From 854835878c94398a6a91fd5da17577a3866e044c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C5=A1a=20Ceviel?= Date: Tue, 10 Feb 2026 12:35:10 +0300 Subject: [PATCH] lab3 --- Assets/Code/Base/Agent.cs | 2 + Assets/Code/Base/AgentBehaviour.cs | 22 + Assets/Code/Lab3.meta | 3 + Assets/Code/Lab3/Align.cs | 42 + Assets/Code/Lab3/Align.cs.meta | 3 + Assets/Code/Lab3/Face.cs | 35 + Assets/Code/Lab3/Face.cs.meta | 3 + Assets/Code/Lab3/Path.cs | 99 + Assets/Code/Lab3/Path.cs.meta | 3 + Assets/Code/Lab3/PathFollower.cs | 30 + Assets/Code/Lab3/PathFollower.cs.meta | 3 + Assets/Code/Lab3/PathSegment.cs | 18 + Assets/Code/Lab3/PathSegment.cs.meta | 3 + Assets/Code/Lab3/Wander.cs | 39 + Assets/Code/Lab3/Wander.cs.meta | 3 + Assets/Code/UI/Lab3Controller.cs | 29 + Assets/Code/UI/Lab3Controller.cs.meta | 3 + Assets/Resources/Scenes/Lab3.unity | 2192 +++++++++++++++++++++ Assets/Resources/Scenes/Lab3.unity.meta | 7 + ProjectSettings/EditorBuildSettings.asset | 3 + 20 files changed, 2542 insertions(+) create mode 100644 Assets/Code/Lab3.meta create mode 100644 Assets/Code/Lab3/Align.cs create mode 100644 Assets/Code/Lab3/Align.cs.meta create mode 100644 Assets/Code/Lab3/Face.cs create mode 100644 Assets/Code/Lab3/Face.cs.meta create mode 100644 Assets/Code/Lab3/Path.cs create mode 100644 Assets/Code/Lab3/Path.cs.meta create mode 100644 Assets/Code/Lab3/PathFollower.cs create mode 100644 Assets/Code/Lab3/PathFollower.cs.meta create mode 100644 Assets/Code/Lab3/PathSegment.cs create mode 100644 Assets/Code/Lab3/PathSegment.cs.meta create mode 100644 Assets/Code/Lab3/Wander.cs create mode 100644 Assets/Code/Lab3/Wander.cs.meta create mode 100644 Assets/Code/UI/Lab3Controller.cs create mode 100644 Assets/Code/UI/Lab3Controller.cs.meta create mode 100644 Assets/Resources/Scenes/Lab3.unity create mode 100644 Assets/Resources/Scenes/Lab3.unity.meta diff --git a/Assets/Code/Base/Agent.cs b/Assets/Code/Base/Agent.cs index c1e821d..a107d40 100644 --- a/Assets/Code/Base/Agent.cs +++ b/Assets/Code/Base/Agent.cs @@ -6,6 +6,8 @@ namespace Code.Base { public float maxSpeed; public float maxAcceleration; + public float maxRotation; + public float maxAngularAcceleration; public float orientation; public float rotation; public Vector3 velocity; diff --git a/Assets/Code/Base/AgentBehaviour.cs b/Assets/Code/Base/AgentBehaviour.cs index 7da7872..1ddeed7 100644 --- a/Assets/Code/Base/AgentBehaviour.cs +++ b/Assets/Code/Base/AgentBehaviour.cs @@ -21,5 +21,27 @@ namespace Code.Base { return new Steering(); } + + public float MapToRange(float rotation) + { + rotation %= 360; + + if (Mathf.Abs(rotation) <= 180) return rotation; + + if (rotation < 0) + rotation += 360; + else + rotation -= 360; + + return rotation; + } + + public Vector3 GetOriAsVec(float orientation) + { + var vector = Vector3.zero; + vector.x = Mathf.Sin(orientation * Mathf.Deg2Rad) * 1; + vector.z = Mathf.Cos(orientation * Mathf.Deg2Rad) * 1; + return vector.normalized; + } } } \ No newline at end of file diff --git a/Assets/Code/Lab3.meta b/Assets/Code/Lab3.meta new file mode 100644 index 0000000..e55daac --- /dev/null +++ b/Assets/Code/Lab3.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: b64ec4089a9b47808fd78c31e265313c +timeCreated: 1770707286 \ No newline at end of file diff --git a/Assets/Code/Lab3/Align.cs b/Assets/Code/Lab3/Align.cs new file mode 100644 index 0000000..35caa13 --- /dev/null +++ b/Assets/Code/Lab3/Align.cs @@ -0,0 +1,42 @@ +using Code.Base; +using UnityEngine; + +namespace Code.Lab3 +{ + public class Align : AgentBehaviour + { + public float targetRadius; + public float slowRadius; + public float timeToTarget = 0.1f; + + public override Steering GetSteering() + { + var steering = new Steering(); + var targetOrientation = target.GetComponent().orientation; + var rotation = targetOrientation - Agent.orientation; + rotation = MapToRange(rotation); + + var rotationSize = Mathf.Abs(rotation); + if (rotationSize < targetRadius) + return steering; + + float targetRotation; + if (rotationSize > slowRadius) + targetRotation = Agent.maxRotation; + else + targetRotation = Agent.maxRotation * rotationSize / slowRadius; + targetRotation *= rotation / rotationSize; + + steering.Angular = targetRotation - Agent.rotation; + steering.Angular /= timeToTarget; + var angularAccel = Mathf.Abs(steering.Angular); + + if (!