public Decomposer(SteeringPipeline pipeline, NavMeshPathGraph navMesh, DynamicCharacter character)
{
Character = character;
Pipeline = pipeline;
aStarPathFinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 150;
}
public MovementOutput GetMovement(DynamicCharacter character, GlobalPath currentSmoothedSolution)
{
DynamicMovement output;
output = new DynamicFollowPath(character.KinematicData, currentSmoothedSolution)
{
MaxAcceleration = 20.0f,
PathOffset = 0.15f
};
return output.GetMovement();
}
public void AddFlockMember(GameObject gameObject)
{
var member = new DynamicCharacter(gameObject)
{
Drag = this.Drag,
MaxSpeed = this.MaximumSpeed
};
member.KinematicData.velocity = new Vector3(Random.Range(0, this.MaximumSpeed), 0,Random.Range(0, this.MaximumSpeed));
member.Movement = this.GenerateBlendingMovementFor(member);
this.FlockMembers.Add(member);
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar)
{
Drag = DRAG,
MaxSpeed = MAX_SPEED
};
aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 100;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar)
{
Drag = DRAG,
MaxSpeed = MAX_SPEED
};
this.bots = GameObject.FindGameObjectsWithTag("Bot");
this.decomposer = new Decomposer(new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic()));
this.decomposer.searchAlgorithm.NodesPerSearch = 100;
}
public GlobalPath decompose(DynamicCharacter character, Goal goal)
{
this.aStarPathFinding.InitializePathfindingSearch(character.KinematicData.position, goal.position);
if (this.aStarPathFinding.InProgress)
{
var finished = this.aStarPathFinding.Search(out this.currentSolution, true);
if (finished && this.currentSolution != null)
{
//lets smooth out the Path
this.currentSmoothedSolution = StringPullingPathSmoothing.SmoothPath(character.KinematicData, this.currentSolution);
currentSmoothedSolution.CalculateLocalPathsFromPathPositions(character.KinematicData.position);
return this.currentSmoothedSolution;
}
}
return null;
}
private List<DynamicCharacter> CloneSecondaryCharacters(GameObject objectToClone, int numberOfCharacters, GameObject[] obstacles)
{
var characters = new List<DynamicCharacter> ();
for (int i = 0; i < numberOfCharacters; i++) {
var clone = GameObject.Instantiate (objectToClone);
//clone.transform.position = new Vector3(30,0,i*20);
clone.transform.position = this.GenerateRandomClearPosition (obstacles);
var character = new DynamicCharacter (clone)
{
MaxSpeed = MAX_SPEED,
Drag = DRAG
};
//character.KinematicData.orientation = (float)Math.PI*i;
characters.Add (character);
}
return characters;
}
public HumanActuator(DynamicCharacter character)
{
SeekMovement = new DynamicSeek
{
MaxAcceleration = 60f,
Character = character.KinematicData,
StopRadius = 49f // 49 = 7^2
};
this.Character = character;
this.Character.MaxSpeed = 30f;
FollowPathMovement = new DynamicFollowPath(character.KinematicData)
{
MaxAcceleration = 40f,
MaxSpeed = 30f,
SlowRadius = 3.5f,
StopRadius = 3f,
GoalPosition = GoalPosition
};
}
protected MovementOutput GetOutput(GlobalPath suggestedPath, DynamicCharacter character)
{
DynamicMovement movement;
if (suggestedPath != null)
{
SeekMovement.Target = new KinematicData()
{
position = suggestedPath.LocalPaths[0].EndPosition
};
//Debug.DrawLine(character.KinematicData.position, SeekMovement.Target.position, Color.black);
movement = SeekMovement;
return movement.GetMovement();
}
else
{
movement = FollowPathMovement;
}
return FilterMovementOutput(movement.GetMovement(), Character);
}
public CarActuator(DynamicCharacter character)
{
SeekMovement = new DynamicSeek()
{
MaxAcceleration = 80f,
Character = character.KinematicData,
StopRadius = 49f // 49 = 7^2
};
this.Character = character;
this.Character.BackingUp = false;
//setting character MaxSpeed according to actuator
this.Character.MaxSpeed = 40f;
this.FollowPathMovement = new DynamicFollowPath(character.KinematicData)
{
MaxAcceleration = 60f,
MaxSpeed = 50f,
SlowRadius = 15f,
StopRadius = 7f,
GoalPosition = GoalPosition
