/*public MovementOutput getAvoidMov(DynamicCharacter character, KinematicData OtherCharaterData)
{
var output = new MovementOutput();
UnityEngine.Vector3 deltaPos = OtherCharaterData.position - Character.position;
UnityEngine.Vector3 deltaVel = OtherCharaterData.velocity - Character.velocity;
float deltaSpeed = deltaVel.magnitude;
if (deltaSpeed <= 0.001)
return output;
float timeToClosest = -UnityEngine.Vector3.Dot(deltaPos, deltaVel) / (deltaSpeed * deltaSpeed);
if (timeToClosest > 20.0f)
return output;
float distance = deltaPos.magnitude;
float minSeparation = distance - deltaSpeed * timeToClosest;
if (minSeparation > 2 * 5.0f)
return new MovementOutput();
if (minSeparation <= 0 || distance < 2 * 5.0f)
output.linear = Character.position - OtherCharaterData.position;
else
output.linear = (deltaPos + deltaVel * timeToClosest) * -1;
output.linear = output.linear.normalized * MaxAcceleration;
return output;
}*/
public MovementOutput deadLockMovement()
{
DynamicMovement output;
output = new DynamicWander()
{
Character = this.character.KinematicData,
MaxAcceleration = 20.0f,
};
return output.GetMovement();
}
private void InitializeMainCharacter(GameObject[] obstacles)
{
this.Priority = new PriorityMovement
{
Character = this.RedCharacter.KinematicData
};
this.Blended = new BlendedMovement
{
Character = this.RedCharacter.KinematicData
};
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
DynamicAvoidObstacle avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
WhiskerLookAhead = WHISKER_LOOK_AHEAD,
Character = this.RedCharacter.KinematicData,
whiskersLookAhead = WHISKER_LOOK_AHEAD,
MovementDebugColor = Color.magenta
};
this.Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, obstacles.Length + this.Characters.Count));
this.Priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != this.RedCharacter)
{
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaximumTimeLookAhead = MAX_TIME_AHEAD,
MovementDebugColor = Color.cyan
};
this.Priority.Movements.Add(avoidCharacter);
}
}
/*
* TODO: add your wander behaviour here!
*/
var wander = new DynamicWander
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow
};
this.Priority.Movements.Add(wander);
this.Blended.Movements.Add(new MovementWithWeight(wander,5.0f));
this.RedCharacter.Movement = this.Blended;
}
private void InitializeMainCharacter(GameObject[] obstacles)
{
this.Priority = new PriorityMovement
{
Character = this.RedCharacter.KinematicData
};
this.Blended = new BlendedMovement
{
Character = this.RedCharacter.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 = this.RedCharacter.KinematicData,
// MovementDebugColor = Color.magenta
//};
//this.Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement,5.0f));
//this.Priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != this.RedCharacter)
{
//TODO: add your AvoidCharacter movement here
//var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
//{
// Character = this.RedCharacter.KinematicData,
// MaxAcceleration = MAX_ACCELERATION,
// AvoidMargin = AVOID_MARGIN,
// MovementDebugColor = Color.cyan
//};
//this.Priority.Movements.Add(avoidCharacter);
}
}
var redKinematicData = new KinematicData(new StaticData(this.RedCharacter.GameObject.transform.position));
var wander = new DynamicWander
{
Character = this.RedCharacter.KinematicData,
Target = redKinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow
};
this.Priority.Movements.Add(wander);
this.Blended.Movements.Add(new MovementWithWeight(wander,obstacles.Length+this.Characters.Count));
this.RedCharacter.Movement = this.Blended;
}
private void InitializeCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
DynamicAvoidObstacle avoidObstacleMovement = new DynamicAvoidObstacle(obstacle, true)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 15.0f));
}
DynamicCohesion cohesion = new DynamicCohesion(Characters)
{
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
MovementDebugColor = Color.cyan,
Character = character.KinematicData,
Radius = 15f,
FanAngle = MathConstants.MATH_PI_4
};
blended.Movements.Add(new MovementWithWeight(cohesion, 8.0f));
DynamicSeparation separation = new DynamicSeparation(Characters)
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.green,
Character = character.KinematicData,
Radius = 10f,
SeparationFactor = MAX_ACCELERATION * 1.3f
};
