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Agent.maxSpeed + : Agent.maxSpeed * (distanceToTarget / slowRadius); + + var desiredVelocity = toTarget.normalized * targetSpeed; + var arriveForce = (desiredVelocity - Agent.velocity) / timeToTarget; + + var avoidForce = Vector3.zero; + + if (obstacle) + { + var toObstacle = obstacle.position - transform.position; + var distToObstacle = toObstacle.magnitude; + + if (distToObstacle < avoidanceRadius) + { + var forward = Agent.velocity.normalized; + if (forward == Vector3.zero) forward = toTarget.normalized; + + var awayFromObstacle = -toObstacle; + + var lateral = awayFromObstacle - Vector3.Project(awayFromObstacle, forward); + + if (lateral.magnitude < 0.1f) + { + lateral = new Vector3(-forward.z, 0f, forward.x).normalized; + } + + var avoidanceStrength = 1f - (distToObstacle / avoidanceRadius); + avoidForce = lateral.normalized * (maxAvoidForce * avoidanceStrength); + } + } + + steering.Linear = arriveForce + avoidForce; + + if (steering.Linear.magnitude > Agent.maxAcceleration) + { + steering.Linear = steering.Linear.normalized * Agent.maxAcceleration; + } + + return steering; + } + } +} \ No newline at end of file diff --git a/Assets/Code/Lab2/ArriveAvoid.cs.meta b/Assets/Code/Lab2/ArriveAvoid.cs.meta new file mode 100644 index 0000000..ea6a19f --- /dev/null +++ b/Assets/Code/Lab2/ArriveAvoid.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 102365b663634ccbaaf4b927b4d65075 +timeCreated: 1770448799 \ No newline at end of file diff --git a/Assets/Code/UI/Lab2Controller.cs b/Assets/Code/UI/Lab2Controller.cs index f58a0c7..89e7aee 100644 --- a/Assets/Code/UI/Lab2Controller.cs +++ b/Assets/Code/UI/Lab2Controller.cs @@ -20,6 +20,7 @@ namespace Code.UI [SerializeField] private Button toMenuButton; [SerializeField] private Button resetButton; + [SerializeField] private Button dopButton; private Slider _arriveTargetRadiusSlider; private Slider _arriveSlowRadiusSlider; @@ -80,6 +81,8 @@ namespace Code.UI toMenuButton.onClick.AddListener(LoadMainMenu); if (resetButton != null) resetButton.onClick.AddListener(ResetAgents); + if (dopButton != null) + dopButton.onClick.AddListener(LoadDop); } private void Start() @@ -247,6 +250,7 @@ namespace Code.UI } private static void LoadMainMenu() => SceneManager.LoadScene("MainMenu"); + private static void LoadDop() => SceneManager.LoadScene("Lab2Dop"); private void OnDestroy() { @@ -266,6 +270,7 @@ namespace Code.UI if (toMenuButton != null) toMenuButton.onClick.RemoveListener(LoadMainMenu); if (resetButton != null) resetButton.onClick.RemoveListener(ResetAgents); + if (dopButton != null) resetButton.onClick.RemoveListener(LoadDop); } } } \ No newline at end of file diff --git a/Assets/Resources/Scenes/Lab2.unity b/Assets/Resources/Scenes/Lab2.unity index 4fef4ae..6ae06db 100644 --- a/Assets/Resources/Scenes/Lab2.unity +++ b/Assets/Resources/Scenes/Lab2.unity @@ -266,6 +266,127 @@ RectTransform: m_AnchoredPosition: {x: -5, y: 0} m_SizeDelta: {x: -20, y: 0} m_Pivot: {x: 0.5, y: 0.5} +--- !u!1 &53562054 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - 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