// Start is called before the first frame update
void Start()
{
myMoveType = new FollowPath();
myMoveType.character = this;
myMoveType.path = myPath;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
// Start is called before the first frame update
void Start()
{
myMoveType = new Seek();
myMoveType.character = this;
myMoveType.target = myTarget;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
void Start()
{
myMoveType = new AvoidCollision();
myMoveType.myCharacter = this;
myMoveType.myTargets = myTargets;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
// Start is called before the first frame update
void Start()
{
myMoveType = new Pursue();
myMoveType.character = this;
myMoveType.target = myTarget;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
character = GetComponent <ThirdPersonCharacter>();
}
// Start is called before the first frame update
void Start()
{
myMoveType = new ObstacleAvoidance();
myMoveType.character = this;
myMoveType.target = myTarget;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
// Start is called before the first frame update
void Start()
{
nodes = GameObject.FindGameObjectsWithTag("Node");
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
myMoveType = new PathFollow();
myMoveType.character = this;
getPath();
}
// Start is called before the first frame update
void Start()
{
batter = FindObjectOfType <PathFollower>();
myMoveType = new Arrive();
myMoveType.character = this;
myMoveType.target = myTarget;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
private void Awake()
{
steering = new BlendedSteering();
//Create behaviors to go into the bird
Arrive arriveAI = new Arrive();
arriveAI.character = GetComponent <Kinematic>();
arriveAI.target = arriveTarget;
Seperation seperateAI = new Seperation();
seperateAI.character = GetComponent <Kinematic>();
GameObject[] allBirds = GameObject.FindGameObjectsWithTag("bird");
Kinematic[] allOtherBirdKinematics = new Kinematic[allBirds.Length];
int j = 0;
foreach (GameObject bird in allBirds)
{
if (bird != this)
{
allOtherBirdKinematics[j] = bird.GetComponent <Kinematic>();
j++;
}
else
{
Debug.Log("caught myself");
}
}
seperateAI.targets = allOtherBirdKinematics;
LookWhereGoing lookAI = new LookWhereGoing();
lookAI.character = GetComponent <Kinematic>();
//Set up the blended steering array
//We need three for Seperation, Arrive, and LookWhereGoing
steering.behaviors = new BehaviorAndWeight[3];
steering.behaviors[0] = new BehaviorAndWeight();
steering.behaviors[1] = new BehaviorAndWeight();
steering.behaviors[2] = new BehaviorAndWeight();
//Assign the specific behaviors
steering.behaviors[0].behavior = arriveAI;
steering.behaviors[1].behavior = seperateAI;
steering.behaviors[2].behavior = lookAI;
//Now set the weight of each behavior
steering.behaviors[0].weight = 1f;
steering.behaviors[1].weight = 20f;
steering.behaviors[2].weight = 4f;
}
void Start()
{
// Separate from other birds
Separation separate = new Separation();
separate.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("bird");
kBirds = new GameObject[goBirds.Length - 1];
int j = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
kBirds[j++] = goBirds[i];
}
separate.targets = kBirds;
// Cohere to center of mass - ez mode
Seek cohere = new Seek();
cohere.character = this;
cohere.target = myCohereTarget;
Pursue pursue = new Pursue();
pursue.character = this;
pursue.target = myTarget;
// look where center of mass is going - ez mode
LookWhereGoing myRotateType = new LookWhereGoing();
myRotateType.character = this;
mySteering = new BlendedSteering();
mySteering.behaviors = new BehaviorAndWeight[4];
mySteering.behaviors[0] = new BehaviorAndWeight();
mySteering.behaviors[0].behavior = separate;
mySteering.behaviors[0].weight = .2f;
mySteering.behaviors[1] = new BehaviorAndWeight();
mySteering.behaviors[1].behavior = cohere;
mySteering.behaviors[1].weight = .3f;
mySteering.behaviors[2] = new BehaviorAndWeight();
mySteering.behaviors[2].behavior = pursue;
mySteering.behaviors[2].weight = .5f;
mySteering.behaviors[3] = new BehaviorAndWeight();
mySteering.behaviors[3].behavior = myRotateType;
mySteering.behaviors[3].weight = 1f;
}
//public bool needArrive = false;
// Start is called before the first frame update
void Start()
{
myMoveType = new FollowPath();
myMoveType.character = this;
myMoveType.wayPts = myWayPts;
myArriveType = new Arrive();
myArriveType.character = this;