blended.Movements.Add(new MovementWithWeight(separation, 10.0f));
DynamicFlockVelocityMatch velocityMatching = new DynamicFlockVelocityMatch(Characters)
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.black,
Character = character.KinematicData,
Radius = 20f,
FanAngle = MathConstants.MATH_PI_4
};
blended.Movements.Add(new MovementWithWeight(velocityMatching, 8.0f));
DynamicGoToPosition goToPosition = new DynamicGoToPosition()
{
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
Character = character.KinematicData,
MovementDebugColor = Color.blue,
Radius = 10.0f
};
blended.Movements.Add(new MovementWithWeight(goToPosition, 8.0f));
GoToPositionMovements.Add(goToPosition);
if (soloMove)
{
if (useWander)
{
var wander = new DynamicWander
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow,
Character = character.KinematicData,
TurnAngle = MathConstants.MATH_PI_4 / 2,
WanderRadius = 2f,
WanderOffset = 3f
};
blended.Movements.Add(new MovementWithWeight(wander, 4.0f));
}
else
{
var straightAhead = new DynamicStraightAhead
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow,
Character = character.KinematicData
};
blended.Movements.Add(new MovementWithWeight(straightAhead, 4.0f));
}
}
character.Movement = blended;
}
private void InitializeMainCharacter(GameObject[] obstacles)
{
this.Priority = new PriorityMovement
{
Character = this.RedCharacter.KinematicData
};
this.Blended = new BlendedMovement
{
Character = this.RedCharacter.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 = this.RedCharacter.KinematicData,
// MovementDebugColor = Color.magenta
//};
//this.Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement,5.0f));
//this.Priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != this.RedCharacter)
{
//TODO: add your AvoidCharacter movement here
//var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
//{
// Character = this.RedCharacter.KinematicData,
// MaxAcceleration = MAX_ACCELERATION,
// AvoidMargin = AVOID_MARGIN,
// MovementDebugColor = Color.cyan
//};
//this.Priority.Movements.Add(avoidCharacter);
}
}
/*
* TODO: add your wander behaviour here!
* var wander = new DynamicWander
{
....
Character = this.RedCharacter.KinematicData,
MovementDebugColor = Color.yellow
};*/
var wander = new DynamicWander {
Character = this.RedCharacter.KinematicData,
MovementDebugColor = Color.yellow,
MaxAcceleration = MAX_ACCELERATION,
WanderRate = 0.3f,
WanderOffset = 10.0f,
WanderRadius = 5.0f,
DebugTarget = GameObject.Find("DebugTargetCube")
};
var avoid = new DynamicAvoid
{
Character = this.RedCharacter.KinematicData,
MovementDebugColor = Color.blue,
MaxAcceleration = MAX_ACCELERATION,
AvoidDistance = 6.0f,
LookAhead = 20.0f,
WhiskerAngle = 30.0f,
WhiskerSize = 6.0f,
DebugTargetCube = GameObject.Find("DebugTargetCube")
};
this.Priority.Movements.Add(avoid);
this.Priority.Movements.Add(wander);
this.Blended.Movements.Add(new MovementWithWeight(wander,obstacles.Length+this.Characters.Count));
this.RedCharacter.Movement = this.Blended;
}
private void InitializeMainCharacter(GameObject[] obstacles)
{
this.Priority = new PriorityMovement
{
Character = this.RedCharacter.KinematicData
};
this.Blended = new BlendedMovement
{
Character = this.RedCharacter.KinematicData
};
foreach (var obstacle in obstacles) {
DynamicAvoidObstacle avoidObstacleMovement = new DynamicAvoidObstacle (obstacle, true)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = this.RedCharacter.KinematicData,
MaxWhiskersLookAhead = 5f,
WhiskersAngle = MathConstants.MATH_PI_4 * 0.75f,
MovementDebugColor = Color.magenta
};
this.Blended.Movements.Add (new MovementWithWeight (avoidObstacleMovement, 5.0f));
this.Priority.Movements.Add (avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters) {
if (otherCharacter != this.RedCharacter) {
var avoidCharacter = new DynamicAvoidCharacter (otherCharacter.KinematicData)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxTimeLookAhead = MAX_TIME_LOOK_AHEAD,
MovementDebugColor = Color.cyan
};
this.Priority.Movements.Add (avoidCharacter);
}
}
var wander = new DynamicWander
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.RedCharacter.KinematicData,
MovementDebugColor = Color.yellow
};
this.Priority.Movements.Add (wander);
this.Blended.Movements.Add (new MovementWithWeight (wander, obstacles.Length + this.Characters.Count));
this.RedCharacter.Movement = this.Blended;
}
