public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
_positionTarget = _CurrentTarget.transform.position;
_velocityDesired = (_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
return(_velocityDesired - context._velocity);
}
public override void OnDrawGizmos(BehaviourContext context)
{
Support.DrawRay(context._position, context._velocity, Color.red);
Support.DrawRay(context._position, _velocityDesired, Color.blue);
UnityEditor.Handles.color = Color.black;
UnityEditor.Handles.DrawSolidDisc(_positionTarget, Vector3.up, 0.25f);
}
public override void start(BehaviourContext context)
{
base.start(context);
Debug.Log(FindColliderWithLayer(context._settings._hideLayer));
_colliders = FindColliderWithLayer(context._settings._hideLayer);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
_positionTarget = GameObject.Find("Priority Target").transform.position;
_positionTarget.y = context._position.y;
Vector3 stopVector = (context._position - _positionTarget).normalized * context._settings._arriveDistance;
Vector3 stopPosition = _positionTarget + stopVector;
Vector3 targetOffset = stopPosition - context._position;
float distance = targetOffset.magnitude;
float rampedSpeed = context._settings._maxDesiredVelocity * (distance / context._settings._slowingDistance);
float clippedSpeed = Mathf.Min(rampedSpeed, context._settings._maxDesiredVelocity);
if (distance > 0.001f)
{
_velocityDesired = (clippedSpeed / distance) * targetOffset;
}
else
{
_velocityDesired = Vector3.zero;
}
return(_velocityDesired - context._velocity);
}
public override void start(BehaviourContext context)
{
base.start(context);
waypointIndex = 0;
waypointPositions = GameObject.FindGameObjectsWithTag("Waypoint");
Debug.Log(waypointPositions.Length);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
Ray ray = new Ray(context._position, context._velocity);
_doAvoidObject = Physics.Raycast(ray, out RaycastHit hit, context._settings._avoidDistance, _obstacleLayer, QueryTriggerInteraction.Collide);
if (!_doAvoidObject)
{
return(Vector3.zero);
}
_hitPoint = hit.point;
_velocityDesired = (_hitPoint - hit.collider.transform.position).normalized * context._settings._avoidMaxForce;
float angle = Vector3.Angle(_velocityDesired, context._velocity);
if (angle > 179)
{
_velocityDesired = Vector3.Cross(Vector3.up, context._velocity);
}
_positionTarget = context._position + _velocityDesired;
return(_velocityDesired - context._velocity);
}
public Vector3 CalculateHidingPlace(BehaviourContext context, Collider collider, Vector3 enemy_Position)
{
Vector3 obstacleDirection = (collider.transform.position - enemy_Position).normalized;
Vector3 pointOtherSide = collider.transform.position + obstacleDirection;
Vector3 hidingPlace = collider.ClosestPoint(pointOtherSide) + (obstacleDirection * context._settings._hideOffset);
return(hidingPlace);
}
public override void OnDrawGizmos(BehaviourContext context)
{
base.OnDrawGizmos(context);
foreach (Vector3 hidingPlace in _hidingPlaces)
{
Support.DrawSolidSphere(hidingPlace, Color.blue, 0.25f);
}
Support.DrawWireSphere(_hidingPlace, Color.blue, 0.35f);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
var hitColliders = Physics.OverlapSphere(context._position, context._settings._AvoidRange, context._settings._SeekingObject);
Support.GetClosestEnemy(context._position, hitColliders);
_positionTarget = Support.GetClosestEnemy(context._position, hitColliders).gameObject.transform.position;
_velocityDesired = -(_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
return(_velocityDesired - context._velocity);
}
public Vector3 GetFuturePosition(float dt, BehaviourContext context)
{
// hier calculate je steeds de positions met een waarde van 1 of meer ertussen als ik het goed heb
_previousTargetPosition = _currentTargetPosition;
_currentTargetPosition = _positionTarget;
// hier reken je de directie van de Target uit
Vector3 targetVelocity = (_currentTargetPosition - _previousTargetPosition) / dt;
// hier bereken en geef je de waarde terug van waar hij heen moet
return(_currentTargetPosition + targetVelocity * context._settings._lookAheadTime);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