myArriveType.target = myWayPts[myMoveType.wayPts.Length - 1].gameObject;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
// Start is called before the first frame update
protected virtual void Start()
{
arrive = new Arrive();
look = new LookWhereGoing();
seperate = new Seperation();
avoid = new ObstacleAvoidance();
flockGroups = new BlendedSteering[3];
arrive.target = target;
arrive.ai = this;
look.target = target;
look.ai = this;
seperate.ai = this;
avoid.ai = this;
AbstractKinematic[] kBirds;
GameObject[] birds = GameObject.FindGameObjectsWithTag("Bird");
kBirds = new AbstractKinematic[birds.Length - 1];
int j = 0;
for (int i = 0; i < birds.Length - 1; i++)
{
if (birds[i] == this)
{
continue;
}
kBirds[j++] = birds[i].GetComponent <AbstractKinematic>();
}
seperate.targets = kBirds;
InitializePriorityOne();
InitializePriorityTwo();
InitializePriorityThree();
/*
* flocking.behaviors = new BehaviorAndWeight[3];
* BehaviorAndWeight behavior1 = new BehaviorAndWeight();
* behavior1.behavior = arrive;
* behavior1.weight = 100f;
* flocking.behaviors[0] = behavior1;
* BehaviorAndWeight behavior2 = new BehaviorAndWeight();
* behavior2.behavior = look;
* behavior2.weight = 1f;
* flocking.behaviors[1] = behavior2;
* BehaviorAndWeight behavior3 = new BehaviorAndWeight();
* behavior3.behavior = seperate;
* behavior3.weight = 20f;
* flocking.behaviors[2] = behavior3;
*/
}
// Update is called once per frame
void Update()
{
//update position and rotation
transform.position += linearVelocity * Time.deltaTime;
transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
//update linear and angular velocities
switch (mode)
{
case 0:
Align myAlign = new Align();
myAlign.character = this;
myAlign.target = target;
steering = myAlign.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
Debug.Log("Align");
break;
case 1:
Face myFace = new Face();
myFace.character = this;
myFace.target = target;
steering = myFace.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
Debug.Log("Face");
break;
case 2:
LookWhereGoing myLook = new LookWhereGoing();
myLook.character = this;
myLook.target = target;
steering = myLook.getSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
Debug.Log("Look");
break;
}
}
// Start is called before the first frame update
void Start()
{
myMoveType = new AvoidObstacle();
myMoveType.character = this;
myMoveType.target = myTarget;
myMoveType.flee = flee;
mySeekRotateType = new Face();
mySeekRotateType.character = this;
mySeekRotateType.target = myTarget;
myFleeRotateType = new LookWhereGoing();
myFleeRotateType.character = this;
myFleeRotateType.target = myTarget;
}
void Start()
{
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
if (gameObject.name == "Pathfinder01")
{
optimalPath();
}
if (gameObject.name == "Pathfinder02")
{
weightedPath();
}
}
// Start is called before the first frame update
void Start()
{
myMoveType = new Pursue();
myMoveType.character = this;
myMoveType.target = myTarget;
myMoveType.evade = evade;
myPursueRotateType = new Face();
myPursueRotateType.character = this;
myPursueRotateType.target = myTarget;
myEvadeRotateType = new LookWhereGoing();
myEvadeRotateType.character = this;
myEvadeRotateType.target = myTarget;
}
// Start is called before the first frame update
void Start()
{
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
Graph myGraph = new Graph();
myGraph.nodes = graphNode;
myGraph.buildGraph();
path = d.pathfindDijkstra(myGraph, start, goal);
path.Add(new Graph.Connection(goal, start));
myMoveType = new FollowPath();
myMoveType.targets = path;
myMoveType.character = this;
}
// Start is called before the first frame update
protected virtual void Start()
{
mySeek = new Seek();
mySeek.character = this;
mySeek.target = target;
myFlee = new Flee();
myFlee.character = this;
myFlee.target = target;
myArrv = new Arrive();
myArrv.character = this;
myArrv.target = target;
myAlgn = new Align();
myAlgn.character = this;
myAlgn.target = target;
myFace = new Face();
myFace.character = this;
myFace.target = target;
myLWYG = new LookWhereGoing();
myLWYG.character = this;
myLWYG.target = target;
myFPth = new FollowPathDemo();
myFPth.character = this;
myFPth.path = waypointList;
mySepr = new Separation();
mySepr.character = this;
myPrsu = new Pursue();
myPrsu.character = this;
myPrsu.target = target;
myClAv = new CollAvoid();
myClAv.character = this;
myClAv.targets = collAvoidTargets;
myObAv = new ObstAvoid();
myObAv.character = this;
controlledSteeringUpdate = new SteeringOutput();
