public static SteeringOutput GetSteering(KinematicState ownKS, SObstacleAvoidance info)
{
Ray l_ray = new Ray(ownKS.m_position, ownKS.m_linearVelocity.normalized);
RaycastHit l_hitInfo;
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_avoidDistance))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) + info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) - info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
return(NULL_STEERING);
}
public virtual void ApplyFTI(SteeringOutput steering, GameObject target)
{
transform.rotation = Quaternion.Euler(0, MathExtent.VectorToAngle(target.transform.position - m_ownKS.m_position) - 90f, 0);
m_ownKS.m_orientation = transform.rotation.eulerAngles.y;
steering.m_angularActive = false;
}
protected virtual void ApplyLWYGI(SteeringOutput steering)
{
if (m_ownKS.m_linearVelocity.magnitude > 0.001f)
{
transform.rotation = Quaternion.Euler(0f, MathExtent.VectorToAngle(m_ownKS.m_linearVelocity), 0f);
m_ownKS.m_orientation = transform.rotation.eulerAngles.y;
}
steering.m_angularActive = false;
}
protected virtual void ApplyLWYG(SteeringOutput steering)
{
if (m_ownKS.m_linearVelocity.magnitude > 0.001f)
{
SURROGATE_TARGET.transform.rotation = Quaternion.Euler(0, MathExtent.VectorToAngle(m_ownKS.m_linearVelocity), 0);
m_alignInfo.m_target = SURROGATE_TARGET;
SteeringOutput st = Align.GetSteering(m_ownKS, m_alignInfo);
steering.m_angularAcceleration = st.m_angularAcceleration;
steering.m_angularActive = st.m_angularActive;
}
else
{
steering.m_angularActive = false;
}
}
public static SteeringOutput GetSteering(KinematicState ownKS, SAlign info)
{
SURROGATE_TARGET.rotation = Quaternion.Euler(SURROGATE_TARGET.eulerAngles.x, MathExtent.VectorToAngle(info.m_target.position - ownKS.m_position), SURROGATE_TARGET.eulerAngles.z);
info.m_target = SURROGATE_TARGET;
return(Align.GetSteering(ownKS, info));
}