public override SteeringOutput GetSteering()
{
// Create the structure to hold our output
SteeringOutput steering = new SteeringOutput();
// Get orientation to the target
float rotation = target.transform.eulerAngles.z - character.transform.eulerAngles.z;
// Map the result to the (-pi, pi) interval
rotation = MapToRange(rotation);
float rotationSize = Mathf.Abs(rotation);
// Check if we are there, return no steering
if (rotationSize < targetRadius)
{
steering.linear = Vector3.zero;
steering.angular = 0f;
return(steering);
}
// This is the orientation that we want to have
float targetRotation;
// If we are outside the slow radius, the go to max speed
if (rotationSize > slowRadius)
{
targetRotation = maxSpeed;
} // Otherwise calculate scaled orientation
else
{
targetRotation = maxSpeed * rotationSize / slowRadius;
}
// The final target rotation combines speed (already in the variable) and direction
targetRotation *= rotation / rotationSize;
// Get characters current orientation
IFollowable followable = character.GetComponent <IFollowable>();
float characterRotation = followable.GetRotation();
// Acceleration tries to get to the target orientation
steering.angular = targetRotation - characterRotation;
steering.angular /= timeToTarget;
// Check if the acceleration is too fast
float angularAcceleration = Mathf.Abs(steering.angular);
if (angularAcceleration > maxAcceleration)
{
steering.angular /= angularAcceleration;
steering.angular = steering.angular * maxAcceleration;
}
// Output the steering
steering.linear = Vector3.zero;
return(steering);
}
