public override void UpdateWander(Follower follower)
{
KinematicInput followerInput = BuildInput(follower);
KinematicOutput output = PerformWander(followerInput);
ApplyOutput(follower, output);
}
public override void UpdateTargetPursue(Follower follower)
{
KinematicInput followerInput = BuildInput(follower);
KinematicOutput output = PerformPursue(followerInput);
ApplyOutput(follower, output);
}
void updateMovement()
{
KinematicOutput output = kinematic.getOutput(new Vector2(gameObject.transform.position.x, gameObject.transform.position.y), rigid.rotation);
if (output != null)
{
rigid.velocity += output.linear(rigid.velocity) * Time.deltaTime;
rigid.angularVelocity += output.angular(rigid.angularVelocity) * Time.deltaTime;
}
else
{
rigid.velocity = Vector2.zero;
rigid.angularVelocity = 0f;
}
}
private void ApplyOutput(Follower follower, KinematicOutput kinematicOutput)
{
follower.position += follower.velocity * Time.deltaTime;
follower.orientation = kinematicOutput.orientation;
follower.orientation += follower.rotation * Time.deltaTime;
Transform transform1 = follower.transform;
transform1.position = new Vector3(follower.position.x, transform1.position.y, follower.position.y);
transform1.eulerAngles = new Vector3(0f, -follower.orientation * Mathf.Rad2Deg, 0f);
follower.velocity = kinematicOutput.velocity;
if (follower.velocity.magnitude > follower.maxVelocity)
{
follower.velocity = follower.velocity.normalized;
follower.velocity *= follower.maxVelocity;
}
follower.rotation = Mathf.Clamp(kinematicOutput.rotation, -follower.maxRotation, follower.maxRotation);
}
public override void UpdateTargetHunt(Follower follower, bool fleeing)
{
KinematicInput followerInput = BuildInput(follower);
KinematicOutput output = new KinematicOutput();
if (fleeing)
{
// C.1
if (Vector2.Distance(followerInput.position, followerInput.targetPosition) < SLOW_RADIUS)
{
// Debug.Log("C1");
output = PerformFlee(followerInput);
output.orientation = followerInput.orientation;
output.rotation = 0f;
}
else
{
// C.2
// Debug.Log("C2");
Vector2 targetRotationVect = followerInput.targetPosition - followerInput.position;
float targetOrientation = Mathf.Atan2(targetRotationVect.y, targetRotationVect.x) + Mathf.PI;
const float ANGLE_TOLERANCE = 10f;
if (AngleDifferenceNegligible(followerInput.orientation, targetOrientation, ANGLE_TOLERANCE))
{
output = PerformFlee(followerInput);
}
else
{
output.velocity = Vector2.zero;
output.orientation = Mathf.LerpAngle(followerInput.orientation * Mathf.Rad2Deg,
targetOrientation * Mathf.Rad2Deg, Time.deltaTime * 5f);
output.orientation *= Mathf.Deg2Rad;
output.rotation = 0f;
}
}
}
else if (followerInput.velocity.magnitude < SLOW_SPEED)
{
// A.1
if (Vector2.Distance(followerInput.position, followerInput.targetPosition) < SLOW_RADIUS)
{
// Debug.Log("A1");
output = PerformArrive(followerInput);
output.orientation = followerInput.orientation;
output.rotation = 0f;
}
else
{
// A.2
// Debug.Log("A2");
Vector2 targetRotationVect = followerInput.targetPosition - followerInput.position;
float targetOrientation = Mathf.Atan2(targetRotationVect.y, targetRotationVect.x);
const float ANGLE_TOLERANCE = 10f;
if (AngleDifferenceNegligible(followerInput.orientation, targetOrientation, ANGLE_TOLERANCE))
{
output = PerformArrive(followerInput);
}
else
{
output.velocity = Vector2.zero;
output.orientation = Mathf.LerpAngle(followerInput.orientation * Mathf.Rad2Deg,
targetOrientation * Mathf.Rad2Deg, Time.deltaTime * 5f);
output.orientation *= Mathf.Deg2Rad;
output.rotation = 0f;
}
}
}
else
{
Vector2 targetRotationVect = followerInput.targetPosition - followerInput.position;
float targetOrientation = Mathf.Atan2(targetRotationVect.y, targetRotationVect.x);
const float ANGLE_TOLERANCE = 10f;
// B.1
if (AngleDifferenceNegligible(followerInput.orientation, targetOrientation, ANGLE_TOLERANCE))
{
// Debug.Log("B1");
output = PerformArrive(followerInput);
}
else
{
// B.2
// Debug.Log("B2");
output.velocity = Vector2.zero;
output.orientation = Mathf.LerpAngle(followerInput.orientation * Mathf.Rad2Deg, targetOrientation,
Time.deltaTime * 5f);
output.orientation *= Mathf.Deg2Rad;
output.rotation = 0f;
}
}
ApplyOutput(follower, output);
}