lab2 dop

Assets/Code/Lab2/ArriveAvoid.cs

@@ -0,0 +1,69 @@
+using Code.Base;
+using UnityEngine;
+
+namespace Code.Lab2
+{
+    public class ArriveAvoid : AgentBehaviour
+    {
+        public float targetRadius = 5f;
+        public float slowRadius = 10f;
+        public float timeToTarget = 0.1f;
+
+        public Transform obstacle;
+        public float avoidanceRadius = 10f;
+        public float maxAvoidForce = 50f;
+
+        public override Steering GetSteering()
+        {
+            var steering = new Steering();
+
+            var toTarget = target.transform.position - transform.position;
+            var distanceToTarget = toTarget.magnitude;
+
+            if (distanceToTarget < targetRadius)
+                return steering;
+
+            var targetSpeed = distanceToTarget > slowRadius
+                ? 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;
+        }
+    }
+}

Assets/Code/Lab2/ArriveAvoid.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 102365b663634ccbaaf4b927b4d65075
+timeCreated: 1770448799

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);
         }
     }
 }