}
void StandardBehavior()
{
UpdatePositionRotation();
if (myTarget != null)
{
Arrive arrive = new Arrive();
arrive.character = this;
arrive.target = myTarget;
SteeringOutput arriveSteering = arrive.getSteering();
if (arriveSteering != null)
{
linearVelocity += arriveSteering.linear * Time.deltaTime;
//angularVelocity += arriveSteering.angular * Time.deltaTime;
}
}
if (lookWhereGoing == true)
{
LookWhereGoing face = new LookWhereGoing();
face.character = this;
face.target = faceTarget;
SteeringOutput lookSteering = face.getSteering();
if (lookSteering != null)
{
//linearVelocity += lookSteering.linear * Time.deltaTime;
angularVelocity += lookSteering.angular * Time.deltaTime;
}
return;
}
if (faceTarget != null)
{
Face face = new Face();
face.character = this;
face.target = faceTarget;
SteeringOutput lookSteering = face.getSteering();
if (lookSteering != null)
{
//linearVelocity += lookSteering.linear * Time.deltaTime;
angularVelocity += lookSteering.angular * Time.deltaTime;
}
}
}
void RotAI(int mode)
{
switch (mode)
{
case 0:
Align myAlign = new Align();
myAlign.character = this;
myAlign.target = target;
steering = myAlign.getSteering();
if (steering != null)
{
angularVelocity += steering.angular * Time.deltaTime;
}
Debug.Log("Align");
break;
case 1:
Face myFace = new Face();
myFace.character = this;
myFace.target = target;
steering = myFace.getSteering();
if (steering != null)
{
angularVelocity += steering.angular * Time.deltaTime;
}
Debug.Log("Face");
break;
case 2:
LookWhereGoing myLook = new LookWhereGoing();
myLook.character = this;
myLook.target = target;
steering = myLook.getSteering();
if (steering != null)
{
angularVelocity += steering.angular * Time.deltaTime;
}
Debug.Log("Look");
break;
}
}
// Start is called before the first frame update
void Start()
{
if (start == null)
{
start = GameObject.Find("node__Instance1").GetComponent <Node>();
}
if (goal == null)
{
goal = GameObject.Find("node__Instance100").GetComponent <Node>();
}
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = target;
Graph myGraph = new Graph();
myGraph.Build();
List <Connection> path = Dijkstra.pathfind(myGraph, start, goal);
// path is a list of connections - convert this to gameobjects for the FollowPath steering behavior
myPath = new GameObject[path.Count + 1];
int i = 0;
foreach (Connection c in path)
{
Debug.Log("from " + c.getFromNode() + " to " + c.getToNode() + " @" + c.getCost());
myPath[i] = c.getFromNode().gameObject;
i++;
}
myPath[i] = goal.gameObject;
myMoveType = new FollowPathDemo();
myMoveType.character = this;
myMoveType.path = myPath;
}
// Start is called before the first frame update
void Start()
{
mySeek = new Seek();
mySeek.character = this;
mySeek.target = target;
myFlee = new Flee();
myFlee.character = this;
myFlee.target = target;
myArrv = new Arrive();
myArrv.character = this;
myArrv.target = target;
myAlgn = new Align();
myAlgn.character = this;
myAlgn.target = target;
myFace = new Face();
myFace.character = this;
myFace.target = target;
myLWYG = new LookWhereGoing();
myLWYG.character = this;
myLWYG.target = target;
myFPth = new FollowPathDemo();
myFPth.character = this;
myFPth.path = waypointList;
mySepr = new Separation();
mySepr.character = this;
myPrsu = new Pursue();
myPrsu.character = this;
myPrsu.target = target;
}
void Update()
{
SteeringOutput myMovement = path.GetSteering();
LookWhereGoing look = new LookWhereGoing();
look.target = path.target;
look.ai = this;
SteeringOutput mySteering = look.GetSteering();
linearVelocity += myMovement.linear * Time.deltaTime;
transform.position += linearVelocity * Time.deltaTime;
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
/*
* angularVelocity += mySteering.angular * Time.deltaTime;
* if (float.IsNaN(angularVelocity))
* angularVelocity = 0;
* transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
*/
}
void Start()
{
// Separate from other birds
Separation separate = new Separation();
separate.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("bird");
kBirds = new Kinematic[goBirds.Length - 1];
int j = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
kBirds[j++] = goBirds[i].GetComponent <Kinematic>();
}
separate.targets = kBirds;
// Cohere to center of mass - ez mode
Arrive cohere = new Arrive();
cohere.character = this;
cohere.target = myCohereTarget;
// look where center of mass is going - ez mode
LookWhereGoing myRotateType = new LookWhereGoing();
