vector3 DoEvade(IBoid target)
{
float distanceToTarget = (host.NavPoint.position - target.NavPoint.position).magnitude;
int t = Mathf.RoundToInt(distanceToTarget / host.MaxSpeed);
Vector3 futurePosition = target.NavPoint.position + target.Velocity * t;
return(DoFlee(futurePosition));
}
public PursuitStrategy(
IBoid host,
float weight,
IBoid target)
: base(host, weight)
{
PursuitTarget = target;
}
public SeekStrategy(
IBoid host,
float weight,
ref Vector3 target)
: base(host, weight)
{
SeekTargetPosition = target;
}
// Use this for initialization
void Start()
{
GameObject defender = GameObject.FindGameObjectWithTag("defense");
defense = defender.GetComponent <DefensePlayerController>();
endzone = goalline.GetComponent <EndzoneScript>();
steering = new MovementManager(this);
}
public FleeStrategy(
IBoid host,
float weight,
float proximityTreshold,
Vector3 fleeTarget)
: base(host, weight, proximityTreshold)
{
FleeTargetPosition = fleeTarget;
}
public EvadeStrategy(
IBoid host,
float weight,
float proximityTreshold,
IBoid target)
: base(host, weight, proximityTreshold)
{
EvadeTarget = target;
}
public FleeTargetStrategy(
IBoid host,
float weight,
float proximityTreshold,
ITarget fleeTarget)
: base(host, weight, proximityTreshold)
{
FleeTarget = fleeTarget;
}
private Vector3 doPursue(IBoid target)
{
Vector3 distance = target.GetPosition() - host.GetPosition();
float updates = distance.magnitude / host.GetMaxVelocity();
Vector3 tv = target.GetVelocity();
tv = this.ScaleBy(tv, updates);
Vector3 targetFuture = target.GetPosition() + tv;
return(doSeek(targetFuture, 10f));
}
public void Invoke(IBoid _host)
{
host = _host;
vSteer = Vector3.zero;
vDesired = Vector3.zero;
_vDesired = Vector3.zero;
NeighborDistSqr = NEIGHBOR_DISTANCE * NEIGHBOR_DISTANCE;
CohereDistSqr = COHERE_DISTANCE * COHERE_DISTANCE;
SeparateDistSqr = SEPARATE_DISTANCE * SEPARATE_DISTANCE;
AlignDistSqr = ALIGN_DISTANCE * ALIGN_DISTANCE;
}
public Evade(IBoid host)
{
_host = host;
_boid = new Boid();
_boid._position = _host._Position;
_boid._velocity = _host._Velocity;
_boid._maxVelocity = _host._MaxVelocity;
_flee = new Flee(_host);
_flee._target = _boid;
}
public Pursue(IBoid host)
{
_host = host;
_spot = new Boid();
_spot._position = _host._Position;
_spot._velocity = _host._Velocity;
_spot._maxVelocity = _host._MaxVelocity;
_seek = new Seek(_host);
_seek._target = _spot;
}
public SeparateStrategy(
IBoid host,
float weight,
float sqrSeparationRadius,
float separationIntensity,
NeighborQuerier neighborQuerier)
: base(host, weight)
{
_sqrSeparationRadius = sqrSeparationRadius;
_separationIntensity = separationIntensity;
_neighborQuerier = neighborQuerier;
}
public LeaderFollowing(
IBoid host,
float followTailweight,
IBoid leader,
float maxDistancefromLead,
float separateWeight,
NeighborQuerier neighborQuerier,
float separationRadius)
: base(host, 1)
{
_leaderTail = new LeaderTail(leader, maxDistancefromLead);
_arriveToleader = new SeekTargetStrategy(host, followTailweight, _leaderTail);
_neighborsSeparation = new SeparateStrategy(host, separateWeight, separationRadius, 5, neighborQuerier);
}
