lab3

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<Agent>().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;
+        }
+    }
+}