myRotateType.character = this;
mySteering = new BlendedSteering();
mySteering.behaviors = new BehaviorAndWeight[3];
mySteering.behaviors[0] = new BehaviorAndWeight();
mySteering.behaviors[0].behavior = separate;
mySteering.behaviors[0].weight = 1f; //3
mySteering.behaviors[1] = new BehaviorAndWeight();
mySteering.behaviors[1].behavior = cohere;
mySteering.behaviors[1].weight = 1f; //.5
mySteering.behaviors[2] = new BehaviorAndWeight();
mySteering.behaviors[2].behavior = myRotateType;
mySteering.behaviors[2].weight = 1f;
// set up prioritysteering
ObstacleAvoidance myAvoid = new ObstacleAvoidance();
myAvoid.character = this;
myAvoid.target = myCohereTarget;
myAvoid.flee = true; // otherwise I seek to the obstacle
BlendedSteering myHighPrioritySteering = new BlendedSteering();
myHighPrioritySteering.behaviors = new BehaviorAndWeight[1];
myHighPrioritySteering.behaviors[0] = new BehaviorAndWeight();
myHighPrioritySteering.behaviors[0].behavior = myAvoid;
myHighPrioritySteering.behaviors[0].weight = 1f;
myAdvancedSteering = new PrioritySteering();
myAdvancedSteering.groups = new BlendedSteering[2];
myAdvancedSteering.groups[0] = new BlendedSteering();
myAdvancedSteering.groups[0] = myHighPrioritySteering;
myAdvancedSteering.groups[1] = new BlendedSteering();
myAdvancedSteering.groups[1] = mySteering;
}
void MainSteeringBehaviors()
{
ResetOrientation();
switch (choiceOfBehavior)
{
case SteeringBehaviors.Seek:
Seek seek = new Seek();
seek.character = this;
seek.target = newTarget;
SteeringOutput seeking = seek.getSteering();
if (seeking != null)
{
linear += seeking.linear * Time.deltaTime;
angular += seeking.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Flee:
Flee flee = new Flee();
flee.character = this;
flee.target = newTarget;
SteeringOutput fleeing = flee.getSteering();
if (fleeing != null)
{
linear += fleeing.linear * Time.deltaTime;
angular += fleeing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Align:
Align align = new Align();
align.character = this;
align.target = newTarget;
SteeringOutput aligning = align.getSteering();
if (aligning != null)
{
linear += aligning.linear * Time.deltaTime;
angular += aligning.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Face:
Face face = new Face();
face.character = this;
face.target = newTarget;
SteeringOutput facing = face.getSteering();
if (facing != null)
{
linear += facing.linear * Time.deltaTime;
angular += facing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.LookWhereGoing:
LookWhereGoing look = new LookWhereGoing();
look.character = this;
look.target = newTarget;
SteeringOutput looking = look.getSteering();
if (looking != null)
{
linear += looking.linear * Time.deltaTime;
angular += looking.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Arrive:
Arrive arrive = new Arrive();
arrive.character = this;
arrive.target = newTarget;
SteeringOutput arriving = arrive.getSteering();
if (arriving != null)
{
linear += arriving.linear * Time.deltaTime;
angular += arriving.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.PathFollow:
follow.character = this;
lookwg.character = this;
follow.path = myPath;
lookwg.target = newTarget;
SteeringOutput following = follow.getSteering();
SteeringOutput lookingwg = lookwg.getSteering();
if (following != null)
{
linear += following.linear * Time.deltaTime;
// angular += lookingwg.angular* Time.deltaTime;
}
break;
case SteeringBehaviors.Pursue:
Pursue pursue = new Pursue();
LookWhereGoing PursuelookWhereGoing = new LookWhereGoing();
pursue.character = this;
PursuelookWhereGoing.character = this;
pursue.target = newTarget;
PursuelookWhereGoing.target = newTarget;
SteeringOutput pursuing = pursue.getSteering();
SteeringOutput pursuelookingWhereGoing = PursuelookWhereGoing.getSteering();
if (pursuing != null)
{
if (pursuing.linear.magnitude <= maxSpeed)
{
linear += pursuing.linear * Time.deltaTime;
}
angular += pursuing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Separate:
Separation separate = new Separation();
LookWhereGoing lookWhereGoing = new LookWhereGoing();
separate.character = this;
lookWhereGoing.character = this;
separate.targets = targets;
lookWhereGoing.target = newTarget;
SteeringOutput lookingWhereGoing = lookWhereGoing.getSteering();
SteeringOutput separating = separate.getSteering();
if (separating != null)
{
linear += separating.linear * Time.deltaTime;
angular += separating.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.CollisionAvoidance:
