public static SteeringOutput GetSteering(KinematicState ownKS,
float WanderRate, float wanderRadius, float wanderOffset, ref float targetOrientation,
bool showWhishker, float lookAheadLength, float avoidDistance, float secondaryWhiskerAngle, float secondaryWhiskerRatio,
ref bool avoidActive)
{
// give priority to obstacle avoidance
SteeringOutput so = ObstacleAvoidance.GetSteering(ownKS, showWhishker, lookAheadLength,
avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio);
if (so == NULL_STEERING)
{
if (avoidActive)
{
// if avoidance was active last frame, update target orientation (otherwise the object would tend to regain
// the orientation it had before avoiding a collision which would make it face the obstacle again)
targetOrientation = ownKS.orientation;
}
avoidActive = false;
return(Wander.GetSteering(ownKS, ref targetOrientation, WanderRate, wanderRadius, wanderOffset));
}
else
{
avoidActive = true;
return(so);
}
}
protected override SteeringOutput GetSteering()
{
SteeringOutput result = Wander.GetSteering(m_ownKS, ref m_info);
base.ApplyFacingPolicy(m_info.m_facingPolicy, result);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, float seekWeight, ref SWander wanderInfo, SSeek seekInfo)
{
SteeringOutput seekSteering = Seek.GetSteering(ownKS, seekInfo.m_target);
SteeringOutput result = Wander.GetSteering(ownKS, ref wanderInfo);
result.m_linearAcceleration = result.m_linearAcceleration * (1f - seekWeight) + seekSteering.m_linearAcceleration * seekWeight;
return(result);
}
public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
return(Wander.GetSteering(ownKS, ref targetOrientation, wanderRate, wanderRadius, wanderOffset));
}
public static SteeringOutput GetSteering(KinematicState ownKS, GameObject attractor, float seekWeight,
ref float targetOrientation, float wanderRate = 30f,
float wanderRadius = 10f, float wanderOffset = 20f)
{
SteeringOutput seekOutput = Seek.GetSteering(ownKS, attractor);
SteeringOutput result = Wander.GetSteering(ownKS, ref targetOrientation, wanderRate, wanderRadius, wanderOffset);
result.linearAcceleration = result.linearAcceleration * (1 - seekWeight) + seekOutput.linearAcceleration * seekWeight;
// result.angularAcceleration = result.angularAcceleration * (1 - seekWeight) + seekOutput.angularAcceleration * seekWeight;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, ref SWander wanderInfo, SObstacleAvoidance obstacleInfo, ref bool obstacleAvoided)
{
SteeringOutput obstacleAvoidSteering = ObstacleAvoidance.GetSteering(ownKS, obstacleInfo);
if (obstacleAvoidSteering != NULL_STEERING)
{
obstacleAvoided = true;
return(obstacleAvoidSteering);
}
obstacleAvoided = false;
return(Wander.GetSteering(ownKS, ref wanderInfo));
}
public override SteeringOutput GetSteering()
{
// no KS? get it
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
SteeringOutput result = Wander.GetSteering(ownKS, ref targetOrientation, wanderRate, wanderRadius, wanderOffset);
base.applyRotationalPolicy(rotationalPolicy, result, SURROGATE_TARGET);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS,
float WanderRate, float wanderRadius, float wanderOffset, ref float targetOrientation,
bool showWhishker, float lookAheadLength, float avoidDistance, float secondaryWhiskerAngle, float secondaryWhiskerRatio)
{
// give priority to obstacle avoidance
SteeringOutput so = ObstacleAvoidance.GetSteering(ownKS, showWhishker, lookAheadLength,
avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio);
if (so == null)
{
return(Wander.GetSteering(ownKS, ref targetOrientation, WanderRate, wanderRadius, wanderOffset));
}
return(so);
}
public static SteeringOutput GetSteering(KinematicState ownKS, float WanderRate, float wanderRadius, float wanderOffset, ref float targetOrientation, float lookAheadLength, float avoidDistance, float secondaryWhiskerAngle, float secondaryWhiskerRatio, ref bool avoidActive, LayerMask avoidLayers, SphereCollider scanner)
{
SteeringOutput so = ObstacleAvoidance.GetSteering(ownKS, lookAheadLength, avoidDistance, secondaryWhiskerAngle, secondaryWhiskerRatio, avoidLayers, scanner);
if (so == nullSteering)
{
if (avoidActive)
{
targetOrientation = ownKS.orientation;
}
avoidActive = false;
return(Wander.GetSteering(ownKS, ref targetOrientation, WanderRate, wanderRadius, wanderOffset));
}
else
{
avoidActive = true;
return(so);
}
}
public override SteeringOutput GetSteering()
{
SteeringOutput result = Wander.GetSteering(ownKS, ref targetOrientation, wanderRate, wanderRadius, wanderOffset);
if (!surrogateTarget)
{
return(null);
}
if (ownKS.linearVelocity.magnitude > 0.001f)
{
surrogateTarget.transform.rotation = Quaternion.Euler(0, 0, VectorToOrientation(ownKS.linearVelocity));
SteeringOutput st = Align.GetSteering(ownKS, surrogateTarget);
result.angularAcceleration = st.angularAcceleration;
result.angularActive = st.angularActive;
}
else
{
result.angularActive = false;
}
return(result);
}