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lab2 dop

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MrTorex committed 2026-02-07 10:54:20 +03:00
1 parent 8151450cdc
commit a70076ebe9
7 files changed
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Assets/Code/Lab2/ArriveAvoid.cs
+69
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@@ -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
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Assets/Code/UI/Lab2Controller.cs
+5
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@@ -20,6 +20,7 @@ namespace Code.UI
[SerializeField] private Button toMenuButton; [SerializeField] private Button toMenuButton;
[SerializeField] private Button resetButton; [SerializeField] private Button resetButton;
[SerializeField] private Button dopButton;
private Slider _arriveTargetRadiusSlider; private Slider _arriveTargetRadiusSlider;
private Slider _arriveSlowRadiusSlider; private Slider _arriveSlowRadiusSlider;
@@ -80,6 +81,8 @@ namespace Code.UI
toMenuButton.onClick.AddListener(LoadMainMenu); toMenuButton.onClick.AddListener(LoadMainMenu);
if (resetButton != null) if (resetButton != null)
resetButton.onClick.AddListener(ResetAgents); resetButton.onClick.AddListener(ResetAgents);
if (dopButton != null)
dopButton.onClick.AddListener(LoadDop);
} }
private void Start() private void Start()
@@ -247,6 +250,7 @@ namespace Code.UI
} }
private static void LoadMainMenu() => SceneManager.LoadScene("MainMenu"); private static void LoadMainMenu() => SceneManager.LoadScene("MainMenu");
private static void LoadDop() => SceneManager.LoadScene("Lab2Dop");
private void OnDestroy() private void OnDestroy()
{ {
@@ -266,6 +270,7 @@ namespace Code.UI
if (toMenuButton != null) toMenuButton.onClick.RemoveListener(LoadMainMenu); if (toMenuButton != null) toMenuButton.onClick.RemoveListener(LoadMainMenu);
if (resetButton != null) resetButton.onClick.RemoveListener(ResetAgents); if (resetButton != null) resetButton.onClick.RemoveListener(ResetAgents);
if (dopButton != null) resetButton.onClick.RemoveListener(LoadDop);
} }
} }
} }
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Assets/Resources/Scenes/Lab2Dop.unity
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