public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.getPosition() - Character.getPosition();
float distance = direction.magnitude;
float speed = Character.getVelocity().magnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent <AgentMeta> ();
dummyAgent.setPosition(Target.getPosition() + Target.getVelocity() * prediction);
Behaviour seek = new Seek(dummyAgent, Character);
SteeringOutput.SteeringOutput steering = seek.getSteering();
MonoBehaviour.Destroy(dummy);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent <AgentMeta> ();
if ((Character.getPosition() - path.Nodes[i]).magnitude < 1)
{
i++;
if (path.Nodes.Count == i)
{
i = 0;
}
Debug.Log("NODE: " + path.Nodes [i].ToString());
}
dummyAgent.setPosition(path.Nodes[i]);
//MonoBehaviour.print(dummyAgent.getPosition ());
Behaviour seek = new ArriveWhileLooking(dummyAgent, Character, 1f, 0.5f, 0.1f);
SteeringOutput.SteeringOutput steering = seek.getSteering();
MonoBehaviour.Destroy(dummy);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(.0f, .0f), .0f);
SteeringOutput.SteeringOutput auxSteering;
for (int i = 0; i < weightedBehaviours.Count; i++)
{
auxSteering = weightedBehaviours [i].behaviour.getSteering();
auxSteering.linear.x *= weightedBehaviours [i].weight;
auxSteering.linear.y *= weightedBehaviours [i].weight;
auxSteering.angular *= weightedBehaviours [i].weight;
steering += auxSteering;
}
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
if (steering.linear.magnitude > Character.maxAcceleration)
{
steering.linear = steering.linear.normalized * Character.maxAcceleration;
}
if (steering.angular > Character.maxAngularAcceleration)
{
steering.angular = Character.maxAngularAcceleration;
}
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
wanderOrientation = base.randomBinomial() * wanderRate; // Hallar Orientacion aleatoria
float targetOrientation = Mathf.Abs(wanderOrientation + Character.orientation); // Obtener nueva orientacion objetivo.
float targetOrientationRadian = targetOrientation * Mathf.Deg2Rad; // Orientacion en radianes
float orientationRadian = Character.orientation * Mathf.Deg2Rad;
Debug.Log("WO:" + wanderOrientation);
Vector2 target = Character.position
+ wanderOffset * new Vector3(Mathf.Cos(orientationRadian), Mathf.Sin(orientationRadian), 0)
+ wanderRadius * new Vector3(Mathf.Cos(targetOrientationRadian), Mathf.Sin(targetOrientationRadian), 0);
//GameObject dummy = (GameObject) MonoBehaviour.Instantiate (Resources.Load ("Prefab/Dummy"));
AgentMeta dummyAgent = new AgentMeta(); // Agente auxiliar para cambiar orientacion.
dummyAgent.position = target;
dummyAgent.orientation = wanderOrientation + Character.orientation;
/* Moverse en la direccion de la orientacion */
Behaviour face = new Face(dummyAgent, Character);
SteeringOutput.SteeringOutput steering = face.getSteering();
steering.linear = Character.maxAcceleration * new Vector2(Mathf.Cos(orientationRadian),
Mathf.Sin(orientationRadian));
/* Limpiar y salir */
MonoBehaviour.Destroy(dummyAgent);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.position - Character.position;
float distance = direction.magnitude;
float speed = Character.velocity.magnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
GameObject dummy = (GameObject)MonoBehaviour.Instantiate((GameObject)Resources.Load("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent <AgentMeta> ();
dummyAgent.position = Target.position + Target.velocity * prediction;
Behaviour flee = new Flee(dummyAgent, Character);
SteeringOutput.SteeringOutput steering = flee.getSteering();
MonoBehaviour.Destroy(dummy);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
Vector2 direction = Target.getPosition() - Character.getPosition();
float distance = direction.magnitude;
if (distance < targetRadius)
{
return(steering);
}
var targetSpeed = Character.maxSpeed;
if (distance <= slowRadius)
{
targetSpeed *= distance / slowRadius;
}
var targetVelocity = direction.normalized * targetSpeed;
steering.linear = targetVelocity - Character.getVelocity();
steering.linear /= timeToTarget;
steering.angular = 0.0f;
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
float rotation = Character.getOrientation() - Target.getOrientation(); // Diferencia en las orientaciones
rotation *= Mathf.Deg2Rad - Mathf.PI; // Mapping
float rotationSize = Mathf.Abs(rotation); // Diferencia en las orientaciones (Solo magnitud).
