override public void Execute() { directionChangeTimer -= Time.deltaTime; if (directionChangeTimer <= 0.0f) { fleeVelocity = StaticMovementAlgorithms.KinematicWander(selfBody, SPEED, movementVariance, Owner.transform.forward); directionChangeTimer = Random.Range(MIN_TIME, MAX_TIME); } Vector3 avoidanceVelocity = CollisionPrediction.AvoidCollisions(Owner.gameObject, AVOID_DETECTION_RADIUS, AVOID_MARGIN, SPEED, LayerMask.GetMask("Obstacle"), selfColliders); //if we're in range of the thing we want to flee stop wandering float closestPosition = fleeGroup.Select(x => Mathf.Min(Vector3.Distance(Owner.transform.position, x.transform.position))).Aggregate((x, y) => Mathf.Min(x, y)); if (closestPosition < FLEE_RADIUS) { //Debug.Log(Vector3.Distance(Owner.transform.position, target.transform.position)); fleeVelocity = StaticMovementAlgorithms.KinematicFleeMultiple(this.Owner.GetComponent <Rigidbody>(), fleeGroup.Select(x => x.transform.position).ToList <Vector3>(), SPEED, 1.0f).normalized; } if (avoidanceVelocity != Vector3.zero) { targetVelocity = 0.6f * fleeVelocity + 0.4f * avoidanceVelocity; } else { targetVelocity = fleeVelocity; } targetVelocity.y = 0.0f; targetVelocity = targetVelocity.normalized * SPEED; }
override public void Execute() { directionChangeTimer -= Time.deltaTime; if (directionChangeTimer <= 0.0f) { fleeVelocity = StaticMovementAlgorithms.KinematicWander(selfBody, SPEED, movementVariance, Owner.transform.forward); directionChangeTimer = Random.Range(MIN_TIME, MAX_TIME); } Vector3 avoidanceVelocity = CollisionPrediction.AvoidCollisions(Owner.gameObject, AVOID_DETECTION_RADIUS, AVOID_MARGIN, SPEED, LayerMask.GetMask("Obstacle"), selfColliders); //if we're in range of the thing we want to flee stop wandering if (Vector3.Distance(Owner.transform.position, target.transform.position) < FLEE_RADIUS) { Debug.Log(Vector3.Distance(Owner.transform.position, target.transform.position)); fleeVelocity = StaticMovementAlgorithms.KinematicFlee(selfBody, target.transform.position, SPEED); } if (avoidanceVelocity != Vector3.zero) { targetVelocity = 0.6f * fleeVelocity + 0.4f * avoidanceVelocity; } else { targetVelocity = fleeVelocity; } targetVelocity.y = 0.0f; targetVelocity = targetVelocity.normalized * SPEED; }
override public void Execute() { flockTimer -= Time.deltaTime; if (flockTimer > 0.0f) { return; } Rigidbody selfBody = this.Owner.GetComponent <Rigidbody>(); Vector3 velocityMatching = target.GetComponent <Rigidbody>().velocity; Vector3 separation = StaticMovementAlgorithms.KinematicFleeMultiple(this.Owner.GetComponent <Rigidbody>(), group.Select(x => x.transform.position).ToList <Vector3>(), SPEED, 0.2f); Vector3 centerOfMass = new Vector3(); foreach (Enemy member in group) { centerOfMass += member.transform.position; } centerOfMass = centerOfMass / group.Count; Vector3 displace = centerOfMass - selfBody.position; Vector3 cohesion = displace.magnitude * StaticMovementAlgorithms.KinematicSeek(this.Owner.GetComponent <Rigidbody>(), centerOfMass, SPEED).normalized; flockingVelocity = velocityMatching + separation + cohesion; if (flockingVelocity.sqrMagnitude > SPEED * SPEED) { flockingVelocity = flockingVelocity.normalized * SPEED; } //Vector3 avoidanceVelocity = StaticMovementAlgorithms.KinematicAvoidObstacles(Owner.GetComponent<Rigidbody>(), LayerMask.GetMask("Obstacle"), 5.0f, 1.0f, SPEED); Vector3 avoidanceVelocity = CollisionPrediction.AvoidCollisions(Owner.gameObject, AVOID_DETECTION_RADIUS, AVOID_MARGIN, SPEED, LayerMask.GetMask("Obstacle"), selfColliders); avoidanceVelocity.y = 0; if (avoidanceVelocity != Vector3.zero) { targetVelocity = 0.4f * avoidanceVelocity + 0.6f * flockingVelocity; } else { targetVelocity = flockingVelocity; } targetVelocity = targetVelocity.normalized * SPEED; flockTimer = FLOCK_PERIOD; }
