public override bool BehaviourUpdate()
{
if (!base.BehaviourUpdate())
{
return(false);
}
if (formationTarget == null)
{
return(false);
}
// Get the target position
Vector3 targetPos = formationTarget.TransformPoint(formationOffset);
// Calculate the target to orient the ship toward. As the ship approaches the formation target
// position, it must orient itself toward a point far ahead in space to prevent oscillation.
float turnTowardAmount = Mathf.Clamp(Vector3.Distance(rBody.position, targetPos) / turnTowardDistance, 0, 1);
Vector3 steeringTargetPos = turnTowardAmount * targetPos + (1 - turnTowardAmount) * (targetPos + formationTarget.forward * 1000);
// Steer
Maneuvring.TurnToward(rBody.transform, steeringTargetPos, maxRotationAngles, shipPIDController.steeringPIDController);
engines.SetRotationThrottleValues(shipPIDController.GetSteeringControlValues());
// Move
Maneuvring.TranslateToward(rBody, targetPos, shipPIDController.movementPIDController);
Debug.DrawLine(rBody.transform.position, targetPos, Color.red);
engines.SetTranslationThrottleValues(shipPIDController.GetMovementControlValues());
return(true);
}
/// <summary>
/// Called every frame to update this behavor when it is running.
/// </summary>
public override bool BehaviourUpdate()
{
if (weapons.WeaponsTargetSelector == null || weapons.WeaponsTargetSelector.SelectedTarget == null)
{
return(false);
}
UpdateDecisionInfo();
UpdateFiring();
// Attack
Vector3 perpendicularTargetDirection = Quaternion.Euler(0f, 90f, 0f) * decisionInfo.toTargetVector;
float broadsideAmount = Mathf.Clamp(2 - (decisionInfo.distanceToTarget / broadsideDistanceToTarget), 0, 1);
// Update the steering target
Vector3 steeringTarget = vehicle.transform.position + (broadsideAmount * perpendicularTargetDirection + (1 - broadsideAmount) * decisionInfo.toTargetVector);
// Used to make the ship slow down as it approaches the target
float amountOfEngageDistance = (decisionInfo.distanceToTarget - minMaxEngageDistance.x) / (minMaxEngageDistance.y - minMaxEngageDistance.x);
// Set the throttle values
float forwardThrottleAmount = Mathf.Clamp(amountOfEngageDistance, 0.25f, 1);
Maneuvring.TurnToward(vehicle.transform, steeringTarget, maxRotationAngles, shipPIDController.steeringPIDController);
engines.SetRotationThrottleValues(shipPIDController.steeringPIDController.GetControlValues());
engines.SetTranslationThrottleValues(new Vector3(0f, 0f, forwardThrottleAmount));
return(true);
}
public override bool BehaviourUpdate()
{
if (!base.BehaviourUpdate())
{
return(false);
}
if (patrolRoute == null || patrolRoute.PatrolTargets.Count == 0)
{
return(false);
}
//Look for patrol route
if (Vector3.Distance(vehicle.transform.position, patrolRoute.PatrolTargets[patrolTargetIndex].position) < maxPatrolTargetArrivalDistance)
{
patrolTargetIndex++;
if (patrolTargetIndex >= patrolRoute.PatrolTargets.Count)
{
patrolTargetIndex = 0;
}
}
Maneuvring.TurnToward(vehicle.transform, patrolRoute.PatrolTargets[patrolTargetIndex].position, maxRotationAngles, shipPIDController.steeringPIDController);
engines.SetRotationThrottleValues(shipPIDController.steeringPIDController.GetControlValues());
engines.SetTranslationThrottleValues(new Vector3(0, 0, patrolThrottle));
return(true);
}
/// <summary>
/// Update the behaviour.
