/// <summary>
/// True if the two points are in range of each other. (Based on the current goal type.)
/// </summary>
/// <param name="u">Point u.</param>
/// <param name="v">Point v.</param>
/// <returns>True if the two points are in range of each other. </returns>
public bool IsInRange(Vector3 u, Vector3 v)
{
switch (data.goalType)
{
case RangeType.At:
return(Vector3Util.IsInRange(u, v, data.radiusAt, data.heightTolerence));
case RangeType.Near:
return(Vector3Util.IsInRange(u, v, data.radiusNear, data.heightTolerence));
default:
// Assume most restrictive.
return(Vector3Util.SloppyEquals(u, v, ExactTolerance));
}
}
//管理目标位置，有比较的话需要对这个目标进行变更
private bool HandleNormalPlanning(bool hasNewGoal)
{
if (hasNewGoal || !mGoalInRange && theAgent.IsNear(theAgent.desiredPosition.point, mTarget.point))
{
//在不变更移动计划的时候，看看能不能走
if (!SetLocalTarget())
{
if (theAgent.PlanPath(theAgent.desiredPosition, theAgent.plannerGoal) <= 0)
{
Debug.LogError(string.Format("{0}: Path replan failed. Position: {1}, Goal: {2}"
, theAgent.transform.name, theAgent.desiredPosition.ToString(), theAgent.plannerGoal.ToString()));
return(false);
}
return(SetLocalTarget());
}
}
else if (mGoalInRange)
{
//这个方法根据CritterAI原有的架构来做的，由于这个部分已经被魔改，所以此处可能需要很慎重处理
if (mAtGoalState == StateNormal)
{
if (Vector3Util.IsInRange(theAgent.desiredPosition.point
, theAgent.plannerGoal.point, 0.12f, theAgent.heightTolerence))
{
mAtGoalState = StateInRange;
theAgent.RemoveFromCrowd();
CrowdAgentParams config = theAgent.crowdConfig;
config.maxSpeed = 0;
theAgent.crowdAgent = theAgent.navGroup.crowd.AddAgent(theAgent.plannerGoal.point, config);
theAgent.flags &= ~NavFlag.CrowdConfigUpdated;
}
}
}
return(true);
}
/// <summary>
/// True if the two points are near each other. (Less accurate check.)
/// </summary>
/// <param name="u">Point u.</param>
/// <param name="v">Point v.</param>
/// <returns>True if the two points are near each other. </returns>
public bool IsNear(Vector3 u, Vector3 v)
{
return(Vector3Util.IsInRange(u, v, data.radiusNear, data.heightTolerence));
}
//判断两个点是否相近，调用底层来做的
public bool IsNear(Vector3 PointA, Vector3 pointB)
{
return(Vector3Util.IsInRange(PointA, pointB, radiusNear, heightTolerence));
}
/// <summary>
/// Manages the crowd agent target, replanning the long distance path if needed.
/// </summary>
/// <returns>False on critical failure.</returns>
private bool HandleNormalPlanning(bool hasNewGoal)
{
// Re-targetting will only occur if there is a new goal or getting close to an
// intermediate target.
if (hasNewGoal ||
!mGoalInRange && agent.IsNear(agent.data.desiredPosition.point, mTarget.point))
{
// First try to set the target without replanning.
if (!SetLocalTarget())
{
// This can happen when approaching the target from
// outside the planned path, which can happen when
// the crowd manager takes a different path.
// (Or a new goal was set.)
if (agent.PlanPath(agent.data.desiredPosition, agent.data.plannerGoal) <= 0)
{
// Critical failure.
Debug.LogError(string.Format(
"{0}: Path replan failed. Position: {1}, Goal: {2}"
, agent.transform.name
, agent.data.desiredPosition.ToString()
, agent.data.plannerGoal.ToString()));
return(false);
}
// Next call should not not fail since the path is known to be good.
return(SetLocalTarget());
}
}
else if (mGoalInRange)
{
/*
* Need to monitor to see if the goal has been reached. This can be tricky.
* The optimal 'at' and 'near' range ranges are usually too restrictive and too
* large respectively. So a fixed value, based on experience, is used instead.
* (OK to make this value configurable.)
*
* Assumption: Other parts of the code detect if a re-evaluation of position
* is needed.
*/
if (mAtGoalState == StateNormal)
{
if (Vector3Util.IsInRange(agent.data.desiredPosition.point
, agent.data.plannerGoal.point
, 0.12f, agent.data.heightTolerence))
{
// Remove from the crowd and add back, exactly at the goal with a zero max
// speed. Basically, puts a static obstacle into the crowd.
mAtGoalState = StateInRange;
agent.RemoveFromCrowd();
CrowdAgentParams config = agent.crowdConfig;
config.maxSpeed = 0;
agent.crowdAgent =
agent.navGroup.crowd.AddAgent(agent.data.plannerGoal.point, config);
agent.data.flags &= ~NavFlag.CrowdConfigUpdated;
// Debug.Log("Transition to 'at goal' task.");
}
}
}
return(true);
}