public static SteeringOutput GetSteering(KinematicState ownKS, SObstacleAvoidance info)
{
Ray l_ray = new Ray(ownKS.m_position, ownKS.m_linearVelocity.normalized);
RaycastHit l_hitInfo;
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_avoidDistance))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) + info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) - info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
return(NULL_STEERING);
}
public static SteeringOutput GetSteering(KinematicState ownKS)
{
Vector3 l_direction = MathExtent.AngleToVector(ownKS.m_orientation);
SURROGATE_TARGET.position = ownKS.m_position + l_direction;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState ownKS, ref SWander info)
{
info.m_targetOrientation += info.m_wanderRate * MathExtent.Binomial();
SURROGATE_TARGET.transform.position = MathExtent.AngleToVector(info.m_targetOrientation) * info.m_wanderRadius;
SURROGATE_TARGET.transform.position += ownKS.m_position + MathExtent.AngleToVector(ownKS.m_orientation) * info.m_wanderOffset;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
public static SteeringOutput GetSteering(KinematicState me, SKeepPosition info)
{
float targetOrientation = info.m_target.transform.eulerAngles.y;
targetOrientation += info.m_requiredAngle;
Vector3 finalTargetPosition = MathExtent.AngleToVector(targetOrientation).normalized;
finalTargetPosition *= info.m_requiredDistance;
SURROGATE_TARGET.position = info.m_target.position + finalTargetPosition;
return(Seek.GetSteering(me, SURROGATE_TARGET));
}