/// <summary>
/// Seeks from the specified position to a destination.
/// </summary>
/// <param name="position">The position from which to seek.</param>
/// <param name="destination">The destination.</param>
/// <param name="input">The input.</param>
/// <param name="maxAcceleration">The maximum allowed acceleration.</param>
/// <returns>The seek acceleration vector</returns>
protected Vector3 Seek(Vector3 position, Vector3 destination, SteeringInput input, float maxAcceleration)
{
var dir = position.DirToXZ(destination);
var desiredVelocity = dir.normalized * input.desiredSpeed;
return Vector3.ClampMagnitude((desiredVelocity - input.currentPlanarVelocity) / input.deltaTime, maxAcceleration);
}
/// <summary>
/// Gets an avoidance vector.
/// </summary>
/// <param name="selfPos">This unit's position.</param>
/// <param name="currentVelocity">This unit's current velocity.</param>
/// <param name="normalVelocity">This unit's normalized current velocity.</param>
/// <param name="unitData">This unit's UnitFacade.</param>
/// <param name="otherPos">The other unit's position.</param>
/// <param name="otherVelocity">The other unit's velocity.</param>
/// <param name="otherData">The other unit's UnitFacade.</param>
/// <param name="combinedRadius">The combined radius.</param>
/// <returns>An avoidance vector from the other unit's collision position to this unit's collision position - if a collision actually is detected.</returns>
private Vector3 GetAvoidVector(Vector3 selfPos, Vector3 currentVelocity, Vector3 normalVelocity, IUnitFacade unitData, Vector3 otherPos, Vector3 otherVelocity, IUnitFacade otherData, float combinedRadius)
{
Vector3 avoidDirection = GetAvoidDirectionVector(selfPos, currentVelocity, otherPos, otherVelocity, combinedRadius);
float avoidMagnitude = avoidDirection.magnitude;
if (avoidMagnitude == 0f)
{
// if there is absolutely no magnitude to the found avoid direction, then ignore it
return Vector3.zero;
}
float vectorLength = combinedRadius * 0.5f;
if (vectorLength <= 0f)
{
// if the units' combined radius is 0, then we cannot avoid
return Vector3.zero;
}
// normalize the avoid vector and then set it's magnitude to the desired vector length (half of the combined radius)
Vector3 avoidNormalized = (avoidDirection / avoidMagnitude);
Vector3 avoidVector = avoidNormalized * vectorLength;
float dotAngle = Vector3.Dot(avoidNormalized, normalVelocity);
if (dotAngle <= _cosAvoidAngle)
{
// the collision is considered "head-on", thus we compute a perpendicular avoid vector instead
avoidVector = new Vector3(avoidVector.z, avoidVector.y, -avoidVector.x);
}
else if (preventPassingInFront && (otherData.determination > unitData.determination) && (Vector3.Dot(otherVelocity, avoidVector) > 0f && Vector3.Dot(currentVelocity, otherVelocity) >= 0f))
{
// if supposed to be preventing front-passing, then check whether we should prevent it in this case and if so compute a different avoid vector
avoidVector = _selfCollisionPos.DirToXZ(selfPos);
}
// scale the avoid vector depending on the distance to collision, shorter distances need larger magnitudes and vice versa
float collisionDistance = Mathf.Max(1f, selfPos.DirToXZ(_selfCollisionPos).magnitude);
avoidVector *= currentVelocity.magnitude / collisionDistance;
return avoidVector;
}
protected Vector3 Seek(Vector3 position, Vector3 destination, SteeringInput input, float acceleration)
{
var dir = position.DirToXZ(destination);
var desiredVelocity = dir.normalized * acceleration;
return desiredVelocity - input.currentPlanarVelocity;
}
