// Update is called once per frame
public DynoSteering getSteering()
{
ds = new DynoSteering();
goal = goalObject.getGoal();
direction = goal.position - transform.position;
distance = direction.magnitude;
if (distance < goalRadius)
{
return(ds);
}
if (distance > slowRadius)
{
targetSpeed = sp.MAXSPEED;
}
else
{
targetSpeed = sp.MAXSPEED * distance / slowRadius;
}
targetVelocity = direction;
targetVelocity.Normalize();
targetVelocity = targetVelocity * targetSpeed;
ds.force = targetVelocity - charRigidBody.getVelocity();
ds.force = ds.force / time_to_target;
if (ds.force.magnitude > sp.MAXACCEL)
{
ds.force.Normalize();
ds.force = ds.force * sp.MAXACCEL;
}
ds.torque = 0f;
return(ds);
}
// Update is called once per frame
void Update()
{
ks = new KinematicSteering();
ds = new DynoSteering();
// Decide on behavior
//seeking_output = seek.updateSteering();
//******seeking_output = arrive.getSteering();
seeking_output = arrive.getSteering();
ds_torque = align.getSteering();
//******
//seeking_output = seek.getSteering();
char_kinematic.setVelocity(seeking_output.velc);
// Manually set orientation for now
/*Replace these three lines with a dynamic rotation*/
//float new_orient = char_kinematic.getNewOrientation(seeking_output.velc);
//char_kinematic.setOrientation(new_orient);
//char_kinematic.setRotation(0f);
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_kinematic.updateSteering(ds, Time.deltaTime);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
/*record and write out speed on timer*/
string t = (Time.time - StartTime).ToString();
using (System.IO.StreamWriter file =
new System.IO.StreamWriter(@"C:\Grad School\AI\A1\" + FileName, true))
{
file.WriteLine(t + " | " + char_kinematic.getVelocity().ToString());
}
}
public void Seek(bool arrive)
{
var direction = currentGoal - transform.position;
var distance = direction.magnitude;
if (distance < goalRadius)
{
force = Vector3.zero;
tiltAmountForward = 0f;
return;
}
float targetSpeed;
if (distance > slowRadius || !arrive)
{
targetSpeed = SP.MAXSPEED;
}
else
{
targetSpeed = SP.MAXSPEED * distance / slowRadius;
}
tiltAmountForward = targetSpeed;
//targetVelocity = direction.normalized;
//targetVelocity.Normalize();
targetVelocity = direction.normalized * targetSpeed;
force = targetVelocity - KinematicBody.getVelocity();
force = force / arriveTime;
if (force.magnitude > SP.MAXACCEL)
{
force.Normalize();
force = force * SP.MAXACCEL;
}
}
// Update is called once per frame
void Update()
{
ds = new DynoSteering();
if (bHasGoal)
{
// Decide on behavior
ds_force = arrive.getSteering();
ds_torque = align.getSteering();
}
else
{
Vector3 tempGoal = ds_wander.getWanderGoal(char_RigidBody.getVelocity(), transform.position, toCenterWanderCircle, wanderCircleRad); //, UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ);
ds_force = arrive.getSteering(tempGoal);
ds_torque = align.getSteering(tempGoal);
}
ds.force = ds_force.force;
ds.torque = ds_torque.torque;
// Update Kinematic Steering
kso = char_RigidBody.updateSteering(ds, Time.deltaTime);
//Debug.Log(kso.position);
transform.position = new Vector3(kso.position.x, transform.position.y, kso.position.z);
transform.rotation = Quaternion.Euler(0f, kso.orientation * Mathf.Rad2Deg, 0f);
/*record and write out speed on timer*/
string t = (Time.time - StartTime).ToString();
using (System.IO.StreamWriter file =
new System.IO.StreamWriter(@"C:\Grad School\AI\A1\" + FileName, true))
{
file.WriteLine(t + " | " + char_RigidBody.getVelocity().ToString());
}
DropCrumb(char_RigidBody.getVelocity());
if (!(CheckInBounds(transform.position, UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ)))
{
char_RigidBody.setVelocity(char_RigidBody.getVelocity() * -1);
//char_RigidBody.setRotation(char_RigidBody.getRotation () * -1);
//char_RigidBody.setOrientation(char_RigidBody.getOrientation () - 180);
//transform.Rotate (0, 180, 0);
//float targetOrientation = char_RigidBody.getNewOrientation ((transform.position + char_RigidBody.getVelocity ()));
//char_RigidBody.setRotation (targetOrientation - char_RigidBody.getOrientation ());
//char_RigidBody.setOrientation (targetOrientation);
//char_RigidBody.setRotation (char_RigidBody.getRotation () - 180);
//char_RigidBody.setOrientation
/*
* if (CheckInBounds (transform.position + (char_RigidBody.getVelocity () * -1), UpperBoundX, LowerBoundX, UpperBoundZ, LowerBoundZ))
* {
* char_RigidBody.setVelocity (char_RigidBody.getVelocity () * -1);
* }
*/
//transform.Rotate (0, 180, 0);
//char_RigidBody.setOrientation( char_RigidBody() * (-1) );//char_RigidBody.getNewOrientation())// char_RigidBody.getOrientation() - 180 );//char_RigidBody.getNewOrientation (char_RigidBody.getVelocity ()));
//transform.rotation = Quaternion.Euler (0, kso.orientation * Mathf.Rad2Deg * -1 ,0);
//char_RigidBody.setRotation(char_RigidBody.getRotation () * -1);
}
}