(angularAccel > Agent.maxAngularAcceleration)) return steering; + + steering.Angular /= angularAccel; + steering.Angular *= Agent.maxAngularAcceleration; + + return steering; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab3/Align.cs.meta b/Assets/Code/Lab3/Align.cs.meta new file mode 100644 index 0000000..6218951 --- /dev/null +++ b/Assets/Code/Lab3/Align.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 34b1d91c065347f9976b5ac85d935996 +timeCreated: 1770707295 \ No newline at end of file diff --git a/Assets/Code/Lab3/Face.cs b/Assets/Code/Lab3/Face.cs new file mode 100644 index 0000000..dd1551f --- /dev/null +++ b/Assets/Code/Lab3/Face.cs @@ -0,0 +1,35 @@ +using Code.Base; +using UnityEngine; + +namespace Code.Lab3 +{ + public class Face : Align + { + protected GameObject TargetAux; + + public override void Awake() + { + base.Awake(); + TargetAux = target; + target = new GameObject(); + target.AddComponent(); + } + + void OnDestroy() + { + Destroy(target); + } + + public override Steering GetSteering() + { + var direction = TargetAux.transform.position - transform.position; + + if (direction.magnitude <= 0) return base.GetSteering(); + + var targetOrientation = Mathf.Atan2(direction.x, direction.z) * Mathf.Rad2Deg; + target.GetComponent().orientation = targetOrientation; + + return base.GetSteering(); + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab3/Face.cs.meta b/Assets/Code/Lab3/Face.cs.meta new file mode 100644 index 0000000..194a411 --- /dev/null +++ b/Assets/Code/Lab3/Face.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 0e1c0c61798542378c8688e96a5fa60f +timeCreated: 1770707773 \ No newline at end of file diff --git a/Assets/Code/Lab3/Path.cs b/Assets/Code/Lab3/Path.cs new file mode 100644 index 0000000..eacbe7a --- /dev/null +++ b/Assets/Code/Lab3/Path.cs @@ -0,0 +1,99 @@ +using System; +using System.Collections.Generic; +using UnityEngine; + +namespace Code.Lab3 +{ + public class Path : MonoBehaviour + { + public List nodes; + private List _segments; + + private void Start() + { + _segments = GetSegments(); + } + + public List GetSegments() + { + var segments = new List(); + for (var i = 0; i < nodes.Count - 1; i++) + { + var src = nodes[i].transform.position; + var dst = nodes[i + 1].transform.position; + var segment = new PathSegment(src, dst); + segments.Add(segment); + } + return segments; + } + + public float GetParam(Vector3 position, float lastParam) + { + PathSegment currentSegment = null; + var tempParam = 0f; + foreach (var ps in _segments) + { + tempParam += Vector3.Distance(ps.A, ps.B); + + if (!(lastParam <= tempParam)) continue; + + currentSegment = ps; + break; + } + + if (currentSegment == null) + return 0; + + var currPos = position - currentSegment.A; + var segmentDirection = currentSegment.B - currentSegment.A; + segmentDirection.Normalize(); + + var pointInSegment = Vector3.Project(currPos, segmentDirection); + + var param = tempParam - Vector3.Distance(currentSegment.A, currentSegment.B) + pointInSegment.magnitude; + return param; + } + + public Vector3 GetPosition(float param) + { + PathSegment currentSegment = null; + var tempParam = 0f; + + foreach (var ps in _segments) + { + tempParam += Vector3.Distance(ps.A, ps.B); + + if (!