// Use this for initialization
void Start()
{
steeringBasics = GetComponent <SteeringBasics>();
wander = GetComponent <Wander2>();
cohesion = GetComponent <Cohesion>();
separation = GetComponent <Separation>();
velocityMatch = GetComponent <VelocityMatch>();
sensor = transform.Find("Sensor").GetComponent <NearSensor>();
}
// Use this for initialization
void Start()
{
separation = this.GetComponent <Separation>();
arrive = this.GetComponent <Arrive>();
//align = this.GetComponent<Align>();
velocityMatching = this.GetComponent <VelocityMatch>();
velocityOutput = new SteeringOutput();
avoidance = this.GetComponent <ObstacleAvoidance>();
//m_droneGO.GetComponent<Rigidbody>().AddForce(new Vector3(Random.Range(0,50), Random.Range(0, 50), Random.Range(0, 50)),ForceMode.VelocityChange);
}
// Use this for initialization
void Start()
{
steeringBasics = GetComponent<SteeringBasics>();
wander = GetComponent<Wander2>();
cohesion = GetComponent<Cohesion>();
separation = GetComponent<Separation>();
velocityMatch = GetComponent<VelocityMatch>();
sensor = transform.Find("Sensor").GetComponent<NearSensor>();
}
void Start()
{
//Inicializamos las estructuras necesarias de otros componentes
enemy = GameObject.Find(enemyName).GetComponent <static_data>();
kineticsEnemy = enemy.kineticsAgent;
kineticsAgent = agent.kineticsAgent;
steeringAgent = agent.steeringAgent;
//Inicializamos movimientos
velMatch = new VelocityMatch(kineticsAgent, kineticsEnemy, MaxAcceleration, timeTotarget);
}
public override SteeringOutput getSteering()
{
SteeringOutput steering = new SteeringOutput();
//Direction to target
Vector3 direction = target - character.position;
float distance = direction.magnitude;
//Check if we are there
if (distance < targetRadius)
{
VelocityMatch getToZero = new VelocityMatch(this.character, new Vector3(0.0f, 0.0f, 0.0f), 5.0f);
steering = getToZero.getSteering();
return(steering);
}
//If we are outside the slow radius, go max speed
float targetSpeed;
if (distance > slowRadius)
{
targetSpeed = maxSpeed;
//Otherwise calculate scaled speed
}
else
{
targetSpeed = maxSpeed * distance / slowRadius;
}
//Target velocity combines speed & direction
Vector3 targetVelocity = direction.normalized * targetSpeed;
//Acceleration tries to match target velocity
steering.linear = targetVelocity - character.velocity;
steering.linear /= timeToTarget;
//Clamp acceleration
if (steering.linear.magnitude > maxAcceleration)
{
steering.linear = steering.linear.normalized * maxAcceleration;
}
//Return steering data
return(steering);
}
Steering getDefaultSteering2(Entry e)
{
e.bird.maxSpeed = 30f;
(e.bird as Starling).transform.Find("Sphere").gameObject.SetActive(false);
var separation = new Separation(e.bird, flock, 5f, -0.5f);
var cohesion = new Cohesion(e.bird, flock, 30f, -0.5f);
var velMatch = new VelocityMatch(e.bird, flock, 20f, -0.5f);
var seek = new Cohesion(e.bird, anchorFlock, float.MaxValue, -1f); // move towards the anchor
var flee = new Separation(e.bird, anchorFlock, 10f, -1f); // move towards the anchor
separation.aknnApproxVal = 1.0;
cohesion.aknnApproxVal = 1.0;
velMatch.aknnApproxVal = 25.0;
separation.maxNeighborhoodSize = 5;
cohesion.maxNeighborhoodSize = 10;
velMatch.maxNeighborhoodSize = 5;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[2];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, 2f), // 0
new BehaviorAndWeight(cohesion, 1f), // 1
new BehaviorAndWeight(velMatch, 0.5f), // 2
new BehaviorAndWeight(seek, 1.25f), // 3
new BehaviorAndWeight(flee, 2f)
);
return new PrioritySteering(1f, blended);
}
Steering getDefaultSteering(Entry e)
{
e.bird.maxSpeed = 7.5f;
(e.bird as Starling).transform.Find("Sphere").gameObject.SetActive(true);
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var separation = new Separation(e.bird, flock, 5f, 0f);
var cohesion = new Cohesion(e.bird, flock, 75f, 0f); cohesion.aknnApproxVal = 25f; cohesion.maxNeighborhoodSize = 15;