public void Init(float maxSpeed, bool useSteering)
{
BaseSteering[] steerings = gameObject.GetComponents <BaseSteering>();
for (int i = 0; i < steerings.Length; i++)
{
steeringBehaviours.Add(steerings[i]);
steerings[i].Init(maxSpeed, this);
}
rb = GetComponent <Rigidbody2D>();
parent = gameObject.GetComponent <IBoid>();
this.useSteering = useSteering;
EnableAvoidance(useAvoidance);
}
public void BeginFollowLeader(IBoid leader, float arrivalRadius)
{
DeactivateAll();
EnableAvoidance(useAvoidance);
foreach (BaseSteering steering in steeringBehaviours)
{
if (steering as FollowLeader)
{
FollowLeader newSteer = steering as FollowLeader;
newSteer.SetActive(true);
newSteer.SetLeader(leader);
newSteer.SetSlowingRadius(arrivalRadius);
}
}
}
bool GetNeighborAhead(out IBoid neighbor)
{
neighbor = null;
Vector3 qAhead = Velocity.normalized * QUEUE_RADIUS;
Vector3 checkPoint = centerProjectionPoint.position + qAhead;
foreach (IBoid agent in GameCtrl.Instance.activeUnitsInGame)
{
if (agent != host && Vector3.Distance(checkPoint, agent.Position) <= QUEUE_RADIUS)
{
neighbor = agent;
return(true);
}
}
return(false);
}
public Engagement(IBoid host)
{
_host = host;
_flockers = new List <IBoid>();
_ahead = new Boid();
_ahead._position = _host._Position;
_ahead._velocity = _host._Velocity;
_ahead._maxVelocity = _host._MaxVelocity;
_arrive = new Arrive(_host);
_evade = new Evade(_host);
_separation = new Separation(_host);
_arrive._target = _target;
_evade._target = _ahead;
_separation._boids = _flockers;
_separation._RADIUS = 1.0f;
_separation._WEIGHT = 0.75f;
}
public xxxFlock(IBoid host)
{
_host = host;
_flockers = new List <IBoid>();
_cohesion = new Cohesion(_host);
_aligement = new Aligement(_host);
_separation = new Separation(_host);
_cohesion._boids = _flockers;
_aligement._boids = _flockers;
_separation._boids = _flockers;
_cohesion._RADIUS = 15f;
_aligement._RADIUS = 15f;
_separation._RADIUS = 3f;
_cohesion._WEIGHT = 1f;
_aligement._WEIGHT = 1f;
_separation._WEIGHT = 10f;
}
void OnTriggerEnter2D(Collider2D other)
{
IBoid otherBoid = other.GetComponentInParent <IBoid>();
if (otherBoid != null && !neighbors.Contains(otherBoid) && otherBoid as Boid != this)
{
neighbors.Add(otherBoid);
}
IStaticAvoidBoid otherStaticAvoid = other.GetComponentInParent <IStaticAvoidBoid>();
if (otherStaticAvoid != null && !staticAvoid.Contains(otherStaticAvoid))
{
staticAvoid.Add(otherStaticAvoid);
UpdateStaticAvoidance();
}
IMobileAvoidBoid otheMobileAvoid = other.GetComponentInParent <IMobileAvoidBoid>();
if (otheMobileAvoid != null && !mobileAvoid.Contains(otheMobileAvoid))
{
mobileAvoid.Add(otheMobileAvoid);
}
}
void OnTriggerExit2D(Collider2D other)
{
IBoid otherBoid = other.GetComponentInParent <IBoid>();
if (otherBoid != null)
{
neighbors.Remove(otherBoid);
}
IStaticAvoidBoid otherStaticBoid = other.GetComponentInParent <IStaticAvoidBoid>();
if (otherStaticBoid != null)
{
staticAvoid.Remove(otherStaticBoid);
UpdateStaticAvoidance();
}
IMobileAvoidBoid otherMobileBoid = other.GetComponentInParent <IMobileAvoidBoid>();
if (otherMobileBoid != null)
{
mobileAvoid.Remove(otherMobileBoid);
}
}
