public static Vector2 SteerForce(AutonomousAgent2D agent, EvadeSensor2D sensor)
{
// Nothing setup to avoid.
if (sensor.avoid == null)
{
return(Vector2.zero);
}
Vector2 targetPosition = sensor.avoid.position;
Vector2 targetVelocity = sensor.avoid.velocity;
Vector2 toAvoider = targetPosition - (Vector2)agent.transform.position;
float distanceToAvoid = toAvoider.magnitude;
if (sensor.ShouldAvoid(distanceToAvoid))
{
float lookAheadTime = distanceToAvoid / (agent.maxSpeed + targetVelocity.magnitude);
Vector2 fleePosition = targetPosition + targetVelocity * lookAheadTime;
return(Flee2D.SteerForce(agent, fleePosition));
}
// Too far too evade
else
{
return(Vector2.zero);
}
}
public static void DrawGizmos(AutonomousAgent2D agent, EvadeSensor2D sensor)
{
if (sensor.avoid != null)
{
if (sensor.bUseRange)
{
DrawUtil.DrawCircle(agent.transform.position, sensor.avoidRange, Color.red);
}
DrawUtil.DrawArrow(agent.transform.position, sensor.avoid.position, Color.green, 1f, true);
}
}