bool cond1 = rotationSize < targetRadius;
if (cond1) // Si la diferencia es muy pequenia, chao.
{
Character.setRotation(0f);
return(steering);
}
/* Calculo de aceleracion */
float targetRotation = Character.maxRotation; // Velocidad de rotacion maxima. (Fuera del radio)
if (rotationSize <= slowRadius) // Si estoy acercandome, disminuir aceleracion
{
targetRotation *= rotationSize / slowRadius;
}
targetRotation *= rotation / rotationSize;
steering.angular = targetRotation - Character.getRotation();
steering.angular /= timeToTarget;
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.getPosition() - Character.getPosition();
float distance = direction.sqrMagnitude;
float speed = Character.getVelocity().sqrMagnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
AgentMeta dummy = new AgentMeta(new Vector2(0.0f, 0.0f) + Target.getVelocity() * prediction);
Behaviour seek = new Seek(dummy, Character);
SteeringOutput.SteeringOutput steering = seek.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
steering.linear = Character.position - Target.position;
steering.linear = steering.linear.normalized * Character.maxAcceleration;
steering.angular = 0.0f;
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
Behaviour seek = new Seek(Target, Character);
Behaviour lwyg = new LWYG(Character);
SteeringOutput.SteeringOutput steering = lwyg.getSteering() + seek.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
steering.linear = Target.getVelocity() - Character.getVelocity();
steering.linear /= Character.maxAcceleration;
steering.angular = 0.0f;
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
float shortestTime = float.MaxValue; // Tiempo faltante para la colision.
AgentMeta firstTarget = null; // Agente mas cercano a ocasionar una colision.
// Distancias y posiciones relativas entre agentes.
float firstMinSeparation = -1, firstDistance = float.MaxValue;
Vector2 firstRelativePos = new Vector2(), firstRelativeVel = new Vector2(), relativePos;
foreach (AgentMeta target in targets) // Para cada objeto que puede causar una colision.
{
relativePos = target.position - Character.position; // Posicion de Agente -> Target
Vector2 relativeVel = target.velocity - Character.velocity; // Velocidad Agente -> Target.
float relativeSpeed = relativeVel.magnitude; // Rapidez relativa.
float distance = relativePos.magnitude; // Distancia relativa entre agentes.
float minSeparation = distance - relativeSpeed * shortestTime; // Separacion minima (COLISION).