};
}
// Use this for initialization
private void Awake()
{
this.draw = true;
NavMeshPathGraph navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar);
this.Pedestrians = new List<GameObject>(GameObject.FindGameObjectsWithTag("Pedestrian")).ConvertAll(p => new Pedestrian(p));
// Targeter
TargeterComponent = new Targeter(this);
// Decomposer
DecomposerComponent = new Decomposer(this, navMesh, this.character);
// TargetCollisionConstraint
PathConstraints = new List<IConstraint>();
PathConstraints.Add(new PedestrianAvoidanceConstraint(this, character, this.Pedestrians));
PathConstraints.Add(new PathValidityCheckConstraint(this.character));
// Movement Constraints
MovementConstraints = new List<IConstraint>();
StaticObstacleConstraint obsConstraint = new StaticObstacleConstraint(character)
{
AvoidMargin = 10f
};
MovementConstraints.Add(obsConstraint);
if (CharacterInUse.Equals(CharacterType.Car))
{
Actuator = new CarActuator(this.character);
}
else if (CharacterInUse.Equals(CharacterType.Human))
{
Actuator = new HumanActuator(this.character);
}
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var priority = new PriorityMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
//avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
//{
// MaxAcceleration = MAX_ACCELERATION,
// AvoidMargin = AVOID_MARGIN,
// MaxLookAhead = MAX_LOOK_AHEAD,
// Character = character.KinematicData,
// MovementDebugColor = Color.magenta
//};
//priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != character)
{
//TODO: add your avoidCharacter movement here
//var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
//{
// Character = character.KinematicData,
// MaxAcceleration = MAX_ACCELERATION,
// AvoidMargin = AVOID_MARGIN,
// MovementDebugColor = Color.cyan
//};
//priority.Movements.Add(avoidCharacter);
}
}
var straightAhead = new DynamicStraightAhead
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow
};
priority.Movements.Add(straightAhead);
character.Movement = priority;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.character = new DynamicCharacter(this.characterAvatar);
this.character.Drag = 0.3f;
this.people = new DynamicCharacter[this.peopleAvatar.Length];
for(int i = 0; i < this.peopleAvatar.Length;i++)
{
this.people[i] = new DynamicCharacter(this.peopleAvatar[i]);
}
var obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
SteeringPipeline steeringPipeline = new SteeringPipeline();
steeringPipeline.Character = character.KinematicData;
steeringPipeline.Targeters.Add(targeter = new TargetPosition());
steeringPipeline.Decomposers.Add(decomposerAStar = new NodeAStarDecomposer());
steeringPipeline.Constraints.Add(
constraint = new ConstraitColisionWithWalls(obstacles, 500.0f)
{
AvoidMargin = 7f,
MaxLookAhead = 7f,
MaxWhiskersLookAhead = 5f
});
steeringPipeline.Constraints.Add(
constraint2 = new ConstraitColisionWithPeople(peopleAvatar, 15f)
{
});
steeringPipeline.Actuator = actuator = new PathFollowingActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 40.0f,
PathOffset = 0.05f,
Movement = new DynamicCarSeek()
{
MaxSpeed = character.MaxSpeed,
MinSpeed = 4f
}
},
SecondsToSmooth = 2f
};
character.Movement = steeringPipeline;
for (int i = 0; i < this.people.Length; i++)
{
SteeringPipeline personSteeringPipeline = new SteeringPipeline();
TargetPersonPosition personTargeter = new TargetPersonPosition(10.0f);
personSteeringPipeline.Targeters.Add(personTargeter);
DecomposerPersonPathCreation personDecomposer = new DecomposerPersonPathCreation();
personSteeringPipeline.Decomposers.Add(personDecomposer);
personSteeringPipeline.Constraints.Add(
constraint = new ConstraitColisionWithWalls(obstacles, 500.0f)
{
AvoidMargin = 7f,
MaxLookAhead = 15f,
MaxWhiskersLookAhead = 10f
});
personSteeringPipeline.Actuator = personActuator = new PersonActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 20.0f,
PathOffset = 0.05f,
Movement = new DynamicPedestrianSeek()
},
};
