public SteeringOutput LookWhereYoureGoing(AutonomousAgent character)
{
// get direction then with tangent we can calculate the angle
float toZAngle = 360f - Mathf.Atan2(character.Velocity.x, character.Velocity.y) * Mathf.Rad2Deg;
return(Align(character, new Vector3(0, 0, toZAngle)));
}
/// <summary>
/// Pursue using the target's current position and it's last position. Plus the time between the two positions
/// </summary>
public SteeringOutput Pursue(AutonomousAgent character, Vector3 targetPosition, Vector3 targetLastPosition, float timeBetween)
{
// v = s / t
Vector3 targetVelocity = (targetPosition - targetLastPostion).normalized / timeBetween;
return(Pursue(character, targetPosition, targetVelocity));
}
/// <summary>
/// Evade using the target's current position and it's last position. Plus the time between the two positions
/// </summary>
public SteeringOutput Evade(AutonomousAgent character, Vector3 targetPosition, Vector3 targetLastPostion, float timeBetween)
{
// v = s / t
Vector3 velocityOfTarget = (targetPosition - targetLastPostion) / timeBetween;
return(Evade(character, targetPosition, velocityOfTarget));
}
public SteeringOutput Flee(AutonomousAgent character, Vector3 targetPosition)
{
SteeringOutput steering = new SteeringOutput();
Vector3 direction = character.transform.position - targetPosition;
float distance = direction.magnitude;
Vector3 targetVelocity;
// if the target is outside of detection radius stop
if (distance > detectionRadius)
{
targetVelocity = new Vector3();
}
else if (distance / detectionRadius >= 0.9f)
{
// () will be a [0;0.1] number, to get a [0;1] multiply it by ten
// the reverse it so the most outer point gets the 0
float slowdown = 1f - (distance / detectionRadius - 0.9f) * 10f;
targetVelocity = direction.normalized * character.maxSpeed * slowdown;
}
else
{
// go in that direction with tha max speed
targetVelocity = direction.normalized * character.maxSpeed;
}
// make it acceleration
steering.linear = targetVelocity - character.Velocity;
steering.linear /= timeToTarget;
return(steering);
}
public SteeringOutput Face(AutonomousAgent character, Vector3 position)
{
// get direction then with tangent we can calculate the angle
Vector3 direction = position - character.transform.position;
float toZAngle = 360f - Mathf.Atan2(direction.x, direction.y) * Mathf.Rad2Deg;
return(Align(character, new Vector3(0, 0, toZAngle)));
}
/// <summary>
/// Velocity matching using the target's position and it's velocity
/// </summary>
public SteeringOutput VelocityMatch(AutonomousAgent character, Vector3 velocity)
{
SteeringOutput output = new SteeringOutput();
// get acceleration a = deltaV / deltaT
output.linear = (output.linear - character.Velocity) / timeToTarget;
return(output);
}
public SteeringOutput Align(AutonomousAgent character, Vector3 angle)
{
SteeringOutput output = new SteeringOutput();
// rotation between the target and the character
// only accounts for the z rotation which counts in 2d
float rotateOptionLeft = angle.z -
character.transform.eulerAngles.z;
// we count the right rotation like this because we get the ang between up and target
// by subtracting it from 360f and we have to add target rotation to get the full right rotation
float rotateOptionRight = character.transform.eulerAngles.z +
(360f - angle.z);
float rotation;
// Decide which direction is better
if (Mathf.Abs(rotateOptionLeft) > Mathf.Abs(rotateOptionRight))
{
rotation = -rotateOptionRight;
}
else
{
rotation = rotateOptionLeft;
}
float rotationSize = Mathf.Abs(rotation);
float targetRotation; // how much we can rotate
// we reached our target and we are within the given radius
if (rotationSize < targetRadius)
{
output.angular = -character.RotationVelocity;
return(output);
// we are withing the slowdown radius -> start the slowdown
}
else if (rotationSize < slowdownRadius)
{
// we add target radius so it multiplies by 0 not when it is exactly at desired rotation
// but when it is inside the target radius
targetRotation = character.maxRotation * (rotationSize / (slowdownRadius + targetRadius));
// normal aligning without anything
}
else
{
targetRotation = character.maxRotation;
}
// apply direction
targetRotation *= rotation / rotationSize;
// add acceleration
output.angular = targetRotation / timeToTarget;
return(output);
}
private void UpdateLastWeights(AutonomousAgent agent)
{
lastVelocityWeights = new float[agent.steeringBehaviours.Count];
lastRotationWeights = new float[agent.steeringBehaviours.Count];