CollisionAvoidance avoid = new CollisionAvoidance();
LookWhereGoing AvoidlookWhereGoing = new LookWhereGoing();
avoid.character = this;
AvoidlookWhereGoing.character = this;
avoid.targets = targets;
AvoidlookWhereGoing.target = newTarget;
SteeringOutput AvoidlookingWhereGoing = AvoidlookWhereGoing.getSteering();
SteeringOutput avoiding = avoid.getSteering();
if (avoiding != null)
{
linear += avoiding.linear * Time.deltaTime;
angular += avoiding.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.ObstacleAvoidance:
ObstacleAvoidance obAvoid = new ObstacleAvoidance();
LookWhereGoing obAvoidlookWhereGoing = new LookWhereGoing();
obAvoid.character = this;
obAvoidlookWhereGoing.character = this;
obAvoid.target = newTarget;
obAvoidlookWhereGoing.target = newTarget;
SteeringOutput obAvoiding = obAvoid.getSteering();
SteeringOutput obAvoidlookingWhereGoing = obAvoidlookWhereGoing.getSteering();
if (obAvoiding != null)
{
if (obAvoiding.linear.magnitude <= maxSpeed)
{
linear += obAvoiding.linear * Time.deltaTime;
}
angular += obAvoiding.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Flocking:
Separation sepFlock = new Separation();
Arrive arriveFlock = new Arrive();
LookWhereGoing lwgFlock = new LookWhereGoing();
BlendedSteering mySteering = new BlendedSteering();
Kinematic[] kBirds;
sepFlock.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("Pengu");
kBirds = new Kinematic[goBirds.Length - 1];
int j = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
goBirds[i].GetComponent <Animator>().SetInteger("Walk", 1);
kBirds[j++] = goBirds[i].GetComponent <Kinematic>();
}
sepFlock.targets = kBirds;
arriveFlock.character = this;
//Debug.Log(arriveFlock.character);
arriveFlock.target = newTarget;
//Debug.Log(arriveFlock.target);
lwgFlock.character = this;
lwgFlock.target = newTarget;
mySteering.behaviors = new BehaviorAndWeight[3];
mySteering.behaviors[0] = new BehaviorAndWeight();
mySteering.behaviors[0].behavior = sepFlock;
mySteering.behaviors[0].weight = 1f;
mySteering.behaviors[1] = new BehaviorAndWeight();
mySteering.behaviors[1].behavior = arriveFlock;
mySteering.behaviors[1].weight = 1f;
mySteering.behaviors[2] = new BehaviorAndWeight();
mySteering.behaviors[2].behavior = lwgFlock;
mySteering.behaviors[2].weight = 1f;
ObstacleAvoidance myAvoid = new ObstacleAvoidance();
myAvoid.character = this;
myAvoid.target = newTarget;
myAvoid.flee = true;
BlendedSteering myHighPrioritySteering = new BlendedSteering();
myHighPrioritySteering.behaviors = new BehaviorAndWeight[1];
myHighPrioritySteering.behaviors[0] = new BehaviorAndWeight();
myHighPrioritySteering.behaviors[0].behavior = myAvoid;
myHighPrioritySteering.behaviors[0].weight = 0.1f;
myAdvancedSteering.groups = new BlendedSteering[2];
myAdvancedSteering.groups[0] = new BlendedSteering();
myAdvancedSteering.groups[0] = myHighPrioritySteering;
myAdvancedSteering.groups[1] = new BlendedSteering();
myAdvancedSteering.groups[1] = mySteering;
//steeringUpdate = mySteering.getSteering();
avoidObstacles = true;
if (!avoidObstacles)
{
steeringUpdate = mySteering.getSteering();
if (steeringUpdate != null)
{
linear += steeringUpdate.linear * Time.deltaTime;
angular += steeringUpdate.angular * Time.deltaTime;
}
}
else
{
steeringUpdate = myAdvancedSteering.getSteering();
if (steeringUpdate != null)
{
linear += steeringUpdate.linear * Time.deltaTime;
angular += steeringUpdate.angular * Time.deltaTime;
}
}
break;
case SteeringBehaviors.PathFinder:
SteeringOutput lwyger = myRotateType.getSteering();
linear += myMoveType.getSteering().linear *Time.deltaTime;
angular += myMoveType.getSteering().angular *Time.deltaTime;
break;
}
}
void MainSteeringBehaviors()
{
ResetOrientation();
switch (choiceOfBehavior)
{
case steeringBehaviors.Seek:
Seek seek = new Seek();
seek.character = this;
seek.target = newTarget;
SteeringOutput seeking = seek.getSteering();
if (seeking != null)
{
linearVelocity += seeking.linearVelocity * Time.deltaTime;
angularVelocity += seeking.angularVelocity * Time.deltaTime;
}
break;
case steeringBehaviors.Flee:
Flee flee = new Flee();
flee.character = this;
flee.target = newTarget;
SteeringOutput fleeing = flee.getSteering();
if (fleeing != null)
{
linearVelocity += fleeing.linearVelocity * Time.deltaTime;
angularVelocity += fleeing.angularVelocity * Time.deltaTime;
}
break;
case steeringBehaviors.Align:
Align align = new Align();
align.character = this;
align.target = newTarget;