personSteeringPipeline.Character = this.people[i].KinematicData;
people[i].Movement = personSteeringPipeline;
}
StringPullingPathSmoothing.MinWidth = 10f;
StringPullingPathSmoothing.MinDistanceToCharacter = 10f;
}
public SteeringPipeline InitializeSteeringPipeline(DynamicCharacter orig, KinematicData dest)
{
//Pipeline
SteeringPipeline pipe = new SteeringPipeline(orig.KinematicData)
{
MaxAcceleration = 15.0f
};
//Targeter
Targeter MouseClickTargeter = new Targeter()
{
Target = dest
};
pipe.Targeters.Add(MouseClickTargeter);
//Decomposer
pathfindingDecomposer = new PathfindingDecomposer()
{
Graph = this.navMesh,
Heuristic = new EuclideanDistanceHeuristic()
};
pipe.Decomposers.Add(pathfindingDecomposer);
//Actuator - Default: Car behaviour
Actuator actuator = new CarActuator()
{
MaxAcceleration = 15.0f,
Character = orig.KinematicData
};
if (orig.GameObject.tag.Equals("Enemies"))
{
actuator = new TrollActuator()
{
MaxAcceleration = 10.0f,
Character = orig.KinematicData
};
}
pipe.Actuator = actuator;
//Constraints
foreach (DynamicCharacter troll in enemies)
{
TrollConstraint trollConstraint = new TrollConstraint()
{
Troll = troll,
margin = 1.0f
};
pipe.Constraints.Add(trollConstraint);
}
MapConstraint mapConstraint = new MapConstraint()
{
chars = character,
navMeshP = navMesh,
margin = 1.0f
};
pipe.Constraints.Add(mapConstraint);
return pipe;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar);
this.enemies = new List<DynamicCharacter>();
for (int i = 0; i < enemiesAvatar.Length; i++)
{
DynamicCharacter enemy = new DynamicCharacter(this.enemiesAvatar[i]);
DynamicBackAndForth movement = new DynamicBackAndForth()
{
Character = enemy.KinematicData,
MaxAcceleration = 10.0f,
StopRadius = 2.0f,
SlowRadius = 5.0f,
MoveDistance = 25.0f
};
movement.CalculatePositions();
enemy.Movement = movement;
this.enemies.Add(enemy);
}
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
private void UpdateMovingGameObject(DynamicCharacter movingCharacter)
{
if (movingCharacter.Movement != null)
{
movingCharacter.Update();
movingCharacter.KinematicData.ApplyWorldLimit(X_WORLD_SIZE, Z_WORLD_SIZE);
movingCharacter.GameObject.transform.position = movingCharacter.KinematicData.position;
}
}
public GlobalPath GetPath(DynamicCharacter character, GlobalPath partialSolution)
{
return StringPullingPathSmoothing.SmoothPath(character.KinematicData, partialSolution);
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var priority = new PriorityMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
avoidDistance = AVOID_MARGIN,
lookAhead = MAX_LOOK_AHEAD,
Character = this.RedCharacter.KinematicData,
whiskersLookAhead = WHISKER_LOOK_AHEAD,
MovementDebugColor = Color.magenta
};
priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != character)
{
//TODO: add your avoidCharacter movement here
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaximumTimeLookAhead = MAX_TIME_AHEAD,
MovementDebugColor = Color.cyan
};
priority.Movements.Add(avoidCharacter);
}
}
var straightAhead = new DynamicStraightAhead
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow
};
priority.Movements.Add(straightAhead);
character.Movement = priority;
}
protected abstract MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character);
private void InitializeCharacter(DynamicCharacter character, GameObject[] obstacles)
{
BlendedMovement Blended;
Blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle()
{
MaxAcceleration = MAX_ACCELERATION,
AvoidDistance = AVOID_MARGIN,
LookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
Obstacle = obstacle,
MovementDebugColor = Color.magenta
};
Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, (obstacles.Length + this.Flock.Count) * AVOIDOB));
}
var DynamicSeparationMovement = new DynamicSeparation()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Flock = this.Flock,
SeparationFactor = FLOCK_SEPARATION_FACTOR,
Radius = FLOCK_SEPARATION_RADIUS
};
Blended.Movements.Add(new MovementWithWeight(DynamicSeparationMovement, (obstacles.Length + this.Flock.Count) * SEPARATIONB));
