From e60163307c055ab0d95f9d6fede8d2909b8e1669 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C5=A1a=20Ceviel?= Date: Sat, 28 Feb 2026 23:39:44 +0300 Subject: [PATCH] lab4 dop --- Assets/Code/Lab4/BetterBlendPathFollower.cs | 318 +++ .../Code/Lab4/BetterBlendPathFollower.cs.meta | 3 + Assets/Resources/Scenes/Lab4Dop.unity | 2215 +++++++++++++++++ Assets/Resources/Scenes/Lab4Dop.unity.meta | 7 + ...niversalRenderPipelineGlobalSettings.asset | 22 +- Packages/manifest.json | 6 +- Packages/packages-lock.json | 8 +- ProjectSettings/ProjectVersion.txt | 4 +- 8 files changed, 2570 insertions(+), 13 deletions(-) create mode 100644 Assets/Code/Lab4/BetterBlendPathFollower.cs create mode 100644 Assets/Code/Lab4/BetterBlendPathFollower.cs.meta create mode 100644 Assets/Resources/Scenes/Lab4Dop.unity create mode 100644 Assets/Resources/Scenes/Lab4Dop.unity.meta diff --git a/Assets/Code/Lab4/BetterBlendPathFollower.cs b/Assets/Code/Lab4/BetterBlendPathFollower.cs new file mode 100644 index 0000000..cbd3083 --- /dev/null +++ b/Assets/Code/Lab4/BetterBlendPathFollower.cs @@ -0,0 +1,318 @@ +using Code.Base; +using Code.Lab1; +using System.Collections.Generic; +using System.Linq; +using Code.Lab3; +using UnityEngine; + +namespace Code.Lab4 +{ + public class BetterBlendPathFollower : Seek + { + public Path path; + public float pathOffset = 1.0f; + + [Header("Targets")] + public GameObject pursuer; + + [Header("Weights")] + [Range(0, 1)] + public float pathFollowingWeight = 0.5f; + [Range(0, 1)] + public float optimalPathWeight = 0.3f; + [Range(0, 1)] + public float evadeWeight = 0.2f; + + [Header("Evade Settings")] + public float maxPrediction = 2f; + + public float evadeDistance = 5f; + public float minEvadeWeight = 0.1f; + + private float _currentParam; + private List _waypoints; + private int _currentTargetIndex = -1; + private List _visitedIndices; + private bool _reachedLastPoint; + + private GameObject _evadeTarget; + private Agent _pursuerAgent; + private Agent _selfAgent; + + public override void Awake() + { + base.Awake(); + target = new GameObject("BetterBlendPathFollower_Target"); + _evadeTarget = new GameObject("Evade_Target"); + _visitedIndices = new List(); + + _selfAgent = GetComponent(); + + InitializeWaypoints(); + } + + private void Start() + { + if (pursuer != null) + { + _pursuerAgent = pursuer.GetComponent(); + } + } + + private void InitializeWaypoints() + { + if (path == null || path.nodes == null || path.nodes.Count == 0) return; + + _waypoints = new List(); + + foreach (var node in path.nodes.Where(node => node != null)) + { + _waypoints.Add(node.transform.position); + } + + FindClosestStartPoint(); + } + + private void FindClosestStartPoint() + { + var minDistance = float.MaxValue; + var closestIndex = 0; + + for (var i = 0; i < _waypoints.Count; i++) + { + var distance = Vector3.Distance(transform.position, _waypoints[i]); + if (distance < minDistance) + { + minDistance = distance; + closestIndex = i; + } + } + + _currentTargetIndex = closestIndex; + _currentParam = 0; + _visitedIndices.Clear(); + _reachedLastPoint = false; + } + + private void OnDestroy() + { + if (_evadeTarget != null) + Destroy(_evadeTarget); + } + + public override Steering GetSteering() + { + if (_waypoints == null || _waypoints.Count == 0 || _reachedLastPoint) + { + return new Steering(); + } + + var pathSteering = GetPathFollowingSteering(); + var optimalSteering = GetOptimalPathSteering(); + var evadeSteering = GetEvadeSteering(); + + var dynamicEvadeWeight = CalculateDynamicEvadeWeight(); + + var totalWeight = pathFollowingWeight + optimalPathWeight + dynamicEvadeWeight; + var normPathWeight = pathFollowingWeight / totalWeight; + var normOptimalWeight = optimalPathWeight / totalWeight; + var normEvadeWeight = dynamicEvadeWeight / totalWeight; + + var blendedSteering = new Steering + { + Linear = normPathWeight * pathSteering.Linear + + normOptimalWeight * optimalSteering.Linear + + normEvadeWeight * evadeSteering.Linear, + Angular = normPathWeight * pathSteering.Angular + + normOptimalWeight * optimalSteering.Angular + + normEvadeWeight * evadeSteering.Angular + }; + + if (blendedSteering.Linear.magnitude > Agent.maxAcceleration) + { + blendedSteering.Linear = blendedSteering.Linear.normalized * Agent.maxAcceleration; + } + + return blendedSteering; + } + + private float CalculateDynamicEvadeWeight() + { + if (pursuer == null) return 0f; + + var distanceToPursuer = Vector3.Distance(transform.position, pursuer.transform.position); + + if (distanceToPursuer <= evadeDistance) + { + var t = 1f - distanceToPursuer / evadeDistance; + return Mathf.Lerp(minEvadeWeight, evadeWeight, t); + } + + return minEvadeWeight; + } + + private Steering GetPathFollowingSteering() + { + if (!path) return new Steering(); + + _currentParam = path.GetParam(transform.position, _currentParam); + var targetParam = _currentParam + pathOffset; + target.transform.position = path.GetPosition(targetParam); + + return base.GetSteering(); + } + + private Steering GetOptimalPathSteering() + { + if (_waypoints == null || _waypoints.Count == 0) return new Steering(); + + var distanceToTarget = Vector3.Distance(transform.position, _waypoints[_currentTargetIndex]); + + if (distanceToTarget < 1f) + { + if (!_visitedIndices.Contains(_currentTargetIndex)) + { + _visitedIndices.Add(_currentTargetIndex); + } + + if (_visitedIndices.Count >= _waypoints.Count) + { + _reachedLastPoint = true; + return new Steering(); + } + + FindNextTarget(); + } + + var tempTarget = target.transform.position; + target.transform.position = _waypoints[_currentTargetIndex]; + var steering = base.GetSteering(); + target.transform.position = tempTarget; + + return steering; + } + + private Steering GetEvadeSteering() + { + if (pursuer == null || _pursuerAgent == null) return new Steering(); + + var direction = pursuer.transform.position - transform.position; + var distance = direction.magnitude; + var speed = _selfAgent.velocity.magnitude; + + float prediction; + if (speed <= distance / maxPrediction) + prediction = maxPrediction; + else + prediction = distance / speed; + + _evadeTarget.transform.position = pursuer.transform.position; + _evadeTarget.transform.position += _pursuerAgent.velocity * prediction; + + var directionToEvade = _evadeTarget.transform.position - transform.position; + var fleeSteering = new Steering + { + Linear = -directionToEvade.normalized * Agent.maxAcceleration, + Angular = 0 + }; + + return fleeSteering; + } + + private void FindNextTarget() + { + var shortestDistance = float.MaxValue; + var bestTargetIndex = -1; + + for (var i = 0; i < _waypoints.Count; i++) + { + if (_visitedIndices.Contains(i)) + continue; + + var distance = Vector3.Distance(transform.position, _waypoints[i]); + if (distance < shortestDistance) + { + shortestDistance = distance; + bestTargetIndex = i; + } + } + + if (bestTargetIndex != -1) + { + _currentTargetIndex = bestTargetIndex; + } + else + { + _reachedLastPoint = true; + } + } + + public void ResetPathFollowing() + { + _visitedIndices.Clear(); + FindClosestStartPoint(); + _reachedLastPoint = false; + } + + public void SetWeights(float pathWeight, float optimalWeight, float evadeWeightValue) + { + pathFollowingWeight = Mathf.Clamp01(pathWeight); + optimalPathWeight = Mathf.Clamp01(optimalWeight); + evadeWeight = Mathf.Clamp01(evadeWeightValue); + + var total = pathFollowingWeight + optimalPathWeight + evadeWeight; + if (total > 1f) + { + pathFollowingWeight /= total; + optimalPathWeight /= total; + evadeWeight /= total; + } + } + + private void OnDrawGizmosSelected() + { + if (_waypoints == null) return; + + for (var i = 0; i < _waypoints.Count; i++) + { + if (_reachedLastPoint) + { + Gizmos.color = Color.gray; + } + else if (i == _currentTargetIndex) + { + Gizmos.color = Color.green; + } + else if (_visitedIndices != null && _visitedIndices.Contains(i)) + { + Gizmos.color = Color.blue; + } + else + { + Gizmos.color = 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