for (int i = 0; i < agent.steeringBehaviours.Count; i++)
{
lastVelocityWeights[i] = agent.steeringBehaviours[i].velocityWeight;
lastRotationWeights[i] = agent.steeringBehaviours[i].rotationWeight;
}
}
public override SteeringOutput GetSteering(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
SteeringOutput output = new SteeringOutput();
if (targetLastPosition != null)
{
output = VelocityMatch(character, agentLocalBehaviour.target.transform.position, targetLastPosition, Time.fixedDeltaTime);
}
targetLastPosition = agentLocalBehaviour.target.transform.position;
return(output);
}
/// <summary>
/// Update the weight proportionally to each other
/// </summary>
/// <param name="agent">The agent in which we want to update the weights</param>
/// <param name="amount">How much to update</param>
/// <param name="except">To which we don't want to add</param>
private void UpdateRotationWeightsProportionallyExcept(AutonomousAgent agent, float amount, int except)
{
if (!proportionalEditing)
{
return;
}
int till = agent.steeringBehaviours.Count;
// Add all the other weights together (excluding the except one)
// We are going to use this to calculate how much the other weights should change
float sumWithoutChanging = 0f;
for (int k = 0; k < till; k++)
{
if (except != k && agent.steeringBehaviours[k].behaviour.CanChangeRotation())
{
sumWithoutChanging += agent.steeringBehaviours[k].rotationWeight;
}
}
// Update all the other weights
for (int k = 0; k < till; k++)
{
if (except != k && agent.steeringBehaviours[k].behaviour.CanChangeRotation())
{
agent.steeringBehaviours[k].rotationWeight += amount *
agent.steeringBehaviours[k].rotationWeight / sumWithoutChanging;
}
}
if (agent.steeringBehaviours.Count > 0)
{
// If they don't sum up to 1 then add the missing amount to 0f
float sum = 0f;
for (int i = 0; i < agent.steeringBehaviours.Count; i++)
{
if (agent.steeringBehaviours[i].behaviour.CanChangeRotation())
{
sum += agent.steeringBehaviours[i].rotationWeight;
}
}
for (int i = 0; i < agent.steeringBehaviours.Count; i++)
{
if (agent.steeringBehaviours[i].behaviour.CanChangeRotation())
{
agent.steeringBehaviours[i].rotationWeight += (1f - sum);
}
}
}
}
private void DrawBehaviour(AutonomousAgent agent, int index)
{
agent.steeringBehaviours[index].behaviour
= EditorGUILayout.ObjectField("Behaviour: ", agent.steeringBehaviours[index].behaviour, typeof(SteeringBehaviour), false) as SteeringBehaviour;
// Steering behaviour settings
if (agent.steeringBehaviours[index].behaviour != null)
{
// go through the corresponding types (to which class which attribute belongs)
for (int j = 0; j < AttributeOfBehaviour.correspondingTypes.GetLength(0); j++)
{
// agent's behaviour has the same type as we are examining
if (agent.steeringBehaviours[index].behaviour.GetType().Equals(AttributeOfBehaviour.correspondingTypes[j, 0]))
{
// get all fields of the behaviour because we are going to check their attributes
var fields = agent.steeringBehaviours[index].GetType().GetFields();
for (int i = 0; i < fields.Length; i++)
{
// all attributes of the current field
var attributes = fields[i].GetCustomAttributes(false);
for (int k = 0; k < attributes.Length; k++)
{
// if the current field has the corresponding attribute (to the current class type)
if (attributes[k].GetType().Equals(AttributeOfBehaviour.correspondingTypes[j, 1]))
{
// serialize the behaviour to get the current field as property and
// be able to display it to the editor
SerializedObject serializedBehav = new SerializedObject(agent.steeringBehaviours[index]);
SerializedProperty property = serializedBehav.FindProperty(fields[i].Name);
// display the property
serializedBehav.Update();
EditorGUILayout.PropertyField(property);
// set the property's value because for sme reason it doesn't update
// even if I put the update after the field............................sjnosdjfdjfdjkdfsojfdojfdosko
fields[i].SetValue(agent.steeringBehaviours[index], property.objectReferenceValue);
}
}
}
}
}
agent.steeringBehaviours[index].behaviour.DrawOnGUI();
}
}
/// <summary>
/// Evade using the target's position and it's velocity
/// </summary>
public SteeringOutput Evade(AutonomousAgent character, Vector3 targetPosition, Vector3 velocityOfTarget)
{
SteeringOutput output = new SteeringOutput();
// it calculates how long it would take the agent to get to the postion of the target
// with the current speed. If that is too much it limits that down to maxPrediction.
