// Update is called once per frame public KinematicSteeringOutput updateSteering(DynoSteering ds, float time) { if (sp == null) { sp = GetComponent <SteeringParams>(); position = this.transform.position; velc = new Vector3(0f, 0f, 0f); rotation = 0f; orientation = 0f; } steering = new KinematicSteeringOutput(); // make Updates position += velc * time; orientation += rotation * time; velc += ds.force * time; orientation += ds.torque * time; if (velc.magnitude > sp.MAXSPEED) { velc.Normalize(); velc = velc * sp.MAXSPEED; } steering.position = position; steering.orientation = orientation; return(steering); }
//public void RegisterPlayableToList // Update is called once per frame void Update() { if (!initiatedExternally) { steering = false; //throw new System.Exception(); } if (steering) { //Debug.Log(gameObject.name + " " + transform.position); //Debug.Log(transform.name + force.ToString()); seekTask(); // Strategy to prevent sudden re-allignment. if (playingClip) { alignTask(); //Debug.Log("aligning " + transform.name); } kso = KinematicBody.updateSteering(new DynoSteering(force, torque), 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); playingClip = false; } }
// Update is called once per frame public KinematicSteeringOutput updateSteering(DynoSteering ds, float time) { steering = new KinematicSteeringOutput(); //perform wander behavior // make Updates position += (velc) * time; orientation += rotation * time; velc += ds.force * time; orientation += ds.torque * time; if (velc.magnitude > sp.MAXSPEED) { velc.Normalize(); velc = velc * sp.MAXSPEED; } steering.position = position; steering.orientation = orientation; return(steering); }
// Update is called once per frame void Update() { // Decide on behavior ds_force = arrive.getSteering(); ds_torque = align.getSteering(); ds = new DynoSteering(ds_force.force, 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); }
private void kinematicSeekBehavior() { ds = new DynoSteering(); // Decide on behavior seeking_output = seek.getSteering(); char_kinematic.setVelocity(seeking_output.velc); // Manually set orientation for now float new_orient = char_kinematic.getNewOrientation(seeking_output.velc); char_kinematic.setOrientation(new_orient); char_kinematic.setRotation(0f); // 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); }
// 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()); } }
private void kinematicSeekBehavior() { ds = new DynoSteering(); // Decide on behavior //****** seeking_output = seek.getSteering(); //******seeking_output = align.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); }
void Update() { currentGoalTile = goalComponent.getGoalTile(); currentTile = QuantizeLocalize.Quantize(transform.position, tg); if (prevGoalTile != currentGoalTile) { foreach (TileNode tn in currentPath) { if (tn.isEqual(currentTile)) { continue; } tn.setOffMaterial(); } currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile); prevGoalTile = currentGoalTile; // light up all tiles foreach (TileNode tn in currentPath) { if (tn.isEqual(currentGoalTile)) { continue; } tn.setPlanMaterial(); } currentGoal = QuantizeLocalize.Localize(currentPath.Pop()); } // determine how to set force if (currentPath.Count > 0) { ds_force = seek.getSteering(currentGoal); // pop when seek says we've made it into range and seek the next target if (seek.changeGoal) { nextTile = currentPath.Pop(); nextTile.setNextMaterial(); currentGoal = QuantizeLocalize.Localize(nextTile); if (currentPath.Count > 0) { ds_force = seek.getSteering(currentGoal); } else { ds_force = arrive.getSteering(currentGoal); } } } else if (currentPath.Count == 0) { ds_force = arrive.getSteering(currentGoal); } ds_torque = align.getSteering(currentGoal); ds = new DynoSteering(); ds.force = ds_force.force; ds.torque = ds_torque.torque; kso = char_RigidBody.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); }
// 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); } }
void Update() { // check what the current goal is currentGoalTile = goalComponent.tileGoal; // check if we are at the goal position currentTile = QuantizeLocalize.Quantize(transform.position, tg); // if we're at the goal position, then pick a new goal if (currentTile == currentGoalTile) { Debug.Log("here"); goalSetter.SetNextGoal(); currentGoalTile = goalComponent.tileGoal; // find path to new goal currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile); // pick next point to seek currentGoal = QuantizeLocalize.Localize(currentPath.Pop()); } else if (!hasPath) { currentPath = PathFind.Dijkstra(tg, currentTile, currentGoalTile); currentGoal = QuantizeLocalize.Localize(currentPath.Pop()); hasPath = true; } // if we are not at last point on path if (currentPath.Count > 0) { // seek next point on path ds_force = seek.getSteering(currentGoal); // pop when seek says we've made it into range and seek the next target if (seek.changeGoal) { nextTile = currentPath.Pop(); currentGoal = QuantizeLocalize.Localize(nextTile); if (currentPath.Count > 0) { ds_force = seek.getSteering(currentGoal); } else { ds_force = arrive.getSteering(currentGoal); } } } // otherwise, we are approaching the path goal. we should arrive. else if (currentPath.Count == 0) { ds_force = arrive.getSteering(currentGoal); } ds_torque = align.getSteering(currentGoal); ds = new DynoSteering(); ds.force = ds_force.force; ds.torque = ds_torque.torque; kso = char_RigidBody.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); }