56 lines
2.1 KiB
C#
56 lines
2.1 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using Unity.Mathematics;
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using static Unity.Mathematics.math;
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public class VelocityMatch : AgentBehavior
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{
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public event Action OnMatch;
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public Entity Objective;
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private Entity _entity;
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private IAnalogBehavior _thrust;
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private IAnalogBehavior _turning;
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private const float TurningSensitivity = 1;
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private const float ThrustSensitivity = 1;
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private const float TargetThreshold = .1f;
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public VelocityMatch(Entity entity)
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{
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_entity = entity;
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_thrust = entity.Axes.Keys.FirstOrDefault(x => x is Thruster);
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_turning = entity.Axes.Keys.FirstOrDefault(x => x is Turning);
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}
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public override void Update(float delta)
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{
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if (Objective != null && _thrust != null && _turning != null)
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{
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var deltaV = Objective.Velocity - _entity.Velocity;
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if(length(deltaV) < TargetThreshold)
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OnMatch?.Invoke();
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var angleDiff = _entity.Direction.AngleDiff(deltaV);
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_entity.Axes[_turning] = clamp(-angleDiff * TurningSensitivity, -1, 1);
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_entity.Axes[_thrust] = saturate(length(pow(saturate(dot(normalize(_entity.Direction),normalize(deltaV))), 8)*length(deltaV))*ThrustSensitivity);
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}
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}
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public float2 MatchDistanceTime
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{
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get
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{
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var velocity = length(_entity.Velocity);
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var deltaV = Objective.Velocity - _entity.Velocity;
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var stoppingTime = length(deltaV) / (_entity.Context.Evaluate((_thrust.Data as ThrusterData).Thrust, _thrust.Item, _entity) / _entity.Mass);
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var stoppingDistance = stoppingTime * (velocity / 2);
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var angleDiff = _entity.Direction.AngleDiff(deltaV);
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var turnaroundTime = angleDiff / (_entity.Context.Evaluate((_turning.Data as TurningData).Torque, _turning.Item, _entity) / _entity.Mass);
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var turnaroundDistance = turnaroundTime * velocity;
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return float2(stoppingDistance + turnaroundDistance, stoppingTime + turnaroundTime);
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}
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}
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}
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