26 lines
1,012 B
C#
26 lines
1,012 B
C#
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using CultMath;
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using static CultMath.math;
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using float2 = CultMath.float2;
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// Hold a standoff from the anchor: match its velocity, and close or open the gap in proportion to the error.
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public class FollowState : BaseState
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{
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public FollowState(Agent agent) : base(agent) { }
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public override void Update(float delta)
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{
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var task = _agent.Task as FollowTask;
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if (task?.Anchor == null) return;
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var toAnchor = task.Anchor.Position.xz - _agent.Ship.Position.xz;
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var distance = length(toAnchor);
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var direction = distance > 0 ? toAnchor / distance : _agent.Ship.Direction;
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// Positive error: too far, close. Negative: too near, open.
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var error = distance - task.Standoff;
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var pull = direction * (float) sign(error) * saturate(abs(error) / max(task.Standoff, 1f));
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var desired = task.Anchor.Velocity + pull * _agent.TopSpeed;
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_agent.Ship.Aim = float3(direction.x, 0, direction.y);
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_agent.Accelerate(desired);
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}
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}
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