_wanderAngle += Random.Range(-0.5f * context._settings._wanderNoiseAngle * Mathf.Deg2Rad, 0.5f * context._settings._wanderNoiseAngle * Mathf.Deg2Rad);
Vector3 centerOfCircle = context._position + context._velocity.normalized * context._settings._wanderNoiseAngle;
Vector3 offset = new Vector3(context._settings._wanderCircleRadius * Mathf.Cos(_wanderAngle), 0.0f, context._settings._wanderCircleRadius * Mathf.Sin(_wanderAngle));
_positionTarget = centerOfCircle + offset;
_velocityDesired = (_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
return(_velocityDesired - context._velocity);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
//////////-----------------------------------------------------------------------------------------------------------
if (context._settings._followPathMode == SteeringSettings.FPM.Forwards)
{
if (waypointDistance < 2f)
{
waypointIndex++;
}
if (waypointIndex == waypointPositions.Length)
{
waypointIndex = 0;
}
_positionTarget = waypointPositions[waypointIndex].transform.position;
}
//////////-----------------------------------------------------------------------------------------------------------
if (context._settings._followPathMode == SteeringSettings.FPM.Backwards)
{
if (waypointDistance < 2f)
{
if (waypointIndex <= 0)
{
waypointIndex = waypointPositions.Length - 1;
}
else
{
waypointIndex--;
}
}
_positionTarget = waypointPositions[waypointIndex].transform.position;
}
//////////-----------------------------------------------------------------------------------------------------------
if (context._settings._followPathMode == SteeringSettings.FPM.Random)
{
if (waypointDistance < 2f)
{
waypointIndex = GetRandomWaypoint();
}
_positionTarget = waypointPositions[waypointIndex].transform.position;
}
waypointDistance = (waypointPositions[waypointIndex].transform.position - context._position).magnitude;
_velocityDesired = (_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
return(_velocityDesired - context._velocity);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
Vector3 requested_Direction = new Vector3(Input.GetAxisRaw("Horizontal"), 0f, Input.GetAxisRaw("Vertical"));
if (requested_Direction != Vector3.zero)
{
_positionTarget = context._position + requested_Direction.normalized * context._settings._maxDesiredVelocity;
}
else
{
_positionTarget = context._position;
}
_velocityDesired = (_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
return(_velocityDesired - context._velocity);
}
public Vector3 CalculateDesiredVelocity(BehaviourContext context)
{
Collider[] neighbors = Physics.OverlapSphere(context._position, _largestRadius, _flockLayer, QueryTriggerInteraction.Collide);
if (neighbors.Length == 0)
{
return(Vector3.zero);
}
FlockAlignment alignment = new FlockAlignment(context._settings._flockAlignmentRadius);
FlockCohesion cohesion = new FlockCohesion(context._settings._flockCohesionRadius);
FlockSeperation seperation = new FlockSeperation(context._settings._flockSeparationRadius);
foreach (Collider neighbor in neighbors)
{
if (neighbor == _myCollider)
{
continue;
}
Steering neighborSteering = neighbor.gameObject.GetComponent <Steering>();
if (neighborSteering == null)
{
Debug.LogError($"ERROR: Flock behaviour found neighbor in layer {context._settings._flocklayer} without steering script!");
continue;
}
Vector3 neighborDirection = neighborSteering._position - context._position;
float sqrDistance = neighborDirection.sqrMagnitude;
if (Vector3.Angle(_myCollider.transform.forward, neighborDirection) > context._settings._flockVisibilityAngle)
{
continue;
}
alignment.AddVelocity(sqrDistance, neighborSteering._velocity);
cohesion.AddPosition(sqrDistance, neighborSteering._position);
seperation.AddDirection(sqrDistance, neighborDirection);
}
Vector3 desiredVelocity = alignment.DesiredVelocity() * context._settings._flockAlignmentWeight +
cohesion.DesiredVelocity(context._position) * context._settings._flockCohesionWeight +
seperation.DesiredVelocity() * context._settings._flockSeparationWeight;
return(desiredVelocity.normalized * context._settings._maxDesiredVelocity);
}
public override void start(BehaviourContext context)
{
base.start(context);
