Avoid Class Reference

Description

Active avoidance behaviour (back-end class).

Objective magnitudes are generated based on a plane perpendicular towards percepts such that the agent prefers directions which can guide it around the object (instead of simply going away from the obstacle, like with Flee). The behaviour calculates the plane as described and populates context values using MoveBehaviour.MapBySensitivityPlane(MappingType, Structure, Vector3, Vector3, float, float). By setting UseVelocity to true, the behaviour prefers solutions which are along the movement direction. In addition, the PlaneBend can be used to manipulate how the agent avoids an obstacle.

Inheritance diagram for Avoid:

Public Fields
float	PlaneBend
	An angular offset for the plane which is used to write objective values to the context. More...
bool	UseVelocity
	Can be used to optimize the resulting objective values. More...
Vector3	DefaultOrientation = Vector3.up
	Is used instead of the agent's velocity if UseVelocity is false. More...
float	InnerRadius = 0.0f
	The minimum radius for considering percepts. More...
float	OuterRadius = 20f
	The maximum radius for considering percepts. More...
MappingType	RadiusMapping = MappingType.InverseLinear
	Determines how the startMagnitude is mapped according to the InnerRadius and OuterRadius. More...
Vector3	ResultDirection
	The direction vector used for obtaining objective values. More...
float	ResultMagnitude
	The magnitude value used for obtaining objective values. More...
int	TargetObjective
	Defines the objective for writing values. More...
float	MagnitudeMultiplier = 1f
	Is multiplied to the ResultMagnitude in order to weight between different behaviours. More...
float	SensitivityOffset
	Is added to the Structure.Sensitivity as threshold for writing objective values. More...
ValueWritingType	ValueWriting = ValueWritingType.AssignGreater
	Sets the type for writing objective values. More...
LayerBlendingType	LayerBlending = LayerBlendingType.None
	Sets the operation for blending the behaviour results into the context. More...
LayerNormalizationType	LayerNormalization = LayerNormalizationType.None
	Sets the method for normalizing intermediate objective values while they are blended into the context. More...
MappingType	ValueMapping = MappingType.InverseLinear
	Sets the mapping type for obtaining objective values. More...
bool	UseSignificance = true
	Determines if the SteeringPercept.Significance (if there is a AIMSteeringTag) is multiplied to the ResultMagnitude in order to weight between different percepts. More...
bool	UseSensorProjection = true
	If true, Sensor.ProjectionMode is used as VectorProjection. More...
VectorProjectionType	VectorProjection = VectorProjectionType.None
	Sets the type for projecting the perceived vector data into a plane. More...
PresetVelocityType	PresetVelocity = PresetVelocityType.None
	If the value is anything other than PresetVelocityType.None, a game object's rotation and default forward direction is used to approximate its actual velocity. More...
PredictionType	Prediction = PredictionType.None
	If set to anything other than PredictionType.None, the position of the Self percept is updated according to the given velocity. More...
float	PredictionMagnitude = 0.0f
	Scales the velocity vector used for predicting the possible future position of an agent if Prediction is set to PredictionType.PredictionMagnitude. More...
readonly IList< T >	Percepts
	All percepts which are relevant for an agent. More...

Protected Fields
Vector3	planeDirection1
	The first direction vector defining the plane of the current percept. More...
Vector3	planeDirection2
	The second direction vector defining the plane of the current percept. More...
Vector3	startDirection
	Direction from the self position to the percept position (including distance magnitude). More...
float	startMagnitude
	Magnitude obtained from mapping the percept position relative to InnerRadius and OuterRadius. More...
float	sqrInnerRadius
	Squared InnerRadius. More...
float	sqrOuterRadius
	Squared OuterRadius. More...
readonly SteeringPercept	self = new SteeringPercept()
	The data of the associated agent itself (read only). More...
readonly SteeringPercept	percept = new SteeringPercept()
	The data of the currently processed percept (read only). More...
IList< float >	objective
	Quick access to the currently processed objective. More...
ISensor< Structure >	sensor
	Quick access to the currently processed sensor. More...
IReceptor< Structure >	receptor
	Quick access to the currently processed receptor. More...
Structure	structure
	Quick access to the currently processed structure. More...
Vector3	velocity = Vector3.forward
	The forward direction the agent moves towards and/or looks at by default. More...

Properties
Vector3	PlaneDirection1 [get]
	A normalized vector defining the first direction of the current plane (read only). More...
Vector3	PlaneDirection2 [get]
	A normalized vector defining the second direction of the current plane (read only). More...
override bool	forEachPercept [get]
	Determines if SteeringBehaviour.PerceptSteering is called within SteeringBehaviour.Behave (read only). More...
override bool	forEachReceptor [get]
	Determines if SteeringBehaviour.ReceptorSteering is called within SteeringBehaviour.Behave (read only). More...
override SteeringPercept	Self [get, set]
	The data of the associated agent itself. More...

Public Methods
override void	Behave ()
	This method executes the main context steering algorithm and is called within Context.Evaluate in order to set/modify objective values for the associated Context.Problem. More...

Protected Methods
override bool	StartSteering ()
	Determines a plane perpendicular towards the current percept and populates the context map using a plane-based sensitivity mapping. More...
virtual bool	IsPerceptSignificant ()
	As the first called method in StartSteering, it rejects percepts if they are too far away avoiding unnecessary calculations (similar to RadiusSteeringBehaviour.StartSteering). More...
virtual void	CalculatePlane ()
	Calculates the plane which is used for the sensitivity mapping (see MoveBehaviour.MapBySensitivityPlane(MappingType, Structure, Vector3, Vector3, float, float)). More...
virtual void	PerceptSteering ()
	This method gets called once for each processed percept. More...
virtual void	ReceptorSteering ()
	This method gets called for each active shape receptor for each processed percept. More...