/// </summary>
public override bool BehaviourUpdate()
{
if (!base.BehaviourUpdate())
{
return(false);
}
if (weapons.WeaponsTargetSelector == null || weapons.WeaponsTargetSelector.SelectedTarget == null)
{
return(false);
}
Vector3 targetPos = weapons.WeaponsTargetSelector.SelectedTarget.transform.position;
Vector3 toTargetVector = targetPos - vehicle.transform.position;
// Do primary weapons
bool canFirePrimary = Vector3.Angle(vehicle.transform.forward, toTargetVector) < maxFiringAngle && toTargetVector.magnitude < maxFiringDistance;
if (canFirePrimary)
{
// Fire in bursts
if (Time.time - primaryWeaponActionStartTime > primaryWeaponActionPeriod)
{
SetPrimaryWeaponAction(!primaryWeaponFiring);
}
}
else
{
SetPrimaryWeaponAction(false);
}
// Do the secondary weapons
if (weapons.TargetLockers.Count > 0 && weapons.TargetLockers[0].LockState == LockState.Locked)
{
if (Time.time - secondaryWeaponActionStartTime > secondaryWeaponActionPeriod)
{
triggerablesManager.TriggerOnce(1);
secondaryWeaponActionPeriod = Random.Range(minMaxSecondaryFiringInterval.x, minMaxSecondaryFiringInterval.y);
secondaryWeaponActionStartTime = Time.time;
}
}
// Turn toward target
Maneuvring.TurnToward(vehicle.transform, targetPos, maxRotationAngles, shipPIDController.steeringPIDController);
engines.SetRotationThrottleValues(shipPIDController.steeringPIDController.GetControlValues());
Maneuvring.TranslateToward(rBody, targetPos, shipPIDController.movementPIDController);
engines.SetTranslationThrottleValues(shipPIDController.movementPIDController.GetControlValues());
return(true);
}
// Update is called once per frame
void Update()
{
if (guidanceEnabled)
{
Maneuvring.TurnToward(transform, targetPosition, maxRotationAngles, steeringPIDController);
engines.SetSteeringInputs(steeringPIDController.GetControlValues());
}
else
{
engines.SetSteeringInputs(Vector3.zero);
}
engines.SetMovementInputs(new Vector3(0, 0, 1));
}
// Set the control values for the vehicle
void SetControlValues()
{
// Values to be passed to the ship
float pitch = 0;
float yaw = 0;
float roll = 0;
Vector3 flattenedForward = new Vector3(engines.transform.forward.x, 0f, engines.transform.forward.z).normalized;
Maneuvring.TurnToward(engines.transform, engines.transform.position + flattenedForward, new Vector3(0f, 360f, 0f), shipPIDController.steeringPIDController);
pitch = shipPIDController.steeringPIDController.GetControlValue(PIDController3D.Axis.X);
roll = shipPIDController.steeringPIDController.GetControlValue(PIDController3D.Axis.Z);
yaw = -yawInput.FloatValue();
// ************************** Throttle ******************************
Vector3 nextTranslationInputs = engines.TranslationThrottleValues;
if (throttleUpInput.Pressed())
{
nextTranslationInputs.z += throttleSensitivity.z * Time.deltaTime;
}
else if (throttleDownInput.Pressed())
{
nextTranslationInputs.z -= throttleSensitivity.z * Time.deltaTime;
}
// Left / right movement
nextTranslationInputs.x = strafeHorizontalInput.FloatValue();
// Up / down movement
nextTranslationInputs.y = strafeVerticalInput.FloatValue();
engines.SetTranslationThrottleValues(nextTranslationInputs);
if (boostInput.Down())
{
engines.SetBoostThrottleValues(new Vector3(0f, 0f, 1f));
}
else if (boostInput.Up())
{
engines.SetBoostThrottleValues(Vector3.zero);
}
engines.SetRotationThrottleValues(new Vector3(pitch, yaw, roll));
}
public override bool BehaviourUpdate()
{
if (!base.BehaviourUpdate())
{
return(false);
}
// Add a weave to the evade path
Vector3 targetDirection = Weave(evadeDirection, weaveSpeed, weaveRadius);
Maneuvring.TurnToward(vehicle.transform, vehicle.transform.position + targetDirection, maxRotationAngles, shipPIDController.steeringPIDController);
engines.SetRotationThrottleValues(shipPIDController.steeringPIDController.GetControlValues());
engines.SetTranslationThrottleValues(new Vector3(0, 0, 1));
return(true);
}
// Update is called once per frame
void Update()
{
// Turn toward the lead target position
if (targetLeader.Target != null)
{
// Set the target leader's intercept speed as the current missile speed
targetLeader.InterceptSpeed = engines.GetCurrentMaxSpeedByAxis(false).z;
Vector3 toTargetVector = targetLeader.Target.transform.position - transform.position;
Vector3 adjustedLeadTargetPos = transform.position + (targetLeader.LeadTargetPosition - transform.position).normalized * toTargetVector.magnitude;
float leadTargetAngle = Vector3.Angle(toTargetVector, adjustedLeadTargetPos - transform.position);
float amount = Mathf.Clamp(maxLeadTargetAngle / leadTargetAngle, 0, 1);
Vector3 nextTargetPos = amount * adjustedLeadTargetPos + (1 - amount) * targetLeader.Target.transform.position;
Maneuvring.TurnToward(transform, nextTargetPos, maxRotationAngles, steeringPIDController);
engines.SetRotationThrottleValues(steeringPIDController.GetControlValues());
}
else
{
engines.SetRotationThrottleValues(Vector3.zero);
}
}
/// <summary>
/// Called by the control script every frame when this behaviour is running.
/// </summary>
public override bool BehaviourUpdate()
{
// Do collision avoidance
float obstacleScanDistance = vehicle.CachedRigidbody.velocity.magnitude * minMaxCollisionReactionTime.y;
RaycastHit[] hits = Physics.SphereCastAll(vehicle.transform.position, sphereCastRadius,
vehicle.CachedRigidbody.velocity.normalized, obstacleScanDistance);
UpdateObstacleData(hits);
if (obstacleAvoidanceStrength < 0.01f)
{
return(false);
}
else
{
Maneuvring.TurnToward(vehicle.transform, vehicle.transform.position + obstacleAvoidanceDirection, maxRotationAngles,
shipPIDController.steeringPIDController);
engines.SetRotationThrottleValues(shipPIDController.steeringPIDController.GetControlValues());
return(true);
}
}