SteeringOutput aligning = align.getSteering();
if (aligning != null)
{
linearVelocity += aligning.linearVelocity * Time.deltaTime;
angularVelocity += aligning.angularVelocity * Time.deltaTime;
}
break;
case steeringBehaviors.Face:
Face face = new Face();
face.character = this;
face.target = newTarget;
SteeringOutput facing = face.getSteering();
if (facing != null)
{
linearVelocity += facing.linearVelocity * Time.deltaTime;
angularVelocity += facing.angularVelocity * Time.deltaTime;
}
break;
case steeringBehaviors.LookWhereGoing:
LookWhereGoing look = new LookWhereGoing();
look.character = this;
look.target = newTarget;
SteeringOutput looking = look.getSteering();
if (looking != null)
{
linearVelocity += looking.linearVelocity * Time.deltaTime;
angularVelocity += looking.angularVelocity * Time.deltaTime;
}
break;
case steeringBehaviors.Arrive:
Arrive arrive = new Arrive();
arrive.character = this;
arrive.target = newTarget;
SteeringOutput arriving = arrive.getSteering();
if (arriving != null)
{
linearVelocity += arriving.linearVelocity * Time.deltaTime;
angularVelocity += arriving.angularVelocity * Time.deltaTime;
}
break;
}
}
// Update is called once per frame
void Update()
{
//Debug.Log(target);
// Check distance to see if steering behavior should be applied to AI
// float targetDist = (transform.position - target.transform.position).magnitude;
// if (!DistanceActivation || targetDist >= activationRange) { }
transform.position += linearVelocity * Time.deltaTime;
// adding angular velocity to current transform rotation y component
if (float.IsNaN(angularVelocity))
{
angularVelocity = 0;
}
transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
// control to switch to proper steering behavior
if (avoidObstacles)
{
ObstacleAvoidance avoid = new ObstacleAvoidance();
avoid.ai = this;
SteeringOutput avoidForce = avoid.GetSteering();
if (avoidForce != null)
{
linearVelocity += avoidForce.linear;
}
}
if (seperationObstacles.Length > 0)
{
Seperation seperation = new Seperation();
seperation.targets = seperationObstacles;
seperation.ai = this;
SteeringOutput seperateForce = seperation.GetSteering();
// check to see if steering is greater than zero and lock out control from other steering
if (seperateForce.linear.magnitude > 0)
{
seperating = true;
}
else
{
seperating = false;
}
linearVelocity += seperateForce.linear * Time.deltaTime;
}
if (collisionAvoidance.Length > 0)
{
CollisionAvoidance avoidKinematic = new CollisionAvoidance();
avoidKinematic.ai = this;
avoidKinematic.targets = collisionAvoidance;
SteeringOutput avoidKinematicForce = avoidKinematic.GetSteering();
if (avoidKinematicForce != null)
{
linearVelocity += avoidKinematicForce.linear;
}
}
switch (movementType)
{
case "seek":
Seek mySeek = new Seek();
mySeek.ai = this;
// if seek is false set seek property on class to false to activate flee
mySeek.seek = true;
mySeek.target = target;
SteeringOutput steeringSeek = mySeek.GetSteering();
if (!seperating)
{
linearVelocity += steeringSeek.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "flee":
Seek myFlee = new Seek();
myFlee.ai = this;
// if seek is false set seek property on class to false to activate flee
myFlee.seek = false;
myFlee.target = target;
SteeringOutput steeringFlee = myFlee.GetSteering();
if (!seperating)
{
linearVelocity += steeringFlee.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "arrive":
Arrive myArrive = new Arrive();
myArrive.ai = this;
myArrive.target = target;
SteeringOutput steeringArrive = myArrive.GetSteering();
if (!seperating)
{
linearVelocity += steeringArrive.linear * Time.deltaTime;
}
break;
case "pursue":
Pursue myPursue = new Pursue();
myPursue.ai = this;
myPursue.target = target;
SteeringOutput steeringPursue = myPursue.GetSteering();
if (!seperating)
{
linearVelocity += steeringPursue.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "evade":
Pursue myEvade = new Pursue();
myEvade.ai = this;
myEvade.target = target;
// This changes the seek flag in the parent Seek class of Pursue, sending it the flee vector instead
myEvade.seek = false;
SteeringOutput steeringEvade = myEvade.GetSteering();
if (!seperating)
{
linearVelocity += steeringEvade.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
default:
// provide no input
break;
// If obstacles have been provided, return steering to seperate from them
}
switch (rotationType)
{
case "face":
Face myFace = new Face();
myFace.ai = this;
myFace.target = target;