// We need that time to calculate where the target will be in the future in that time
// so we can set the target to that position and flee from it.
float distance = (targetPosition - character.transform.position).magnitude;
float agentSpeed = character.Velocity.magnitude;
float prediction;
if (agentSpeed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / agentSpeed;
}
// in which direction to evade
Vector3 evadeDirection = character.transform.position - (targetPosition + velocityOfTarget * prediction);
// what velocity we want to reach
Vector3 targetVelocity;
// target is out of detection radius
if (distance > detectionRadius)
{
targetVelocity = new Vector3();
}
else
{
targetVelocity = evadeDirection.normalized * character.maxSpeed;
}
// make acceleration
output.linear = targetVelocity - character.Velocity;
output.linear /= timeToTarget;
return(output);
}
public SteeringOutput Seperate(AutonomousAgent character, Vector3 targetPostion)
{
SteeringOutput steering = new SteeringOutput();
int count = Physics2D.OverlapCircleNonAlloc(character.transform.position, targetRadius, collidedWith, 1 << layerMask);
for (int i = 0; i < count; i++)
{
// not the same gameobject tht we are currently inspecting
if (!collidedWith[i].gameObject.Equals(character.gameObject))
{
float distance = Vector3.Distance(character.transform.position, collidedWith[i].transform.position);
float strength = Mathf.Min(character.maxAcceleration, decayCoefficient * distance * distance);
steering.linear += strength * (character.transform.position - collidedWith[i].transform.position).normalized;
}
}
return(steering);
}
public SteeringOutput Seek(AutonomousAgent character, Vector3 targetPostion)
{
SteeringOutput steering = new SteeringOutput();
// Get the direction
Vector3 direction = targetPostion - character.transform.position;
float distance = direction.magnitude;
// We are inside stopping radius
if (distance < targetRadius)
{
steering.linear = -character.Velocity;
return(steering);
}
float targetSpeed;
// We are inside the slowdown radius but not the stopping radius
if (distance < slowDownRadius)
{
// start slowing down linearly
targetSpeed = distance / (slowDownRadius - targetRadius) * character.maxSpeed;
}
else // we are outside of slow down radius
{
targetSpeed = character.maxSpeed;
}
// combines the direction and the speed
Vector3 targetVelocity = direction.normalized;
targetVelocity *= targetSpeed;
// Calculate acceleration because we can't just change speed immediatly
// Calculate delta v then divide it by t because a = v / t
steering.linear = targetVelocity - character.Velocity;
steering.linear /= timeToTarget;
return(steering);
}
public SteeringOutput Wander(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
SteeringOutput output = new SteeringOutput();
// update wander angle with [-wanderRate;wanderRate]
agentLocalBehaviour.wanderAngle += (UnityEngine.Random.value * 2f - 1f) * wanderRate;
Vector3 targetCircleCenter = character.transform.position + character.transform.up * wanderOffset;
// move from center of circle by a vector with wanderAngle angle and wanderRadius length
Vector3 targetOnCircleLocation = targetCircleCenter +
Quaternion.Euler(0, 0, agentLocalBehaviour.wanderAngle) * character.transform.up * wanderRadius;
if (character.showGizmos)
{
Debug.DrawLine(character.transform.position, targetOnCircleLocation, Color.red);
}
// get rotation
output = Face(character, targetOnCircleLocation);
// set linear to full acceleration ahead
output.linear = character.transform.up * character.maxAcceleration;
return(output);
}
/// <summary>
/// Pursue using the target's position and it's velocity
/// </summary>
public SteeringOutput Pursue(AutonomousAgent character, Vector3 targetPosition, Vector3 targetVelocity)
{
// it calculates how long it would take the agent to get to the postion of the target
// with the current speed. If that is too much it limits that down to maxPrediction.
