/// <summary>
/// Physics computation of the joint
/// </summary>
void FixedUpdate()
{
if (connectedPath == null)
{
return;
}
// Re-align transform on path
float minPos = computePosAtMinDistance();
_tr.position = GetPositionForPos(minPos);
//Debug.Log (GetPositionForPos (minPos));
//Debug.DrawLine (_tr.position, GetPositionForPos (minPos), Color.cyan);
if (followPathOrientation)
{
// Align rotation to the path
Vector3 position = Vector3.zero;
Quaternion rotation = Quaternion.identity;
float velocity = 1.0f;
int waypoint = 0;
if (connectedPath.presampledPath)
{
connectedPath.sampledPositionAndRotationAndVelocityAndWaypointAtPos(minPos, out position, out rotation, out velocity, out waypoint);
}
else
{
rotation = connectedPath.computeRotationAtPos(minPos);
}
if (!connectedPath.disableOrientation)
{
_tr.rotation = connectedPath.transform.rotation * rotation;
}
}
// Computer direction vector
Quaternion ffVq = connectedPath.GetFaceForwardForPos(minPos);
Vector3 ffV = ffVq * Vector3.forward;
ffV = connectedPath.transform.TransformVector(ffV);
// Constraint the velocity to the path direction
_rb.velocity = Vector3.Dot(_rb.velocity, ffV) * ffV;
//Debug.Log (minPos);
// Apply motor force
if (motor)
{
_rb.AddForce(ffV * motorForce);
}
}
/// <summary>
/// Updates the target using stored currentPos.
/// </summary>
public void UpdateTarget()
{
Vector3 position = Vector3.zero;
Quaternion rotation = Quaternion.identity;
float velocity = 1.0f;
int waypoint = 0;
if (pathMagic.presampledPath)
{
pathMagic.sampledPositionAndRotationAndVelocityAndWaypointAtPos(currentPos, out position, out rotation, out velocity, out waypoint);
}
else
{
position = pathMagic.computePositionAtPos(currentPos);
rotation = pathMagic.computeRotationAtPos(currentPos);
velocity = pathMagic.computeVelocityAtPos(currentPos);
waypoint = pathMagic.GetWaypointFromPos(currentPos);
}
if (globalFollowPath)
{
// Global follow path override
rotation = pathMagic.GetFaceForwardForPos(currentPos);
}
else if (globalLookAt != null)
{
// Global look at override
rotation = Quaternion.LookRotation(pathMagic.transform.InverseTransformPoint(globalLookAt.position) - position);
}
_lastVelocity = velocity;
UpdateTarget(position, rotation);
// Fire waypointChanged if is the case
if (waypoint != _lastPassedWayponint)
{
if (waypointChanged != null)
{
waypointChanged.Invoke(waypoint);
}
if (pathMagic.waypoints [waypoint].reached != null)
{
pathMagic.waypoints [waypoint].reached.Invoke();
}
}
_lastPassedWayponint = waypoint;
}
