void FindNewPosition_Enter()
{
BotLocomotiveComponent.UnFocus();
// RICHARD
if (Time.time - _timeStampFindNewPosition < _spamTresholdFindNewPosition)
{
_spamCountFindNewPosition++;
LogInDebugMode($"_spamCountFindNewPosition: {_spamCountFindNewPosition}");
if (IsFindNewPositionOverSpamLimit())
{
_wanderAutoRetry = false;
LogInDebugMode($"_spamCountFindNewPosition > _findNewPositionSpamLimit: {_spamCountFindNewPosition} > {_spamLimitfindNewPosition}");
FSM.ChangeState(FStatesWander.CannotWander);
return;
}
}
else
{
_spamCountFindNewPosition = 0;
_timeStampFindNewPosition = Time.time;
LogInDebugMode($"_timeStampFindNewPosition: {_timeStampFindNewPosition}");
}
_findPositionTimeout = GetWaitTime();
}
/// <summary>
/// Check if Bot has approximately reached destination
/// </summary>
public bool HasReachedDestinationApprox(Bot.DistanceType StopMovementCondition)
{
return(BotLocomotiveComponent.StopMovementCondition == StopMovementCondition &&
BotLocomotiveComponent.IsWithinDistance(StopMovementCondition, ProximityHelpers.DistanceDirection.VERTICAL) &&
BotLocomotiveComponent.IsWithinDistance(StopMovementCondition, ProximityHelpers.DistanceDirection.HORIZONTAL)
);
}
/// <summary>
/// Move away from FocusedOnPosition
/// </summary>
public override void MoveAway(bool fullspeed = true)
{
RotateAwayFromPosition();
if (!BotLocomotiveComponent.IsAway())
{
Flying3DObjectComponent.ApplyForwardThrust(fullspeed ? 1f : 0.2f);
}
}
void OnCollisionEnter(Collision collision)
{
if (FSM.CurrentState == FStatesWander.MovingToPosition &&
!CollisionWhiteListTags.Contains(collision.transform.tag))
{
BotLocomotiveComponent.FocusOnPosition(collision.GetContact(0).point);
BotLocomotiveComponent.MoveAwayFromPosition(false);
}
}
public void MoveToClosestEdge(bool fullspeed = true)
{
NavMeshHit hit;
NavMeshAgentComponent.FindClosestEdge(out hit);
BotLocomotiveComponent.UnFocus();
BotLocomotiveComponent.FocusOnPosition(hit.position);
MoveTowardsPosition(fullspeed);
// BotLocomotiveComponent.MoveToPosition(BotLocomotive.StopMovementConditions.WITHIN_PERSONAL_SPACE, fullspeed);
BotLocomotiveComponent.MoveToPosition(Bot.DistanceType.PERSONAL_SPACE, fullspeed);
}
public bool StopWandering(bool stopMoving = false)
{
if (FSM.CurrentState != FStatesWander.NotWandering)
{
if (stopMoving)
{
BotLocomotiveComponent.StopMoving();
}
FSM.ChangeState(FStatesWander.NotWandering);
return(true);
}
return(false);
}
public Vector3?JumpOffLedge(bool fullspeed = false)
{
RaycastHit rayhit;
if (CanJumpDown(out rayhit))
{
BotLocomotiveComponent.UnFocus();
BotLocomotiveComponent.FocusOnPosition(rayhit.point);
// BotLocomotiveComponent.MoveToPosition(BotLocomotive.StopMovementConditions.AT_POSITION, fullspeed);
BotLocomotiveComponent.MoveToPosition(Bot.DistanceType.AT_POSITION, fullspeed);
return(rayhit.point);
}
return(null);
}
void MovingToPosition_Enter()
{
if (_currentBotWanderComponent.MovementTimeout > 0)
{
_movingToPosition_TimeOut = MovingToPosition_TimeOut();
if (!BotLocomotiveComponent.MoveToPosition(_currentBotWanderComponent.StopMovementCondition, false))
{
FSM.ChangeState(FStatesWander.CannotWander);
return;
}
DebugHelpers.LogInDebugMode(DebugMode, DEBUG_TAG, $"{transform.name} Wandering to {BotLocomotiveComponent.FocusedOnPosition.ToString()}");
StartCoroutine(_movingToPosition_TimeOut);
}
}
public override bool MoveTowardsPosition(bool fullspeed = true)
{
if (BotLocomotiveComponent.CurrentFState == BotLocomotive.FStatesLocomotion.MovingToPosition &&
BotLocomotiveComponent.IsWithinDistance(Bot.DistanceType.PERSONAL_SPACE)) // IsAtPosition())
{
return(false);
}
if (fullspeed)
{
MoveTo(BotLocomotiveComponent.FocusedOnPosition.Value, RunSpeed, RunRotationSpeed);
}
else
{
MoveTo(BotLocomotiveComponent.FocusedOnPosition.Value, WalkSpeed, WalkRotationSpeed);
}
return(true);
}
public override bool MoveTowardsPosition(bool fullspeed = true)
{
RotateTowardsPosition();
