public override MovementOutput GetMovement()
{
output.Clear();
characterPosition = Character.Position;
foreach (DynamicCharacter dynamicCharacter in flock)
{
boid = dynamicCharacter.KinematicData;
direction = characterPosition - boid.Position;
distance = direction.sqrMagnitude;
if (distance < Radius * Radius)
{
separationStrength = Mathf.Min(SeparationFactor / (distance), MaxAcceleration);
direction.Normalize();
output.linear += direction * separationStrength;
}
}
if (output.linear.sqrMagnitude > MaxAcceleration * MaxAcceleration)
{
output.linear.Normalize();
output.linear *= MaxAcceleration;
}
return(output);
}
public override MovementOutput GetMovement()
{
Vector3 deltaPos = this.Target.Position - this.Character.Position;
Vector3 deltaVel = this.Target.velocity - this.Character.velocity;
float deltaSqrSpeed = deltaVel.sqrMagnitude;
MovementOutput output = new MovementOutput();
output.Clear();
if (deltaSqrSpeed == 0)
{
return(output);
}
float timeToClosest = Mathf.Abs(-Vector3.Dot(deltaPos, deltaVel) / deltaSqrSpeed);
if (timeToClosest > this.MaxTimeLookAhead)
{
return(output);
}
Vector3 futureDeltaPos = deltaPos + deltaVel * timeToClosest;
float futureDistance = futureDeltaPos.magnitude;
if (futureDistance > 2 * AvoidMargin)
{
return(output);
}
if (futureDistance <= 0 || deltaPos.magnitude < 2 * AvoidMargin)
{
output.linear = Character.Position - Target.Position;
}
else
{
output.linear = -futureDeltaPos;
}
output.linear = output.linear.normalized * this.MaxAcceleration;
return(output);
}
public override MovementOutput GetMovement()
{
output.Clear();
deltaPos = Target.Position - Character.Position;
deltaVel = Target.velocity - Character.velocity;
deltaSpeed = deltaVel.sqrMagnitude;
if (deltaSpeed == 0)
{
return(output);
}
timeToClosest = (-Vector3.Dot(deltaPos, deltaVel)) / (deltaSpeed);
if (timeToClosest > maxTimeLookAhead)
{
return(output);
}
futureDeltaPos = deltaPos + deltaVel * timeToClosest;
futureDistance = futureDeltaPos.sqrMagnitude;
if (futureDistance > twiceCollisionRadius * twiceCollisionRadius)
{
return(output);
}
if (futureDistance <= 0 || deltaPos.sqrMagnitude < twiceCollisionRadius * twiceCollisionRadius)
{
output.linear = Character.Position - Target.Position;
}
else
{
output.linear = futureDeltaPos * -1;
}
output.linear = output.linear.normalized * maxAcceleration;
return(output);
}
public override MovementOutput GetMovement()
{
Vector3 rayVector = Character.velocity.normalized;
if (rayVector.magnitude == 0)
{
rayVector = Util.MathHelper.ConvertOrientationToVector(Character.rotation);
}
Debug.DrawRay(this.Character.Position, Util.MathHelper.Rotate2D(rayVector, -WhiskerAngle) * WhiskerLength, Color.black);
Debug.DrawRay(this.Character.Position, Util.MathHelper.Rotate2D(rayVector, WhiskerAngle) * WhiskerLength, Color.black);
Debug.DrawRay(this.Character.Position, rayVector * MaxLookAhead, Color.black);
RaycastHit collision;
if (CollisionDetector.Raycast(new Ray(this.Character.Position, Util.MathHelper.Rotate2D(rayVector, -WhiskerAngle)), out collision, WhiskerLength))
{
base.Target.Position = this.Character.Position + Util.MathHelper.Rotate2D(rayVector, WhiskerAngle) * AvoidMargin;
return(base.GetMovement());
}
if (CollisionDetector.Raycast(new Ray(this.Character.Position, Util.MathHelper.Rotate2D(rayVector, WhiskerAngle)), out collision, WhiskerLength))
{
base.Target.Position = this.Character.Position + Util.MathHelper.Rotate2D(rayVector, -WhiskerAngle) * AvoidMargin;
return(base.GetMovement());
}
if (CollisionDetector.Raycast(new Ray(this.Character.Position, rayVector), out collision, MaxLookAhead))
{
base.Target.Position = collision.point + collision.normal * AvoidMargin;
return(base.GetMovement());
}
MovementOutput output = new MovementOutput();
output.Clear();
return(output);
}