/* Proyeccion del vector posicion sobre el vector velocidad para estimar el tiempo de colision. */
float timeToCollision = Mathf.Abs(Vector2.Dot(relativePos, relativeVel) / (relativeSpeed * relativeSpeed));
if (minSeparation > 2 * radius)
{
continue;
}
if (timeToCollision > 0 && timeToCollision < shortestTime)
{
/* Actualizacion del objetivo mas proximo a ocasionar colision */
shortestTime = timeToCollision;
Debug.Log("ShortT: " + shortestTime);
firstTarget = target;
firstMinSeparation = minSeparation;
firstDistance = distance;
firstRelativePos = relativePos;
firstRelativeVel = relativeVel;
}
}
/* Realizar evasion */
if (firstTarget != null)
{
if (firstMinSeparation <= 0 || firstDistance < 2 * radius)
{
/* Caso 1: Ya choque, que chimbo */
relativePos = firstTarget.position - Character.position;
}
else
{
/* Caso 2: Si sigo asi voy a chocar, y eso no es bueno :( */
relativePos = firstRelativePos + firstRelativeVel * shortestTime;
}
relativePos.Normalize();
steering.linear = -relativePos * maxAcc;
}
return(steering);
}
// Update is called once per frame
void Update()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
currentBehaviour = ListBehaviours [Player.getCurrentBehaviour() % ListBehaviours.Count];
print(currentBehaviour.getBehaviourName());
//print (this.position);
steering = currentBehaviour.getSteering();
this.linear = steering.linear;
this.angular = steering.angular;
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
steering.linear = Character.getPosition() - Target.getPosition();
steering.linear = steering.linear.normalized * Character.maxAcceleration;
steering.angular = 0.0f;
Behaviour lwyg = new LWYG(Character);
steering += lwyg.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(.0f, .0f), .0f);
for (int i = 0; i < groups.Count; i++)
{
steering = groups [i].getSteering();
if (steering.linear.magnitude > epsilon || Mathf.Abs(steering.angular) > epsilon)
{
return(steering);
}
}
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
wanderOrientation += base.randomBinomial() * wanderRate;
//Debug.Log (wanderOrientation);
float targetOrientation = wanderOrientation + Character.getOrientation();
float targetOrientationRadian = targetOrientation * Mathf.Deg2Rad;
float orientationRadian = Character.getOrientation() * Mathf.Deg2Rad;
//Debug.Log (targetOrientationRadian);
//Debug.Log (targetOrientation);
Vector2 target = Character.getPosition()
+ wanderOffset * new Vector2(Mathf.Cos(orientationRadian), Mathf.Sin(orientationRadian)).normalized
+ wanderRadius * new Vector2(Mathf.Cos(targetOrientationRadian), Mathf.Sin(targetOrientationRadian)).normalized;
//Debug.Log (Mathf.Cos (180f * Mathf.Deg2Rad));
//Debug.Log(new Vector2 (Mathf.Cos (targetOrientationRadian), Mathf.Sin (targetOrientationRadian)));
//Debug.Log (target);
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent <AgentMeta> ();
dummyAgent.setPosition(target);
dummyAgent.setOrientation(wanderOrientation + Character.getOrientation());
//dummyAgent.setOrientation (
//Debug.Log (dummyAgent.getPosition ()- Character.getPosition());
//Behaviour face = new Face (dummyAgent, Character);
//Debug.Log (dummyAgent.getPosition () - Character.getPosition());
//Debug.Log (dummyAgent.getOrientation ());
//Debug.Log (Character.getOrientation ());
Behaviour seek = new SeekWhileLooking(dummyAgent, Character);
//Behaviour lwyg = new LWYG (Character);
//SteeringOutput.SteeringOutput steering = seek.getSteering () + lwyg.getSteering();
SteeringOutput.SteeringOutput steering = seek.getSteering();
Debug.Log(steering.angular);
//steering.linear = Character.maxAcceleration * new Vector2 (Mathf.Cos (orientationRadian), Mathf.Sin (orientationRadian));
MonoBehaviour.Destroy(dummy);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
Behaviour selectedBehaviour;
float orientationDiff = Mathf.Abs(Target.orientation - Character.orientation - 180f);
if (orientationDiff < stalkRadius)
{
selectedBehaviour = new FleeWhileLooking(Target, Character);
}
else
{
selectedBehaviour = new ArriveWhileLooking(Target, Character, 3f, 1f, .1f);
}
steering = selectedBehaviour.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering() {