_flockLayer = LayerMask.GetMask(context._settings._flocklayer);
if (context._settings._flockAlignmentWeight > 0.0f)
{
_largestRadius = Mathf.Max(_largestRadius, context._settings._flockAlignmentRadius);
}
if (context._settings._flockAlignmentWeight > 0.0f)
{
_largestRadius = Mathf.Max(_largestRadius, context._settings._flockCohesionRadius);
}
if (context._settings._flockAlignmentWeight > 0.0f)
{
_largestRadius = Mathf.Max(_largestRadius, context._settings._flockSeparationRadius);
}
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
var hitColliders = Physics.OverlapSphere(context._position, context._settings._lookRange, context._settings._SeekingObject);
var _closestTarget = Support.GetClosestEnemy(context._position, hitColliders);
if (hitColliders != null && _closestTarget != null)
{
_positionTarget = _closestTarget.transform.position;
}
else
{
_positionTarget = context._position;
}
_positionTarget = GetFuturePosition(dt, context);
_positionTarget.y = context._position.y;
_velocityDesired = (_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
return(_velocityDesired - context._velocity);
}
public Vector3 CalculateHidingPlace(BehaviourContext context, Vector3 enemy_Position)
{
float closestDistanceSqr = float.MaxValue;
_hidingPlace = context._position;
_hidingPlaces = new HideList();
for (int i = 0; i < _colliders.Count; i++)
{
Vector3 hidingPlace = CalculateHidingPlace(context, _colliders[i], enemy_Position);
_hidingPlaces.Add(hidingPlace);
float distanceToHidingPlace = (context._position - hidingPlace).sqrMagnitude;
if (distanceToHidingPlace < closestDistanceSqr)
{
closestDistanceSqr = distanceToHidingPlace;
_hidingPlace = hidingPlace;
}
}
return(_hidingPlace);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
float distance = (_positionTarget - context._position).magnitude;
if (Input.GetMouseButtonDown(0))
{
if (Physics.Raycast(Camera.main.ScreenPointToRay(Input.mousePosition), out RaycastHit hit))
{
_positionTarget = hit.point;
_positionTarget.y = context._position.y;
}
}
if (distance < context._settings._arriveDistance)
{
_velocityDesired = Vector3.zero;
}
else
{
_velocityDesired = (_positionTarget - context._position).normalized * context._settings._maxDesiredVelocity;
}
return(_velocityDesired - context._velocity);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
_positionTarget = context._position + dt * context._velocity;
_velocityDesired = Vector3.zero;
return(_velocityDesired - context._velocity);
}
public override Vector3 CalculateSteeringForce(float dt, BehaviourContext context)
{
_velocityDesired = CalculateDesiredVelocity(context);
_positionTarget = context._position + _velocityDesired * dt;
return(_velocityDesired - context._velocity);
}
public override void start(BehaviourContext context)
{
base.start(context);
_obstacleLayer = LayerMask.GetMask(context._settings._avoidLayer);
}
public virtual void start(BehaviourContext context)
{
_positionTarget = context._position;
}
public override void start(BehaviourContext context)
{
base.start(context);
}
public override void OnDrawGizmos(BehaviourContext context)
{
Support.DrawSolidSphere(_positionTarget, Color.black, 0.25f);
}
public abstract Vector3 CalculateSteeringForce(float dt, BehaviourContext context);
public virtual void OnDrawGizmos(BehaviourContext context)
{
Support.DrawRay(context._position, _velocityDesired, Color.red);
}
//----------------------------------------------------------------------------------------------------------------------//
//de point seek doet het niet echt goed omdat hij in een fixedupdate zit
//----------------------------------------------------------------------------------------------------------------------//
public override void start(BehaviourContext context)
{
base.start(context);
context._position = _positionTarget;
Debug.Log(context._position);
}
public override void OnDrawGizmos(BehaviourContext context)
{
Support.DrawWireSphere(context._position, Color.red, context._settings._AvoidRange);
}
public override void OnDrawGizmos(BehaviourContext context)
{
Support.DrawCurrentDestiny(_positionTarget, Color.blue);
Support.DrawCircle(context._position, Color.white, context._settings._lookRange);
}