var DynamicCohesionMovement = new DynamicCohesion()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Flock = this.Flock,
FanAngle = FLOCK_COHESION_FAN_ANGLE,
radius = FLOCK_COHESION_RADIUS
};
Blended.Movements.Add(new MovementWithWeight(DynamicCohesionMovement, (obstacles.Length + this.Flock.Count) * COHESIONB));
var DynamicFlockVelocityMatchMovement = new DynamicFlockVelocityMatch()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Flock = this.Flock,
FanAngle = FLOCK_VELOCITYMATCHING_FAN_ANGLE,
radius = FLOCK_VELOCITYMATCHING_RADIUS
};
Blended.Movements.Add(new MovementWithWeight(DynamicFlockVelocityMatchMovement, (obstacles.Length + this.Flock.Count) * ALIGNB));
character.Movement = Blended;
}
protected override MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character)
{
Vector3 charOrientation = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation);
float charSpeed = character.KinematicData.velocity.sqrMagnitude;
float angleDiff = Mathf.Deg2Rad * (Vector3.Angle(charOrientation, output.linear));
float angleDiffAbs = Math.Abs(angleDiff);
float distance = (GoalPosition - character.KinematicData.position).sqrMagnitude;
if (character.BackingUp || angleDiffAbs >= MathConstants.MATH_PI - MathConstants.MATH_PI / 3f && charSpeed <= 1 && distance < 900f) // 900 = 30^2
{
character.BackingUp = true;
Vector3 contraryVector =
MathHelper.ConvertOrientationToVector(MathHelper.ConvertVectorToOrientation((GoalPosition - character.KinematicData.position)) + MathConstants.MATH_PI);
character.KinematicData.orientation = MathHelper.ConvertVectorToOrientation(Vector3.Lerp(charOrientation, contraryVector, 0.1f));
return output;
}
if (!character.BackingUp)
{
if (Physics.Raycast(character.KinematicData.position, character.KinematicData.velocity, 30f))
{
//Debug.DrawLine(character.KinematicData.position, character.KinematicData.velocity.normalized*30f+character.KinematicData.position, Color.black);
CapCharacterVelocity(character);
}
if (angleDiff > MathConstants.MATH_PI_2 / 6f && charSpeed >= 4900) // 4900 = 70^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 6f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 40f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_2 / 3f && charSpeed >= 3600) // 3600 = 60^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 3f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 30f;
return output;
}
if (angleDiff > MathConstants.MATH_PI_4 && charSpeed >= 2500) // 2500 = 50^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_4).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 25f;
return output;
}
if (angleDiffAbs >= MathConstants.MATH_PI_2 / 3f && charSpeed <= 100) // 100 = 10^2
{
// aqui altera apenas a direcção em que em que o carro vira
if (angleDiff < 0)
{
output.linear = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation - MathConstants.MATH_PI_2 / 48f);
character.KinematicData.velocity *= 2f;
}
else if (angleDiff >= 0)
{
output.linear = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation + MathConstants.MATH_PI_2 / 48f);
character.KinematicData.velocity *= 2f;
}
return output;
}
}
return output;
}
private static void CapCharacterVelocity(DynamicCharacter character)
{
var charSpeed = character.KinematicData.velocity.sqrMagnitude;
if (charSpeed >= 900f) // 900 = 30^2
character.KinematicData.velocity *= 0.95f;
else if (charSpeed >= 400f) // 400 = 20^2
character.KinematicData.velocity *= 0.97f;
else if (charSpeed >= 100f) // 100 = 10^2
character.KinematicData.velocity *= 0.99f;
}
public PedestrianAvoidanceConstraint(SteeringPipeline pipeline, DynamicCharacter character, List<Pedestrian> pedestrians)
{
this.Pedestrians = pedestrians;
this.Character = character;
}
public PathValidityCheckConstraint(DynamicCharacter character)
{
this.Character = character;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.character = new DynamicCharacter(this.characterAvatar);
this.character.Drag = 0.5f;
