/// <summary>
/// Retrieves the position relative to the param
/// </summary>
/// <param name="param"></param>
/// <returns></returns>
public Vector3 GetPosition(float param)
{
Vector3 position = Vector3.zero;
AgentPathSegment currentSegment = null;
float tempParam = 0f;
//We find the current segment in the path where the agent is
foreach (AgentPathSegment ps in segments)
{
tempParam += Vector3.Distance(ps.a, ps.b);
if (param <= tempParam)
{
currentSegment = ps;
break;
}
}
if (currentSegment == null)
{
return(Vector3.zero);
}
Vector3 segmentDirection = currentSegment.b - currentSegment.a;
segmentDirection.Normalize();
tempParam -= Vector3.Distance(currentSegment.a, currentSegment.b);
tempParam = param - tempParam;
position = currentSegment.a + segmentDirection * tempParam;
return(position);
}
/// <summary>
/// Retrieves the list of all segments
/// </summary>
/// <returns></returns>
public List <AgentPathSegment> GetSegments()
{
List <AgentPathSegment> segments = new List <AgentPathSegment>();
int i;
for (i = 0; i < nodes.Count - 1; i++)
{
Vector3 src = nodes[i].transform.position;
Vector3 dst = nodes[i + 1].transform.position;
AgentPathSegment segment = new AgentPathSegment(src, dst);
segments.Add(segment);
}
return(segments);
}
/// <summary>
/// Retrieves the nearest segment to the given position
/// </summary>
/// <param name="position"></param>
/// <returns></returns>
private AgentPathSegment GetNearestSegment(Vector3 position)
{
float nearestDistance = Mathf.Infinity;
float distance = nearestDistance;
Vector3 centroid = Vector3.zero;
AgentPathSegment segment = new AgentPathSegment();
foreach (AgentPathSegment s in segments)
{
centroid = (s.a + s.b) / 2.0f;
distance = Vector3.Distance(position, centroid);
if (distance < nearestDistance)
{
nearestDistance = distance;
segment = s;
}
}
return(segment);
}
/// <summary>
/// Retrieves the param according to the position and last param used
/// </summary>
/// <param name="position"></param>
/// <param name="lastParam"></param>
/// <returns></returns>
public float GetParam(Vector3 position, float lastParam)
{
float param = 0f;
AgentPathSegment currentSegment = null;
float tempParam = 0f;
//We find the current segment in the path where the agent is
foreach (AgentPathSegment ps in segments)
{
tempParam += Vector3.Distance(ps.a, ps.b);
if (lastParam <= tempParam)
{
currentSegment = ps;
break;
}
}
if (currentSegment == null)
{
return(0f);
}
Vector3 segmentDirection = currentSegment.b - currentSegment.a;
segmentDirection.Normalize();
Vector3 currPos = position - currentSegment.a;
//We use vector projections to find the point over the segment
Vector3 pointInSegment = Vector3.Project(currPos, segmentDirection);
//The current param is the sum of distances until the last node
//plus the length of the projection from last step
param = tempParam - Vector3.Distance(currentSegment.a, currentSegment.b);
param += pointInSegment.magnitude;
return(param);
}
