// _SeekTarget : Seeks out the indicated target and returns true when reached
static public bool _SeekTarget(Component bot, Vector3 target, float fMaxVelocity)
{
float fTargetDistance;
float zIsTargetBehindMe, zIsTargetInFrontOfMe, zIsTargetToMyLeft, zIsTargetToMyRight;
AICore._GetSpatialAwareness2D(bot, target, out fTargetDistance, out zIsTargetBehindMe, out zIsTargetInFrontOfMe, out zIsTargetToMyLeft, out zIsTargetToMyRight);
// Detect whether TARGET is sufficiently in front
if (zIsTargetInFrontOfMe > 0.99)
{
// Satisfactally facing target
// No need to turn
}
else
{
// Should we turn right or left?
if (zIsTargetToMyRight > zIsTargetToMyLeft)
{
// Turn right
float fTurnRate;
if (zIsTargetBehindMe > zIsTargetToMyRight)
{
fTurnRate = AICore._Defuzzify(zIsTargetBehindMe, 0.0f, 6.0f);
}
else
{
fTurnRate = AICore._Defuzzify(zIsTargetToMyRight, 0.0f, 6.0f);
}
RULECORE._RotateYaw(bot, fTurnRate);
}
else
{
// Turn left
float fTurnRate;
if (zIsTargetBehindMe > zIsTargetToMyLeft)
{
fTurnRate = AICore._Defuzzify(zIsTargetBehindMe, 0.0f, 6.0f);
}
else
{
fTurnRate = AICore._Defuzzify(zIsTargetToMyLeft, 0.0f, 6.0f);
}
RULECORE._RotateYaw(bot, -fTurnRate);
}
}
if (fMaxVelocity > 0.0f)
{
// Only drive forward when facing nearly toward target
if (zIsTargetInFrontOfMe > 0.7)
{
// Only drive forward if we're far enough from target
if (fTargetDistance >= 3.00f)
{
float fVelocity = AICore._Defuzzify(zIsTargetInFrontOfMe, 0.0f, fMaxVelocity);
RULECORE._MoveForward(bot, fVelocity);
}
}
// Return whether target is reached
return(fTargetDistance < 4.00f);
}
else
{
// Return whether we're facing the target
// Also include whether target is reached because when
// we're very close to the target we get weird look at information
return(zIsTargetInFrontOfMe > 0.9f || fTargetDistance < 5.00f);
}
}
void FixedUpdate()
{
RULECORE._SeekTarget(this, target.transform.position, 0.0f);
}