// We need that time to calculate where the target will be in the future in that time
// so we can set the target to that position.
float distance = (targetPosition - character.transform.position).magnitude;
float agentSpeed = character.Velocity.magnitude;
float prediction;
if (agentSpeed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / agentSpeed;
}
return(base.Seek(character, targetPosition + targetVelocity * prediction));
}
public override SteeringOutput GetSteering(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
return(Flee(character, agentLocalBehaviour.target.transform.position));
}
public SteeringOutput FollowPath(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
SteeringOutput output = new SteeringOutput();
// Debug.Log(agentLocalBehaviour.currentPathStation + " " + agentLocalBehaviour.path.GetNextStationIndex(agentLocalBehaviour.currentPathStation));
switch (followType)
{
case FollowType.Station:
#region Station
// in agentLocalBehaviour we store the current station that is being followed
// so we need to check whether the agent is closer to that station or the next one
// to check that we need to get the position
// if the current path is farther away then the next path
if ((agentLocalBehaviour.path.GetDistanceFromPathTo(character.transform.position, agentLocalBehaviour.currentPathStation) >
agentLocalBehaviour.path.GetDistanceFromPathTo(character.transform.position, agentLocalBehaviour.path.GetNextStationIndex(agentLocalBehaviour.currentPathStation)))
// or we have reached the station
|| Vector3.Distance(character.transform.position, agentLocalBehaviour.path.GetStationPosition(agentLocalBehaviour.currentPathStation)) <= targetRadius)
{
// make the next station the target
agentLocalBehaviour.currentPathStation = agentLocalBehaviour.path.GetNextStationIndex(agentLocalBehaviour.currentPathStation);
}
output = Seek(character, agentLocalBehaviour.path.GetStationPosition(agentLocalBehaviour.currentPathStation));
#endregion
break;
case FollowType.AlwaysReachStation:
#region AlwaysReachStation
// we have reached the station
if (Vector3.Distance(character.transform.position, agentLocalBehaviour.path.GetStationPosition(agentLocalBehaviour.currentPathStation)) <= targetRadius)
{
// make the next station the target
agentLocalBehaviour.currentPathStation = agentLocalBehaviour.path.GetNextStationIndex(agentLocalBehaviour.currentPathStation);
}
output = Seek(character, agentLocalBehaviour.path.GetStationPosition(agentLocalBehaviour.currentPathStation));
#endregion
break;
case FollowType.Path:
#region Path
// here we look ahead on the path with followAheadPercent and set that as a target
float percent = agentLocalBehaviour.path.GetClosestPointOnPathPercent(character.transform.position);
Vector3 target = agentLocalBehaviour.path.GetPointOnPathPercent(percent + followAheadPercent);
output = Seek(character, target);
if (character.showGizmos)
{
Debug.DrawLine(character.transform.position, target, Color.green);
}
#endregion
break;
case FollowType.PredictivePath:
#region Predictive Path
percent = agentLocalBehaviour.path.GetClosestPointOnPathPercent(character.transform.position + character.Velocity * predictTime);
target = agentLocalBehaviour.path.GetPointOnPathPercent(percent + followAheadPercent);
output = Seek(character, target);
if (character.showGizmos)
{
Debug.DrawLine(character.transform.position, character.transform.position + character.Velocity * predictTime, Color.yellow);
Debug.DrawLine(character.transform.position, target, Color.green);