Vector2 futurePos = Character.getPosition () + Character.getVelocity () * predictTime;
currentParam = path.getParam (futurePos, currentParam);
float targetParam = currentParam + PathOffset;
GameObject dummy = (GameObject) MonoBehaviour.Instantiate (Resources.Load ("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent<AgentMeta> ();
dummyAgent.setPosition (path.getPosition (targetParam));
Behaviour seek = new Seek (dummyAgent, Character);
SteeringOutput.SteeringOutput steering = seek.getSteering ();
MonoBehaviour.Destroy (dummy);
return steering;
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
Behaviour selectedBehaviour;
float distance = (Target.getPosition() - Character.getPosition()).magnitude;
if (distance < pokeDistance)
{
selectedBehaviour = new Flee(Target, Character);
}
else
{
selectedBehaviour = new SeekWhileLooking(Target, Character);
}
steering = selectedBehaviour.getSteering();
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
/* Calcular direccion y magnitud del cono */
float angle = Character.orientation;
Vector3 orientation = new Vector3(Mathf.Cos(angle), Mathf.Sin(angle), 0f);
GameObject obstacle = GameObject.Find("Obstacle_1");
ObstacleCreator oc = obstacle.GetComponent <ObstacleCreator> ();
Vector3 startPos = Character.transform.position;
startPos.z = -1;
Vector3 endPos = startPos + orientation.normalized * Character.viewRadius;
endPos.z = -1;
bool choca = oc.bbx.rayCollides(startPos, endPos);
foreach (Vector2 v in oc.bbx.vertex)
{
if ((startPos - new Vector3(v.x, v.y)).magnitude < Character.viewRadius && Vector3.Angle(startPos, v) <= Character.viewAngle)
{
choca = true;
break;
}
}
Debug.Log("BOOL: " + choca.ToString() + "positions" + startPos + endPos);
/* Pintar perolito*/
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput(new Vector2(0.0f, 0.0f), 0.0f);
if (choca)
{
steering.linear = new Vector2(orientation.y, -orientation.x).normalized *Character.maxAcceleration;
Character.lineRender.material.color = Color.red;
Character.lineRender.startColor = Color.red;
Character.lineRender.endColor = Color.red;
}
else
{
Character.lineRender.material.color = Color.green;
Character.lineRender.startColor = Color.green;
Character.lineRender.endColor = Color.green;
}
Vector3[] linePositions = { startPos, endPos };
Character.lineRender.SetPositions(linePositions);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
Vector2 dir = Target.position - Character.position;
if (dir.magnitude == 0)
{
return(steering);
}
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta aux = dummy.GetComponent <AgentMeta> ();
aux.position = Target.position;
aux.orientation = Mathf.Atan2(-dir.x, dir.y) * Mathf.Rad2Deg;
Behaviour alinear = new Align(aux, Character, Mathf.PI / 4, Mathf.PI / 10, .1f);
//steering.linear = steering.linear.normalized * Character.maxAcceleration;
steering = alinear.getSteering();
MonoBehaviour.Destroy(dummy);
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
float strength = 0;
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
foreach (AgentMeta target in Targets)
{
Vector2 direction = -target.position + Character.position;
float distance = direction.magnitude;
if (distance < Threshold && distance != 0)
{
strength = Decay / (distance * distance);
direction.Normalize();
steering.linear += strength * direction;
}
else
{
steering.linear = -Character.maxAcceleration * direction.normalized;
}
}
return(steering);
}
public override SteeringOutput.SteeringOutput getSteering()
{
SteeringOutput.SteeringOutput steering = new SteeringOutput.SteeringOutput();
Vector2 velocity = Character.velocity;
if (velocity.magnitude == 0)
{
return(steering);
}
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta aux = dummy.GetComponent <AgentMeta> ();
aux.position = new Vector2(0.0f, 0.0f);
aux.orientation = (Mathf.Atan2(-velocity.x, velocity.y) * Mathf.Rad2Deg) % 360.0f;
Behaviour alinear = new Align(aux, Character, Mathf.PI / 100, Mathf.PI / 10, .1f);
//steering.linear = steering.linear.normalized * Character.maxAcceleration;
steering = alinear.getSteering();
MonoBehaviour.Destroy(dummy);
return(steering);
}