StringPullingPathSmoothing.MinWidth = 0.1f;
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
//this.aStarPathFinding = new AStarPathfinding(this.navMesh, new SimpleUnorderedNodeList(), new SimpleUnorderedNodeList(), new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var priority = new PriorityMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
avoidDistance = AVOID_MARGIN,
lookAhead = MAX_LOOK_AHEAD,
Character = this.RedCharacter.KinematicData,
whiskersLookAhead = WHISKER_LOOK_AHEAD,
MovementDebugColor = Color.magenta
};
var AvoidObjects = new BlendedMovement();
AvoidObjects.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 1.0f));
priority.Movements.Add(AvoidObjects);
}
var FlockMovement = new BlendedMovement();
var boidseparation = new DynamicSeparation(Characters)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
SeparationFactor = SEPARATION_FACTOR,
Radius = RADIUS,
MovementDebugColor = Color.green
};
FlockMovement.Movements.Add(new MovementWithWeight(boidseparation, 5.0f));
var boidcohesion = new DynamicCohesion(Characters)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
FanAngle = FAN_ANGLE,
Radius = RADIUS,
MovementDebugColor = Color.red
};
FlockMovement.Movements.Add(new MovementWithWeight(boidcohesion, 10.0f));
var boidvelocity = new DynamicFlockVelocityMatching(Characters)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
FanAngle = FAN_ANGLE,
Radius = RADIUS,
MovementDebugColor = Color.black
};
FlockMovement.Movements.Add(new MovementWithWeight(boidvelocity, 3.0f));
var mouse = new DynamicMouseSeek
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
};
FlockMovement.Movements.Add(new MovementWithWeight(mouse, 8.0f));
priority.Movements.Add(FlockMovement);
character.Movement = priority;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar);
this.character.Drag = 0.3f;
StringPullingPathSmoothing.MinWidth = 0.1f;
this.aStarPathFindingEuclidean = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFindingGBEuclidean = new GoalBoundingNodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFindingZero = new NodeArrayAStarPathFinding(this.navMesh, new ZeroHeuristic());
this.aStarPathFindingGBZero = new GoalBoundingNodeArrayAStarPathFinding(this.navMesh, new ZeroHeuristic());
this.aStarPathFindingEuclidean.NodesPerSearch = 100;
this.aStarPathFindingZero.NodesPerSearch = 100;
this.aStarPathFindingGBEuclidean.NodesPerSearch = 100;
this.aStarPathFindingGBEuclidean.NodesPerSearch = 100;
//default
this.aStarPathFinding = this.aStarPathFindingGBEuclidean;
currentAStar = "A* GoalBounding Euclidean Distance";
}
private List<DynamicCharacter> CloneSecondaryCharacters(GameObject objectToClone, int numberOfCharacters, GameObject[] obstacles)
{
var characters = new List<DynamicCharacter>();
for (int i = 0; i < numberOfCharacters; i++)
{
var clone = GameObject.Instantiate(objectToClone);
clone.transform.position = this.GenerateRandomClearPosition(obstacles);
var character = new DynamicCharacter(clone)
{
MaxSpeed = MAX_SPEED,
Drag = DRAG
};
characters.Add(character);
}
return characters;
}
public StaticObstacleConstraint(DynamicCharacter character)
{
Character = character;
}
public SteeringPipeline InitializeSteeringPipeline(DynamicCharacter orig)
{
//Pipeline
SteeringPipeline pipe = new SteeringPipeline(orig.KinematicData)
{
MaxAcceleration = 15.0f
};
//Targeter
this.Targeter = new FixedTargeter();
pipe.Targeters.Add(this.Targeter);
//Decomposer
pathfindingDecomposer = new PathfindingDecomposer()
{
Graph = this.navMesh,
Heuristic = new EuclideanDistanceHeuristic()
};
pipe.Decomposers.Add(pathfindingDecomposer);
//Actuator - Default: Car behaviour
Actuator actuator = new CarActuator()
{
MaxAcceleration = 15.0f,
Character = orig.KinematicData
};
pipe.Actuator = actuator;
/*
if (orig.GameObject.tag.Equals("Enemies"))
{
actuator = new TrollActuator()
{
MaxAcceleration = 10.0f,
Character = orig.KinematicData
};
}
pipe.Actuator = actuator;
*/
return pipe;
}
