public static float3 steer(float3 agentPos, float3 targetPos, float agentMaxSpeed, float3 agentVelocity, float3 targetVelocity)
{
float safeDistance = 10f;
float3 distanceVector = targetPos - agentPos;
float distance = math.length(distanceVector);
if (distance < safeDistance)
{
return(-Pursue.steer(agentPos, targetPos, agentMaxSpeed, agentVelocity, targetVelocity));
}
else
{
return(-agentVelocity);
}
}
public void Execute(ArchetypeChunk chunk, int chunkIndex, int firstEntityIndex)
{
NativeArray <Translation> chunkTranslations = chunk.GetNativeArray(translationType);
NativeArray <SteeringAgentParameters> chunkSteeringAgentParameters = chunk.GetNativeArray(steeringAgentParametersType);
NativeArray <Velocity> chunkVelocities = chunk.GetNativeArray(velocityType);
NativeArray <TargetEntity> chunkTargets = chunk.GetNativeArray(targetType);
int obstaclesAmount = obstaclesTranslations.Length;
NativeArray <float3> obstaclesPositions = new NativeArray <float3>(obstaclesAmount, Allocator.Temp);
NativeArray <float> obstaclesRadii = new NativeArray <float>(obstaclesAmount, Allocator.Temp);
for (int i = 0; i < obstaclesAmount; i++)
{
obstaclesPositions[i] = obstaclesTranslations[i].Value;
obstaclesRadii[i] = obstacles[i].radius;
}
for (var i = 0; i < chunk.Count; i++)
{
Translation translation = chunkTranslations[i];
SteeringAgentParameters steeringAgentParams = chunkSteeringAgentParameters[i];
TargetEntity target = chunkTargets[i];
Velocity velocity = chunkVelocities[i];
if (target.entity != Entity.Null && localToWorldFromEntity.Exists(target.entity))
{
LocalToWorld targetLocalToWorld = localToWorldFromEntity[target.entity];
float3 targetPos = targetLocalToWorld.Value.c3.xyz;
float3 targetForward = targetLocalToWorld.Forward;
float3 targetVelocity = velocityFromEntity[target.entity].Value;
float3 steering = float3.zero;
switch (steeringAgentParams.behaviour)
{
case SteeringBehaviourId.Idle:
steering = Idle.steer();
break;
case SteeringBehaviourId.Seek:
steering = Seek.steer(translation.Value, targetPos, steeringAgentParams.maxSpeed, velocity.Value);
break;
case SteeringBehaviourId.Arrival:
steering = Arrival.steer(translation.Value, targetPos, steeringAgentParams.maxSpeed, velocity.Value);
break;
case SteeringBehaviourId.Pursue:
steering = Pursue.steer(translation.Value, targetPos, steeringAgentParams.maxSpeed, velocity.Value, targetVelocity);
break;
case SteeringBehaviourId.Flee:
steering = Flee.steer(translation.Value, targetPos, steeringAgentParams.maxSpeed, velocity.Value);
break;
case SteeringBehaviourId.Evade:
steering = Evade.steer(translation.Value, targetPos, steeringAgentParams.maxSpeed, velocity.Value, targetVelocity);
break;
case SteeringBehaviourId.Follow:
steering = Follow.steer(translation.Value, targetPos, targetForward, steeringAgentParams.maxSpeed, velocity.Value);
break;
}
if (steeringAgentParams.avoidObstacles)
{
steering += Avoidance.steer(translation.Value, steeringAgentParams.radius, obstaclesPositions, obstaclesRadii, velocity.Value);
}
if (math.length(steering) > steeringAgentParams.maxForce)
{
steering = math.normalize(steering) * steeringAgentParams.maxForce;
}
float3 acceleration = steering / steeringAgentParams.mass;
float3 newVelocity = velocity.Value + acceleration * deltaTime;
if (math.length(newVelocity) > steeringAgentParams.maxSpeed)
{
newVelocity = math.normalize(newVelocity) * steeringAgentParams.maxSpeed;
}
chunkVelocities[i] = new Velocity {
Value = newVelocity
};
}
}
}
