// Update is called once per frame
void Update()
{
Vector3 accel = Vector3.zero;
// 集群加速度
accel += cohesion.GetSteering(sensor.targets) * cohesionWeight;
// 分隔加速度
accel += separation.GetSteering(sensor.targets) * separationWeight;
// 速度匹配加速度
accel += velocityMatch.GetSteering(sensor.targets) * velocityMatchWeight;
// 如果没有那些 影响， 就漫游好了
if (accel.magnitude < 0.005f)
{
accel = wander.GetSteering();
}
// 设置刚体速度 和 朝向
steeringBasics.Steer(accel);
steeringBasics.LookWhereYoureGoing();
}
// Update is called once per frame
void FixedUpdate()
{
Vector3 center = new Vector3(0, 0, 0);
float count = 0;
GameObject[] drones = GameObject.FindGameObjectsWithTag("Fish");
foreach (GameObject drone in drones)
{
center += drone.transform.position;
count++;
}
var theCenter = center / count;
Vector3 velocity = new Vector3(0, 0, 0);
count = 0;
foreach (GameObject drone in drones)
{
velocity += drone.GetComponent <Rigidbody>().velocity;
count++;
}
var theVelocity = velocity / count;
//separationOutput = separation.GetSteering();
//avoidanceOutput = avoidance.GetSteering();
velocityOutput = velocityMatching.GetSteering(leader.GetComponent <Rigidbody>().velocity);
//arriveOutput = arrive.GetSteering(leader.transform.position);
Move(separationOutput.m_linear + velocityOutput.m_linear + arriveOutput.m_linear + (3f) * avoidanceOutput.m_linear);
if (m_droneGO.GetComponent <Rigidbody>().velocity.magnitude > m_maxSpeed)
{
m_droneGO.GetComponent <Rigidbody>().velocity = m_droneGO.GetComponent <Rigidbody>().velocity.normalized *m_maxSpeed;
}
float step = m_turnSpeed * Time.deltaTime;
transform.rotation = Quaternion.Slerp(transform.rotation, leader.transform.rotation, Time.deltaTime * m_turnSpeed);
//m_droneGO.GetComponent<Transform>().rotation = Quaternion.RotateTowards(transform.rotation, leader.transform.rotation , step);
}