Agent.Seek C# (CSharp) Méthode

    private Vector3 Seek()
    {
        Vector3 desiredVelocity = (this.seekTarget.position - this.transform.position).normalized * this.maxSpeed;
        return desiredVelocity - this.rb.velocity;
    }

    Vector3 CalculateDesiredVelocity()
    {
        // final goal
        Vector3 desiredVelocity = 2f * agent.Seek(targetPosition);

        Vector3 avoidAgents = Vector3.zero;

        foreach (Agent a in WorldState.GetInstance().agents)
        {
            //need to test function &might want to implement avaid for agents
            if (a != agent)
            {
                avoidAgents += agent.Evade(a); // .transform.position) / Vector3.Distance(a.transform.position, transform.position);
            }
        }

        Vector3 avoidObstacles = Vector3.zero;
        Vector3 AvoidWallsVel  = Vector3.zero;
        Vector3 print          = Vector3.zero;

        foreach (Obstacle o in WorldState.GetInstance().obstacles)
        {
            desiredVelocity += agent.Flee(o.transform.position) / (Vector3.Distance(o.transform.position, transform.position) - 1);
            for (int i = 0; i < o.mesh.vertexCount; i++)
            {
                if (i % 2 == 0)
                {
                    avoidObstacles += agent.Flee(o.mesh.vertices[i] + Vector3.up) / (10 * Vector3.Distance(o.mesh.vertices[i] + Vector3.up, transform.position));
                }
            }
            for (int i = 0; i < o.mesh.vertexCount / 2 - 1; i++)
            {
                avoidObstacles += agent.Flee((o.mesh.vertices[(i + 1) * 2] - o.mesh.vertices[i * 2]) + Vector3.up) /
                                  (10 * Vector3.Distance((o.mesh.vertices[(i + 1) * 2] - o.mesh.vertices[i * 2]) + Vector3.up, transform.position));
            }
            for (int i = 0; i < walls.Length; i++)
            {
                print   = agent.Flee(walls[i] / (20 * Vector3.Distance(walls[i], transform.position)));
                print.y = 0;
                //Debug.Log("print vector:" + print);
                AvoidWallsVel -= print;
                // Vector3.Distance(walls[i], transform.position)
            }
        }

        return(desiredVelocity
               + 0.5f * avoidObstacles + 0.1f * AvoidWallsVel + 0.1f * avoidAgents);
    }