override public void Execute() { Vector3 arriveVelocity = StaticMovementAlgorithms.KinematicArrive(selfBody, target.transform.position, SPEED, ARRIVE_RADIUS); Vector3 avoidanceVelocity = CollisionPrediction.AvoidCollisions(Owner.gameObject, AVOID_DETECTION_RADIUS, AVOID_MARGIN, SPEED, LayerMask.GetMask("Obstacle"), selfColliders); if (avoidanceVelocity != Vector3.zero) { targetVelocity = 0.6f * arriveVelocity + 0.4f * avoidanceVelocity; } else { targetVelocity = arriveVelocity; } targetVelocity.y = 0.0f; targetVelocity = targetVelocity.normalized * SPEED; }
override public void Execute() { //Initialization of basic parameters Rigidbody body = Owner.GetComponent <Rigidbody>(); directionChangeTimer -= Time.deltaTime; if (directionChangeTimer <= 0.0f) { wanderVelocity = StaticMovementAlgorithms.KinematicWander(body, SPEED, movementVariance, Owner.transform.forward); directionChangeTimer = Random.Range(MIN_TIME, MAX_TIME); } //Calculates the velocity for not colliding into things Vector3 avoidanceVelocity = CollisionPrediction.AvoidCollisions(Owner.gameObject, AVOID_DETECTION_RADIUS, AVOID_MARGIN, SPEED, LayerMask.GetMask("Obstacle")); //StaticMovementAlgorithms.KinematicAvoidObstacles(body, LayerMask.GetMask("Obstacle"), 5.0f, 1.0f, SPEED); avoidanceVelocity.y = 0; //Vector3 targetVelocity = new Vector3(); if (avoidanceVelocity != Vector3.zero) { targetVelocity = 0.6f * wanderVelocity + 0.4f * avoidanceVelocity; targetVelocity = targetVelocity.normalized * SPEED; wanderVelocity = targetVelocity;//avoidanceVelocity; } else { targetVelocity = wanderVelocity; } targetVelocity.y = 0.0f; targetVelocity = targetVelocity.normalized * SPEED; //Debug.Log("wander " + wanderVelocity); //Debug.Log("avoid " + avoidanceVelocity); }
override public void Execute() { Vector3 targetDest; //if(Path.Count - PathIndex >= 3) //{ // targetDest = 0.7f * Path[PathIndex].transform.position // + 0.2f * Path[PathIndex + 1].transform.position // + 0.1f * Path[PathIndex + 2].transform.position; //} //else if (Path.Count - PathIndex >= 2) //{ // targetDest = 0.8f * Path[PathIndex].transform.position // + 0.2f * Path[PathIndex + 1].transform.position; //} //else if (Path.Count - PathIndex >= 1) //{ // targetDest = Path[PathIndex].transform.position; //} //else //{ // targetDest = currentTarget.transform.position; //} targetDest = currentTarget.transform.position; Debug.DrawLine(targetDest, targetDest + Vector3.up * 1.0f, Color.red); Vector3 arriveVelocity = StaticMovementAlgorithms.KinematicArrive(selfBody, targetDest, 1.0f, ARRIVE_RADIUS); //Vector3 avoidanceVelocity = // CollisionPrediction.AvoidCollisionsHelper(Owner.gameObject, // AVOID_DETECTION_RADIUS, // 1.5f * Owner.BodyBounds.extents.magnitude, // LayerMask.GetMask("Obstacle"), // selfColliders); Vector3 avoidanceVelocity = CollisionPrediction.AvoidCollisions(Owner.gameObject, AVOID_DETECTION_RADIUS, AVOID_MARGIN, SPEED, LayerMask.GetMask("Obstacle"), selfColliders); avoidanceVelocity.y = 0.0f; if (avoidanceVelocity != Vector3.zero) { targetVelocity = 0.6f * arriveVelocity + 0.4f * avoidanceVelocity; } else { targetVelocity = arriveVelocity; } //targetVelocity.y = 0.0f; targetVelocity = targetVelocity.normalized * Owner.speed; //targetVelocity.y = 0.0f; //float avoidanceSpeed = avoidanceVelocity.magnitude; //avoidanceVelocity.y = 0.0f; //avoidanceVelocity = avoidanceVelocity.normalized * avoidanceSpeed; //targetVelocity = arriveVelocity + avoidanceVelocity; //if (targetVelocity.sqrMagnitude > 1.0f) //{ // targetVelocity = targetVelocity.normalized; //} //targetVelocity *= SPEED; //Debug.Log("chosen target velocity: " + targetVelocity); if (Vector3.Distance(Owner.transform.position, currentTarget.transform.position) < ARRIVE_RADIUS) { //invariant that the path has a unique set of targets PathIndex++; if (PathIndex < Path.Count) { currentTarget = Path[PathIndex]; } } }