public static Vector2 SteerForce(Vector2 target, AutonomousAgent2D agent)
{
Vector2 agentPosition = agent.transform.position;
Vector2 desired = (target - agentPosition).normalized * agent.maxSpeed;
return(desired - agent.rigid.velocity);
}
public static Vector2 SteerForce(AutonomousAgent2D agent, EvadeSensor2D sensor)
{
// Nothing setup to avoid.
if (sensor.avoid == null)
{
return(Vector2.zero);
}
Vector2 targetPosition = sensor.avoid.position;
Vector2 targetVelocity = sensor.avoid.velocity;
Vector2 toAvoider = targetPosition - (Vector2)agent.transform.position;
float distanceToAvoid = toAvoider.magnitude;
if (sensor.ShouldAvoid(distanceToAvoid))
{
float lookAheadTime = distanceToAvoid / (agent.maxSpeed + targetVelocity.magnitude);
Vector2 fleePosition = targetPosition + targetVelocity * lookAheadTime;
return(Flee2D.SteerForce(agent, fleePosition));
}
// Too far too evade
else
{
return(Vector2.zero);
}
}
public static Vector2 SteerForce(AutonomousAgent2D agent, Collider2D[] colliders, int totalCount, float detectionRadius)
{
Vector2 forwardsSum = Vector2.zero;
Vector2 agentPosition = agent.transform.position;
Vector2 agentForward = agent.ForwardDirection;
int count = 0;
float radiusSq = detectionRadius * detectionRadius;
for (int i = 0; i < totalCount; ++i)
{
var other = colliders[i].GetComponent <AutonomousAgent2D>();
if (other == agent)
{
continue;
}
if (agentPosition.WithinDistanceSq(other.transform.position, radiusSq))
{
count += 1;
forwardsSum += other.ForwardDirection;
}
}
if (count > 0)
{
Vector2 averageForward = (forwardsSum / count) - agentForward;
return(averageForward);
}
return(Vector2.zero);
}
private static bool shouldStopCompletely(AutonomousAgent2D agent, ArriveSensor2D sensor)
{
var vel = agent.rigid.velocity;
var sqStop = sensor.stopSpeed * sensor.stopSpeed;
return(!vel.IsZero() && vel.sqrMagnitude < sqStop);
}
public static Vector2 SteerForce(AutonomousAgent2D agent, ArriveSensor2D sensor)
{
Vector2 desired = sensor.target - (Vector2)agent.transform.position;
float distanceToTarget = desired.magnitude;
desired.Normalize();
// Stop completely.
if (shouldStopSteering(distanceToTarget, sensor))
{
if (shouldStopCompletely(agent, sensor))
{
agent.rigid.velocity = Vector2.zero;
}
return(Vector2.zero);
}
// Slow down.
else if (shouldSlowDown(distanceToTarget, sensor))
{
float speed = agent.maxSpeed * (distanceToTarget / sensor.slowRadius);
desired *= speed;
}
// Full speed.
else
{
desired *= agent.maxSpeed;
}
return((desired - agent.rigid.velocity) * (1f / sensor.decelerationFactor));
}
public static Vector2 SteerForce(AutonomousAgent2D agent, Collider2D[] colliders, int totalCount, float detectionRadius)
{
Vector2 positionsSum = Vector2.zero;
Vector2 steering = Vector2.zero;
Vector2 agentPosition = agent.transform.position;
int count = 0;
float radiusSq = detectionRadius * detectionRadius;
for (int i = 0; i < totalCount; ++i)
{
var other = colliders[i].GetComponent <AutonomousAgent2D>();
if (other == agent)
{
continue;
}
if (agentPosition.WithinDistanceSq(other.transform.position, radiusSq))
{
count += 1;
positionsSum += (Vector2)other.transform.position;
}
}
if (count > 0)
{
// The center "mass".
Vector2 averagePosition = positionsSum / count;
return(Seek2D.SteerForce(averagePosition, agent));
}
return(Vector2.zero);
}
public static void DrawGizmos(Vector2 target, AutonomousAgent2D agent)
{
// Draw the arrow pointing to the target position.
DrawUtil.DrawArrow(agent.transform.position, target, Color.green, 0.8f);
// Emphasize the target position.
DrawUtil.DrawCircle(target, 0.15f, Color.green);
}
public static void DrawGizmos(AutonomousAgent2D agent, Vector2 target)
{
// Draw the arrow towards the target.
DrawUtil.DrawArrow(agent.transform.position, target, Color.green, 0.8f, true);
// Emphasize the fleeing position.
DrawUtil.DrawCircle(target, 0.15f, Color.green);
}
/// <summary>
/// If the agent should evade the target rigid.
/// </summary>
/// <param name="agent"></param>
/// <returns></returns>
public bool ShouldAvoid(AutonomousAgent2D agent)
{
if (avoid != null)
{
return(ShouldAvoid(Vector2.Distance(agent.transform.position, avoid.position)));
}
// If there is nothing to avoid, then no need to avoid.
return(false);
}
private void cacheAgent()
{
if (_agent == null)
{
_agent = GetComponent <AutonomousAgent2D>();
if (_agent == null)
{
throw new UnityException("Autonamous Agent not found!");
}
}
}
public static void DrawGizmos(AutonomousAgent2D agent, EvadeSensor2D sensor)
{
if (sensor.avoid != null)
{
if (sensor.bUseRange)
{
DrawUtil.DrawCircle(agent.transform.position, sensor.avoidRange, Color.red);
}
DrawUtil.DrawArrow(agent.transform.position, sensor.avoid.position, Color.green, 1f, true);
}
}
public static void DrawGizmos(AutonomousAgent2D agent, ArriveSensor2D sensor)
{
// Draw the slow radius
DrawUtil.DrawCircle(agent.transform.position, sensor.slowRadius, Color.green);
// Draw the stop radius
DrawUtil.DrawCircle(agent.transform.position, sensor.stopRadius, Color.green);
// Draw a line between the agent and its target.
DrawUtil.DrawArrow(agent.transform.position, sensor.target, Color.green, 1f);
// Draw the target position
DrawUtil.DrawCircle(sensor.target, 0.15f, Color.green);
}
public static Vector2 SteerForce(AutonomousAgent2D agent, Collider2D[] colliders, int totalCount, float detectionRadius)
{
Vector2 steering = Vector2.zero;
Vector2 agentPosition = agent.transform.position;
Vector2 agentVelocity = agent.rigid.velocity;
int count = 0;
for (int i = 0; i < totalCount; ++i)
{
var other = colliders[i].GetComponent <AutonomousAgent2D>();
if (other == agent)
{
continue;
}
Vector2 toAgent = agentPosition - (Vector2)other.transform.position;
float distance = toAgent.magnitude;
if (distance < detectionRadius)
{
count += 1;
// Force is inversely proportional to the distance to the other agent.
steering += toAgent.normalized / distance;
}
}
if (count > 0)
{
return((steering.normalized * agent.maxSpeed) - agentVelocity);
}
return(Vector2.zero);
}
public static Vector2 SteerForce(AutonomousAgent2D agent, Vector2 target)
{
Vector2 desired = ((Vector2)agent.transform.position - target).normalized * agent.maxSpeed;
return(desired - agent.rigid.velocity);
}