SteeringOutput steeringFace = myFace.GetSteering();
if (steeringFace != null)
{
// linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringFace.angular * Time.deltaTime;
}
break;
case "align":
Align myAlign = new Align();
myAlign.ai = this;
myAlign.target = target;
SteeringOutput steeringAlign = myAlign.GetSteering();
if (steeringAlign != null)
{
//linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringAlign.angular * Time.deltaTime;
}
break;
case "look":
LookWhereGoing myLook = new LookWhereGoing();
myLook.ai = this;
myLook.target = target;
SteeringOutput steeringLook = myLook.GetSteering();
if (steeringLook != null)
{
//linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringLook.angular * Time.deltaTime;
}
break;
default:
//provide no input
break;
}
}
// Update is called once per frame
void Update()
{
transform.position += linearVelocity * Time.deltaTime;
// adding angular velocity to current transform rotation y component
if (float.IsNaN(angularVelocity))
{
angularVelocity = 0;
}
transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
//dynamicSteering steering = new Seek();
// control to switch to proper steering behavior
if (!arrive)
{
Seek mySeek = new Seek();
mySeek.ai = this;
// if seek is false set seek property on class to false to activate flee
if (!seek)
{
mySeek.seek = false;
}
else
{
mySeek.seek = true;
}
mySeek.target = target;
SteeringOutput steering = mySeek.GetSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
}
else
{
Arrive myArrive = new Arrive();
myArrive.ai = this;
myArrive.target = target;
SteeringOutput steering = myArrive.GetSteering();
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
if (align)
{
Align myAlign = new Align();
myAlign.ai = this;
myAlign.target = target;
SteeringOutput steering = myAlign.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
if (lookWhereGoing && !align && !face)
{
LookWhereGoing myLook = new LookWhereGoing();
myLook.ai = this;
myLook.target = target;
SteeringOutput steering = myLook.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
else
{
Debug.Log("Returning Null");
}
}
if (!lookWhereGoing && !align && face)
{
Face myFace = new Face();
myFace.ai = this;
myFace.target = target;
SteeringOutput steering = myFace.GetSteering();
if (steering != null)
{
linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steering.angular * Time.deltaTime;
}
}
}
private void Start()
{
//Separate
Separation separation = new Separation();
separation.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("Bee");
kBirds = new Kinematic[goBirds.Length - 1];
int a = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
kBirds[a++] = goBirds[i].GetComponent <Kinematic>();
}
separation.targets = kBirds;
//Cohere
Arrive cohere = new Arrive();
cohere.character = this;
cohere.target = myCohereTarget;
//Rotate
LookWhereGoing myRotateType = new LookWhereGoing();
myRotateType.character = this;
blendedSteering = new BlendedSteering();
blendedSteering.behaviors = new WeightedBehavior[3];
blendedSteering.behaviors[0] = new WeightedBehavior();
blendedSteering.behaviors[0].behavior = separation;
blendedSteering.behaviors[0].weight = 1f;
blendedSteering.behaviors[1] = new WeightedBehavior();
blendedSteering.behaviors[1].behavior = cohere;
blendedSteering.behaviors[1].weight = 1f;
blendedSteering.behaviors[2] = new WeightedBehavior();
blendedSteering.behaviors[2].behavior = myRotateType;
blendedSteering.behaviors[2].weight = 1f;
//Priority Arbitration
AvoidObstacle avoid = new AvoidObstacle();
avoid.character = this;
avoid.target = myCohereTarget;
avoid.flee = false;
BlendedSteering prioritySteering = new BlendedSteering();
prioritySteering.behaviors = new WeightedBehavior[1];
prioritySteering.behaviors[0] = new WeightedBehavior();
prioritySteering.behaviors[0].behavior = avoid;
prioritySteering.behaviors[0].weight = 1f;
advancedSteering = new PrioritySteering();
advancedSteering.myGroups = new BlendedSteering[2];
advancedSteering.myGroups[0] = new BlendedSteering();
advancedSteering.myGroups[0] = prioritySteering;
advancedSteering.myGroups[1] = new BlendedSteering();
advancedSteering.myGroups[1] = blendedSteering;
}
void Start()
{
///Setup behaviours and BlendSteer for general flocking
#region General Flocking
///Start Separation
//Separate from others and not self
Separation _separate = new Separation();
_separate.character = this;
GameObject[] _goBirds = GameObject.FindGameObjectsWithTag("birds");