}
#endregion
break;
}
return(output);
}
public override SteeringOutput GetSteering(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
return(FollowPath(character, agentLocalBehaviour));
}
public override SteeringOutput GetSteering(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
return(Align(character, agentLocalBehaviour.transform.eulerAngles));
}
/// <summary>
/// Velocity matching using the target's current position and it's last position. Plus the time between the two positions
/// </summary>
public SteeringOutput VelocityMatch(AutonomousAgent character, Vector3 targetPosition, Vector3 targetLastPosition, float timeBetween)
{
// get the velocity of the target based on last position v = s / t
return(VelocityMatch(character, (targetPosition - targetLastPosition) / timeBetween));
}
public override void OnInspectorGUI()
{
serializedObject.Update();
AutonomousAgent agent = (AutonomousAgent)target;
// Attributes
EditorGUILayout.LabelField("Agent attributes", EditorStyles.boldLabel);
agent.maxSpeed = EditorGUILayout.FloatField("Max speed: ", agent.maxSpeed);
agent.maxAcceleration = EditorGUILayout.FloatField("Max acceleration: ", agent.maxAcceleration);
agent.maxRotation = EditorGUILayout.FloatField("Max rotation: ", agent.maxRotation);
agent.maxAngularAcceleration = EditorGUILayout.FloatField("Max angular acceleration: ", agent.maxAngularAcceleration);
agent.showGizmos = EditorGUILayout.Toggle("Show gizmos", agent.showGizmos);
agent.lookWhereGoingInstantly = EditorGUILayout.Toggle("Look where going", agent.lookWhereGoingInstantly);
EditorGUILayout.Separator();
EditorGUILayout.LabelField("Behaviour", EditorStyles.boldLabel);
// Blending type
EditorGUILayout.PropertyField(blendingTypeProp);
agent.blendingType = (SteeringBlendingTypes)blendingTypeProp.enumValueIndex;
GUILayoutUtility.GetRect(200f, 10f);
// We don't need an add button which adds a behaviours because we only have one
if ((SteeringBlendingTypes)blendingTypeProp.enumValueIndex == SteeringBlendingTypes.Single)
{
#region Single custom editor
// If we don't have only one behaviour then make it so
if (agent.steeringBehaviours.Count > 1)
{
for (int i = agent.steeringBehaviours.Count - 1; i > 1; i--)
{
agent.steeringBehaviours.RemoveAt(i);
}
}
else if (agent.steeringBehaviours.Count == 0)
{
agent.steeringBehaviours.Add(agent.gameObject.AddComponent <WeightedSteeringBehaviour>());
}
// Set steering behaviour's weight to 1
agent.steeringBehaviours[0].velocityWeight = 1f;
agent.steeringBehaviours[0].rotationWeight = 1f;
DrawBehaviour(agent, 0);
#endregion
}
else
{
#region Weighted custom editor
if ((SteeringBlendingTypes)blendingTypeProp.enumValueIndex == SteeringBlendingTypes.WeightedWithGroups)
{
groups.DoLayoutList();
}
proportionalEditing = EditorGUILayout.ToggleLeft("Proportional editing", proportionalEditing);
// add behaviour button
if (GUILayout.Button("Add new behaviour"))
{
agent.steeringBehaviours.Add(agent.gameObject.AddComponent <WeightedSteeringBehaviour>());
// Only the first element can start on 1 because they need to be 1 summed up
if (agent.steeringBehaviours.Count == 1)
{
agent.steeringBehaviours[agent.steeringBehaviours.Count - 1].velocityWeight = 1f;
}
else
{
agent.steeringBehaviours[agent.steeringBehaviours.Count - 1].velocityWeight = 0f;
}
}
for (int i = agent.steeringBehaviours.Count - 1; i >= 0; i--)
{
EditorGUILayout.Separator();
if (agent.steeringBehaviours[i].behaviour != null)
{
string className = agent.steeringBehaviours[i].behaviour.GetType().Name;
