//--------------------------------------------------------------------------------------------------------------
private void FixedUpdate()
{
// Find out the relation of the current movement direction to the decided direction
up = transform.up;
angleDiff = Vector3.Angle(up, Context.DecidedDirection);
cross = Vector3.Cross(up, Context.DecidedDirection);
// Do not let the cross.z be close to zero, otherwise, the character stuck when the decision direction is
// anti-parallel
if (!Mathf2.Approximately(Context.DecidedDirection.sqrMagnitude, 0f) &&
Mathf2.Approximately(cross.z, 0f))
{
cross.z = Mathf.Sign(Random.Range(-1f, 1f));
}
// Orient towards decision direction using torque
Body2D.AddTorque(cross.z * Torque * angleDiff);
// Translate along oriented direction using the force (which may be with you, of course)
if (ObjectiveAsSpeed >= 0 && ObjectiveAsSpeed < Context.DecidedValues.Count)
{
velocity = Context.DecidedValues[ObjectiveAsSpeed] * Speed;
velocity = velocity > Speed ? Speed : velocity;
}
else
{
velocity = Speed;
}
Body2D.AddForce(velocity * up);
}
//--------------------------------------------------------------------------------------------------------------
private void Update()
{
if (Mathf2.Approximately(Context.DecidedDirection.sqrMagnitude, 0))
{
return;
}
// Orient towards decision direction
transform.rotation = Quaternion.LookRotation(Context.DecidedDirection, Up);
// Translate along oriented direction
if (ObjectiveAsSpeed >= 0)
{
velocity = Context.DecidedValues[ObjectiveAsSpeed] * Speed;
velocity = velocity > Speed ? Speed : velocity;
}
else
{
velocity = Speed;
}
transform.position += Time.deltaTime * velocity * Context.DecidedDirection;
}