var velMatch = new VelocityMatch(e.bird, flock, 20f, 0.0f); velMatch.aknnApproxVal = 50f;
var bbox = new Bounds(new Vector3(1162, 113, 770), new Vector3(500, 150, 500));
var wander = new SteeringBehaviors.Wander(e.bird, e.bird.maxSpeed, 30f, 50f, bbox);
wander.theta = UnityEngine.Random.Range(0f, 360f);
var blended = new BlendedSteering[3];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird,
new BehaviorAndWeight(separation, 1f));
blended[2] = new BlendedSteering(e.bird, new BehaviorAndWeight(wander, 0.85f), // 0
new BehaviorAndWeight(cohesion, 0.90f),
new BehaviorAndWeight(velMatch, 0.50f));
return new PrioritySteering(1f, blended);
}
// Start is called before the first frame update
void Start()
{
//DATOS DE PERSONAJE
kineticsAgent = agent.kineticsAgent;
steeringAgent = agent.steeringAgent;
//SEPARATION INITIALIZATION
//buscamos a todos los pokemones
GameObject[] allPokemons = GameObject.FindGameObjectsWithTag("Pokemon");
//vamos a usar solo los pokemones que participan en flock
GameObject[] pokemons = Array.FindAll(allPokemons, c => c.GetComponent <static_data>().flocker);
//Inicializamos las estructuras necesarias de otros componentes
for (int i = 0; i < pokemons.Length; i++)
{
if (pokemons[i].name != name) //solo me interesan los pokemones que no son yo
{
targets_kin_sepa.Add(pokemons[i].GetComponent <static_data>().kineticsAgent);
}
}
Kinetics[] targets_sep = targets_kin_sepa.ToArray();
separation = new Separation(kineticsAgent, targets_sep, threshold, maxAccelSep);
separation.weigth = 3f;
//VELOCITY MATCH INITIALIZATION
enemyVel = GameObject.Find(enemyNameVel).GetComponent <static_data>();
kineticsEnemyVel = enemyVel.kineticsAgent;
velMatch = new VelocityMatch(kineticsAgent, kineticsEnemyVel, MaxAccelVel, timeTotargetVel);
velMatch.weigth = 1f;
//COHESION INITIALIZATION
//Inicializamos las estructuras necesarias de otros componentes
for (int i = 0; i < pokemons.Length; i++)
{
targets_trans_cohe.Add(pokemons[i].transform);
}
Transform[] targets_cohe = targets_trans_cohe.ToArray();
maxSpeedCohe = agent.maxspeed;
cohesion = new Cohesion(kineticsAgent, targets_cohe, maxAccelCohe, maxSpeedCohe, targetRadiusCohe, slowRadiusCohe, timeToTargetCohe);
cohesion.weigth = 1.5f;
//BLEND INITIALIZATION
//mezclamos nuestros comportamientos para crear fllock
behaviors[0] = separation;
behaviors[1] = velMatch;
behaviors[2] = cohesion;
blendFlock = new BlendedSteering(behaviors, maxAccelBlend, maxAngularBlend);
}
Steering getDefaultSteering(Entry e, Flock flock)
{
var separation = new Separation(e.bird, flock, _separationDistance, -0.5f);
var cohesion = new Cohesion(e.bird, flock, _cohesionDistance, -0.5f);
var velMatch = new VelocityMatch(e.bird, flock, _velocityMatchDistance, -0.5f);
var anchorCohesion = new Cohesion(e.bird, anchorFlock, float.MaxValue, -1f); // move towards the anchor
var anchorSeparation = new Separation(e.bird, anchorFlock, 25f, -1f);
var anchorVelocityMatch = new VelocityMatch(e.bird, anchorFlock, float.MaxValue, -1f);
separation.aknnApproxVal = _separationAknnVal;
cohesion.aknnApproxVal = _cohesionAknnVal;
velMatch.aknnApproxVal = _velocityMatchAknnVal;
separation.maxNeighborhoodSize = separationK;
cohesion.maxNeighborhoodSize = cohesionK;
velMatch.maxNeighborhoodSize = velocityMatchK;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[2];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, _separationWeight), // 0
new BehaviorAndWeight(cohesion, _cohesionWeight), // 1
new BehaviorAndWeight(velMatch, _velocityMatchWeight), // 2
new BehaviorAndWeight(anchorCohesion, _cohesionToAnchorWeight), // 3
new BehaviorAndWeight(anchorSeparation, _separationFromAnchorWeight), // 4
new BehaviorAndWeight(anchorVelocityMatch, _velMatchToAnchorWeight) // 5
);
return new PrioritySteering(1f, blended);
}
public void CreateBehaviors()
{
Locomotion = new Locomotion(_context, _entity, _controllerData);
VelocityMatch = new VelocityMatch(_context, _entity, _controllerData);
Aim = new Aim(_context, _entity, _controllerData);
}