// =========================================================
// FSM STATES
// =========================================================
// STATE start ---------------------------------------------
void state_AvoidObstacles()
{
// START of checking the state change conditions ---------------------
if (!obstacle1)
{
if (!playerShip)
{
ChangeStateTo_PlayerSearch_Or_GoToLastKnownPlayerShipPosition();
return;
}
if (playerShip)
{
activeState = state_GoToPlayerShip;
return;
}
}
// END of checking the state change conditions---------------
Vector3 ourShipDirection = transform.forward;
ourShipDirection.y = 0;
float angleInDegToAvoidObstacle;
// if there is only one obstacle
if (obstacle1 && !obstacle2)
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else // if there are two obstacles
{
float angleBetweenShortestShiptToObstacle1VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle1, transform);
float angleBetweenShortestShiptToObstacle2VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle2, transform);
if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle1, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle2, additionalRandomAngle);
}
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = 90 + additionalRandomAngle;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = -90 - additionalRandomAngle;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle2, windArea, additionalRandomAngle);
}
}
else //such situation should not exist!!!
{
angleInDegToAvoidObstacle = 0;
Debug.Log("Such situation should not exist!!!");
}
}
Vector3 rotatedVector = AIHelperFunctions.GetRotatedVector(ourShipDirection, angleInDegToAvoidObstacle * Mathf.Deg2Rad);
enemyBoatController.SetNewShipDirection(rotatedVector);
}
// =========================================================
// FSM STATES
// =========================================================
// STATE start ---------------------------------------------
void state_AvoidingObstacle()
{
if (!obstacle1)
{
activeState = state_MoveRandomly;
return;
}
// if (!obstacle1) {
// if (!playerShip) {
// activeState = state_PlayerSearching;
// return;
// } else {
// activeState = state_GoToPlayerShip;
// return;
// }
// }
// Vector3 shipPosition = transform.position;
Vector3 shipDirection = transform.forward;
float angleInDegToAvoidObstacle;
if (obstacle1 && !obstacle2)
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else
{
float angleBetweenShortestShiptToObstacle1VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle1, transform);
float angleBetweenShortestShiptToObstacle2VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle2, transform);
if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle1, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle2, additionalRandomAngle);
}
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = 90 + 20;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = -90 - 20;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle2, windArea, additionalRandomAngle);
}
}
else
{
angleInDegToAvoidObstacle = 0;
Debug.Log("Such situation should not exist!!!");
}
}
Vector3 rotatedVector = AIHelperFunctions.GetRotatedVector(shipDirection, angleInDegToAvoidObstacle * Mathf.Deg2Rad);
enemyBoatController.SetNewShipDirection(rotatedVector);
}