relevantBirds = new GameObject[_goBirds.Length - 1];
int _relevantBirdCount = 0;
for (int _bird = 0; _bird < _goBirds.Length - 1; _bird++)
{
if (_goBirds[_bird] == this)
{
//Ignore self for separation
continue;
}
///Else separate from them
relevantBirds[_relevantBirdCount++] = _goBirds[_bird];
}
_separate.neighborhood = relevantBirds;
///End Separation
///Start Cohere
Arrive _cohere = new Arrive();
_cohere.character = this;
_cohere.target = flockCoMTarget;
///End Cohere
///Start LWYG
LookWhereGoing _lWYG = new LookWhereGoing();
_lWYG.character = this;
///End LWYG
///Start Blending for general flocking
_generalFlockSteering = new BlendedSteering();
_generalFlockSteering.behaviours = new BehaviourAndWeight[3];
//Separation
_generalFlockSteering.behaviours[0] = new BehaviourAndWeight();
_generalFlockSteering.behaviours[0].behaviour = _separate;
_generalFlockSteering.behaviours[0].weight = 1f; //Weights are still not great, but functional
//Cohere
_generalFlockSteering.behaviours[1] = new BehaviourAndWeight();
_generalFlockSteering.behaviours[1].behaviour = _cohere;
_generalFlockSteering.behaviours[1].weight = .4f;
//Look Where Going
_generalFlockSteering.behaviours[2] = new BehaviourAndWeight();
_generalFlockSteering.behaviours[2].behaviour = _lWYG;
_generalFlockSteering.behaviours[2].weight = 20f;
///End Blending
#endregion General Flocking
#region Obst Avoid
///Start ObstAvoid
ObstAvoid _obstAvoid = new ObstAvoid();
_obstAvoid.character = this;
_obstAvoid.lookAheadDist = 5f;
//_obstAvoid.target = flockCoMTarget;
///End ObstAvoid
///Start Blending for obstacle avoidance
_obstAvoidSteering = new BlendedSteering();
_obstAvoidSteering.behaviours = new BehaviourAndWeight[1];
//ObstAvoid
_obstAvoidSteering.behaviours[0] = new BehaviourAndWeight();
_obstAvoidSteering.behaviours[0].behaviour = _obstAvoid;
_obstAvoidSteering.behaviours[0].weight = 1f; //Priority handles this
///End Blending
#endregion Obst Avoid
#region Priority Blending
///Start Prioritization
_prioritySteering = new PrioritySteering();
_prioritySteering.blends = new BlendedSteering[2];
//General Flocking
_prioritySteering.blends[0] = new BlendedSteering();
_prioritySteering.blends[0] = _obstAvoidSteering;
//Obst Avoid
_prioritySteering.blends[1] = new BlendedSteering();
_prioritySteering.blends[1] = _generalFlockSteering;
///End Prioritization
#endregion Priority Blending
}
void Start()
{
steering = new PrioritySteering();
//Make 2 groups, one for flocking, and one for avoiding obstacles
steering.groups = new BlendedSteering[2];
//Initialize them
steering.groups[0] = new BlendedSteering();
steering.groups[1] = new BlendedSteering();
//Put obstacle avoidance into its own group
ObstacleAvoidance avoidAI = new ObstacleAvoidance();
avoidAI.character = GetComponent <Kinematic>();
//Initialize array, only 1 behavior needed in this group's consideration
steering.groups[0].behaviors = new BehaviorAndWeight[1];
steering.groups[0].behaviors[0] = new BehaviorAndWeight();
//Assign specific behavior
steering.groups[0].behaviors[0].behavior = avoidAI;
//Set weight
steering.groups[0].behaviors[0].weight = 4f;
//Create behaviors to go into the bird
Arrive arriveAI = new Arrive();
arriveAI.character = GetComponent <Kinematic>();
arriveAI.target = arriveTarget;
Seperation seperateAI = new Seperation();
seperateAI.character = GetComponent <Kinematic>();
GameObject[] allBirds = GameObject.FindGameObjectsWithTag("bird");
Kinematic[] allOtherBirdKinematics = new Kinematic[allBirds.Length];
int j = 0;
foreach (GameObject bird in allBirds)
{
if (bird != this)
{
allOtherBirdKinematics[j] = bird.GetComponent <Kinematic>();
j++;
}
else
{
Debug.Log("caught myself");
}
}
seperateAI.targets = allOtherBirdKinematics;
LookWhereGoing lookAI = new LookWhereGoing();
lookAI.character = GetComponent <Kinematic>();
//Set up flocking group in priority steering
steering.groups[1].behaviors = new BehaviorAndWeight[3];
steering.groups[1].behaviors[0] = new BehaviorAndWeight();
steering.groups[1].behaviors[1] = new BehaviorAndWeight();
steering.groups[1].behaviors[2] = new BehaviorAndWeight();
//Assign specific behaviors
steering.groups[1].behaviors[0].behavior = arriveAI;
steering.groups[1].behaviors[1].behavior = seperateAI;
steering.groups[1].behaviors[2].behavior = lookAI;
//Set weight of each behavior
steering.groups[1].behaviors[0].weight = 1f;
steering.groups[1].behaviors[1].weight = 20f;
steering.groups[1].behaviors[2].weight = 4f;
}