EditorGUILayout.LabelField(className.Substring(0, className.Length - 17), EditorStyles.boldLabel);
}
// delete button
EditorGUILayout.BeginHorizontal();
{
if (agent.steeringBehaviours[i].behaviour != null)
{
if (agent.steeringBehaviours[i].behaviour.CanChangeVelocity())
{
GUI.color = velocitySliderColor;
{
// velocity weight slider
agent.steeringBehaviours[i].velocityWeight =
EditorGUILayout.Slider("Velocity weight: ", agent.steeringBehaviours[i].velocityWeight, 0.01f, 1f);
}
GUI.color = Color.white;
}
else if (agent.steeringBehaviours[i].behaviour.CanChangeRotation() && !agent.lookWhereGoingInstantly)
{
GUI.color = rotationSliderColor;
{
// rotation weight slider
agent.steeringBehaviours[i].rotationWeight =
EditorGUILayout.Slider("Rotation weight: ", agent.steeringBehaviours[i].rotationWeight, 0.01f, 1f);
}
GUI.color = Color.white;
}
}
GUI.color = Color.red;
if (agent.steeringBehaviours.Count > 1)
{
// DELETE
if (GUILayout.Button("X", GUILayout.Width(30f)))
{
float updateAmountVelocity = agent.steeringBehaviours[i].velocityWeight;
float updateAmountRotation = agent.steeringBehaviours[i].rotationWeight;
DestroyImmediate(agent.steeringBehaviours[i]);
agent.steeringBehaviours.RemoveAt(i);
// Update because we deleted
if (updateAmountVelocity != 0)
{
UpdateVelocityWeightsProportionallyExcept(agent, updateAmountVelocity, -1);
}
if (updateAmountRotation != 0)
{
UpdateRotationWeightsProportionallyExcept(agent, updateAmountRotation, -1);
}
// Update the last weights so it doesn't detect change later down the code
UpdateLastWeights(agent);
continue;
}
}
GUI.color = Color.white;
}
EditorGUILayout.EndHorizontal();
if (agent.steeringBehaviours[i].behaviour != null &&
!agent.lookWhereGoingInstantly &&
agent.steeringBehaviours[i].behaviour.CanChangeRotation() &&
agent.steeringBehaviours[i].behaviour.CanChangeVelocity()) // we check for this because if it can't
// rotation weight slider // change velocity it drew
{
GUI.color = rotationSliderColor; // the rotation weight before
{
agent.steeringBehaviours[i].rotationWeight =
EditorGUILayout.Slider("Rotation weight: ", agent.steeringBehaviours[i].rotationWeight, 0.01f, 1f);
}
GUI.color = Color.white;
}
DrawBehaviour(agent, i);
GUILayoutUtility.GetRect(200f, 10f);
}
// Here we are doing the magic of updating all other weights when we change one
if (lastVelocityWeights != null)
{
int till = Mathf.Min(lastVelocityWeights.Length, agent.steeringBehaviours.Count);
// Go through each one and check whether it has changed
for (int i = 0; i < till; i++)
{
if (!Mathf.Approximately(lastVelocityWeights[i], agent.steeringBehaviours[i].velocityWeight))
{
// If it has changed
// Calculate how much it did
float changeOthers = (lastVelocityWeights[i] - agent.steeringBehaviours[i].velocityWeight);
UpdateVelocityWeightsProportionallyExcept(agent, changeOthers, i);
break;
}
if (!Mathf.Approximately(lastRotationWeights[i], agent.steeringBehaviours[i].rotationWeight))
{
// If it has changed
// Calculate how much it did
float changeOthers = (lastRotationWeights[i] - agent.steeringBehaviours[i].rotationWeight);
UpdateRotationWeightsProportionallyExcept(agent, changeOthers, i);
break;
}
}
}
// Store what the weights are
UpdateLastWeights(agent);
#endregion
}
serializedObject.ApplyModifiedProperties();
}
public override SteeringOutput GetSteering(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour)
{
return(LookWhereYoureGoing(character));
}
public abstract SteeringOutput GetSteering(AutonomousAgent character, WeightedSteeringBehaviour agentLocalBehaviour);