(param <= tempParam)) continue; + + currentSegment = ps; + break; + } + + if (currentSegment == null) + return Vector3.zero; + + var segmentDirection = currentSegment.B - currentSegment.A; + segmentDirection.Normalize(); + + var localParam = param - (tempParam - Vector3.Distance(currentSegment.A, currentSegment.B)); + + var position = currentSegment.A + segmentDirection * localParam; + + return position; + } + + private void OnDrawGizmos() + { + var tmp = Gizmos.color; + Gizmos.color = Color.magenta; + for (var i = 0; i < nodes.Count - 1; i++) + { + var src = nodes[i].transform.position; + var dst = nodes[i + 1].transform.position; + var direction = dst - src; + Gizmos.DrawRay(src, direction); + } + Gizmos.color = tmp; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab3/Path.cs.meta b/Assets/Code/Lab3/Path.cs.meta new file mode 100644 index 0000000..10ef209 --- /dev/null +++ b/Assets/Code/Lab3/Path.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 0a98807d2ea046a68da5884b9471a540 +timeCreated: 1770708805 \ No newline at end of file diff --git a/Assets/Code/Lab3/PathFollower.cs b/Assets/Code/Lab3/PathFollower.cs new file mode 100644 index 0000000..08ae1ca --- /dev/null +++ b/Assets/Code/Lab3/PathFollower.cs @@ -0,0 +1,30 @@ +using Code.Base; +using Code.Lab1; +using UnityEngine; + +namespace Code.Lab3 +{ + public class PathFollower : Seek + { + public Path path; + public float pathOffset; + private float _currentParam; + + public override void Awake() + { + base.Awake(); + target = new GameObject(); + _currentParam = 0; + } + + public override Steering GetSteering() + { + _currentParam = path.GetParam(transform.position, _currentParam); + + var targetParam = _currentParam + pathOffset; + target.transform.position = path.GetPosition(targetParam); + + return base.GetSteering(); + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab3/PathFollower.cs.meta b/Assets/Code/Lab3/PathFollower.cs.meta new file mode 100644 index 0000000..f7f1614 --- /dev/null +++ b/Assets/Code/Lab3/PathFollower.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 350da6a4a8ee483c8fc2227fe023b2bc +timeCreated: 1770709719 \ No newline at end of file diff --git a/Assets/Code/Lab3/PathSegment.cs b/Assets/Code/Lab3/PathSegment.cs new file mode 100644 index 0000000..3b32df4 --- /dev/null +++ b/Assets/Code/Lab3/PathSegment.cs @@ -0,0 +1,18 @@ +using UnityEngine; + +namespace Code.Lab3 +{ + public class PathSegment + { + public Vector3 A; + public Vector3 B; + + public PathSegment () : this (Vector3.zero, Vector3.zero) {} + + public PathSegment (Vector3 a, Vector3 b) + { + A = a; + B = b; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab3/PathSegment.cs.meta b/Assets/Code/Lab3/PathSegment.cs.meta new file mode 100644 index 0000000..080de62 --- /dev/null +++ b/Assets/Code/Lab3/PathSegment.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 7bb840fe429f440fa4c967f2c10c5763 +timeCreated: 1770708735 \ No newline at end of file diff --git a/Assets/Code/Lab3/Wander.cs b/Assets/Code/Lab3/Wander.cs new file mode 100644 index 0000000..cf0f5f4 --- /dev/null +++ b/Assets/Code/Lab3/Wander.cs @@ -0,0 +1,39 @@ +using Code.Base; +using UnityEngine; + +namespace Code.Lab3 +{ + public class Wander : Face + { + public float offset; + public float radius; + public float rate; + + public override void Awake() + { + target = new GameObject + { + transform = + { + position = transform.position + } + }; + base.Awake(); + } + + public override Steering GetSteering() + { + var wanderOrientation = Random.Range(-1f, 1f) * rate; + var targetOrientation = wanderOrientation + Agent.orientation; + var orientationVec = GetOriAsVec(Agent.orientation); + var targetPosition = offset * orientationVec + transform.position; + targetPosition += GetOriAsVec(targetOrientation) * radius; + TargetAux.transform.position = targetPosition; + var steering = base.GetSteering(); + steering.Linear = TargetAux.transform.position - transform.position; + steering.Linear.Normalize(); + steering.Linear *= Agent.maxAcceleration; + return steering; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab3/Wander.cs.meta b/Assets/Code/Lab3/Wander.cs.meta new file mode 100644 index 0000000..bbe0395 --- /dev/null +++ b/Assets/Code/Lab3/Wander.cs.meta @@ -0,0 +1,3 @@ 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