void UpdateGuidance()
{
// mid-level, plots a set of waypoints to the objective target. Also sets speed for autopilot.
// if no target, clear the wpList and set speed to min
// if no LOS to target, get the closest wpLOS to target (or just check this once per second)
// if that node has changed:
// get the closest wpLOS to self
// get the wp path and save it
// if not, prune the wpList until only one node has LOS
// if LOS to target, use the pseudo-PN code already written
//
// Set Point Speed: If no target, set min. If no LOS to target, set max. If LOS to target and close to target, match speed.
if (!targeting.target)
{
guidance.HasLOSToTarget = false;
guidance.wpsToTarget.Clear();
guidance.LOS = transform.up;
guidance.angleLOS = 0f;
guidance.setPointSpeed = Mathf.Min(0.1f, guidance.speedLimit); // idling
return;
}
// can agent either move to, or shoot, the target
guidance.HasLOSToTarget = WaypointManager.HasLOS(gameObject, targeting.target, true, new HashSet <WallType>()
{
WallType.EntityPass, WallType.ProjectilePass
});
guidance.setPointSpeed = guidance.speedLimit;
if (!guidance.HasLOSToTarget)
{
// check if the wpList is empty or if self or target do not have LOS to their respective nodes.
// this may not necessarily work off of the closest wp with LOS to target but it is faster to
// check than getting the closest node on every update.
if (!guidance.wpsToTarget.Any() || !WaypointManager.HasLOS(guidance.wpsToTarget.Last(), targeting.target, true, new HashSet <WallType>()
{
WallType.EntityPass
}) ||
!WaypointManager.HasLOS(guidance.wpsToTarget.First(), gameObject, true, new HashSet <WallType>()
{
WallType.EntityPass
}))
{
int closestWpToTarget = WaypointManager.GetClosestWaypointWithLOS(targeting.target);
int closestWPToSelf = WaypointManager.GetClosestWaypointWithLOS(gameObject);
// if either of the above are -1, this will return an empty list
guidance.wpsToTarget = WaypointManager.GetPath(closestWPToSelf, closestWpToTarget);
}
// prune; if agent can see the next wp, no need for the current wp
else if (guidance.wpsToTarget.Count > 1 && WaypointManager.HasLOS(gameObject, guidance.wpsToTarget[1], true, new HashSet <WallType>()
{
WallType.EntityPass
}))
{
guidance.wpsToTarget.RemoveAt(0);
}
if (guidance.wpsToTarget.Any())
{
guidance.LOS = guidance.wpsToTarget[0].transform.position - transform.position;
Debug.DrawLine(transform.position, guidance.wpsToTarget[0].transform.position, Color.green);
for (int i = 0; i < guidance.wpsToTarget.Count - 1; i++)
{
Debug.DrawLine(guidance.wpsToTarget[i].transform.position, guidance.wpsToTarget[i + 1].transform.position, Color.green);
}
}
}
else
{
// aim directly at target
guidance.LOS = targeting.lineToTgt;
// match speed
if (targeting.rb2D && guidance.LOS.magnitude < targeting.radius)
{
guidance.setPointSpeed = Mathf.Min(guidance.speedLimit, targeting.rb2D.velocity.magnitude);
}
}
guidance.angleLOS = Vector2.Angle(guidance.LOS, transform.up) * Mathf.Sign(Vector3.Cross(transform.up, guidance.LOS).z);
}