// Match height of position
if (BotLocomotiveComponent.FocusedOnPosition.Value.y - BotLocomotiveComponent.transform.position.y >= (BotLocomotiveComponent.SqrAtPositionErrorMargin / 2))
{
Flying3DObjectComponent.ApplyVerticalThrust(true);
}
if (BotLocomotiveComponent.FocusedOnPosition.Value.y - BotLocomotiveComponent.transform.position.y < -(BotLocomotiveComponent.SqrAtPositionErrorMargin / 2))
{
Flying3DObjectComponent.ApplyVerticalThrust(false);
}
if (BotLocomotiveComponent.IsWithinDistance(Bot.DistanceType.AT_POSITION, ProximityHelpers.DistanceDirection.ALL))
{
// At position, stop all forces
Flying3DObjectComponent.ResetAppliedForces();
Flying3DObjectComponent.RigidBodyComponent.ResetInertiaTensor();
// Flying3DObjectComponent.ResetAppliedAxis();
return(false);
}
else if (BotLocomotiveComponent.IsWithinDistance(Bot.DistanceType.PERSONAL_SPACE, ProximityHelpers.DistanceDirection.ALL, 0.85f)) // .IsWithinPersonalSpace(0.85f))
{
Flying3DObjectComponent.ApplyForwardThrust(fullspeed ? 0.1f : 0.05f); //-0.35f : 0.05f);
}
else if (BotLocomotiveComponent.IsWithinDistance(Bot.DistanceType.PERSONAL_SPACE, ProximityHelpers.DistanceDirection.HORIZONTAL, 1.1f)) // IsWithinPersonalSpace(1.1f))
{
Flying3DObjectComponent.ApplyForwardThrust(fullspeed ? 0.25f : 0.05f);
}
else if (BotLocomotiveComponent.IsWithinDistance(Bot.DistanceType.INTERACTION, ProximityHelpers.DistanceDirection.HORIZONTAL)) // IsWithinInteractionDistance())
{
// Slow down
Flying3DObjectComponent.ApplyForwardThrust(fullspeed ? 0.5f : 0.15f);
}
// Move towards position
else // if (!BotLocomotiveComponent.IsWithinInteractionDistance())
{
Flying3DObjectComponent.ApplyForwardThrust(fullspeed ? 1f : 0.2f);
}
return(true);
}
private BehaviourAction.ActionResult DoPatrol(bool cancel)
{
if (cancel)
{
return(BehaviourAction.ActionResult.FAILED);
}
if (IsTargetWithinSight())
{
TargetTransforms = _botVisionComponent.DoLookoutFor(false, false, TargetTag);
return(BehaviourAction.ActionResult.SUCCESS);
}
if (BotLocomotiveComponent.HasReachedDestination())
{
MoveToNextWaypoint();
}
return(BehaviourAction.ActionResult.PROGRESS);
}
public override void MoveAway(bool fullspeed = true)
{
var destination = BotLocomotiveComponent.GetMoveAwayDestination();
NavMeshHit _hit;
if (NavMesh.SamplePosition(destination, out _hit, BotLocomotiveComponent.SqrAwarenessMagnitude, -1))
{
destination = _hit.position;
}
if (fullspeed)
{
MoveTo(destination, RunSpeed, RunRotationSpeed);
}
else
{
MoveTo(destination, WalkSpeed, WalkRotationSpeed);
}
}
void FindNewPosition_Update()
{
_findPositionTimeout -= Time.deltaTime;
if (_findPositionTimeout > 0)
{
return;
}
_newWanderPosition = _currentBotWanderComponent.GetNewWanderPosition(WanderCenter);
if (_newWanderPosition != null)
{
BotLocomotiveComponent.FocusOnPosition(_newWanderPosition.Value);
FSM.ChangeState(FStatesWander.MovingToPosition);
}
else
{
LogInDebugMode("_newWanderPosition != null");
_wanderAutoRetry = false;
FSM.ChangeState(FStatesWander.CannotWander);
}
}
private void MoveToWaypoint()
{
BotLocomotiveComponent.FocusOnTransform(_waypoints[_waypointIndex]);
// BotLocomotiveComponent.MoveToTarget(BotLocomotive.StopMovementConditions.WITHIN_PERSONAL_SPACE, false);
BotLocomotiveComponent.MoveToTarget(Bot.DistanceType.PERSONAL_SPACE, false);
}
public override void RotateAwayFromPosition()
{
var rotation = Quaternion.LookRotation(BotLocomotiveComponent.GetMoveAwayDestination() - BotLocomotiveComponent.transform.position, Vector3.up);
BotLocomotiveComponent.transform.rotation = Quaternion.RotateTowards(BotLocomotiveComponent.transform.rotation, rotation, NavMeshAgentComponent.angularSpeed * Time.deltaTime);
}
/// <summary>
/// Check if Bot has reached destination
/// </summary>
public bool HasReachedDestination(Bot.DistanceType StopMovementCondition)
{
return(BotLocomotiveComponent.StopMovementCondition == StopMovementCondition &&
BotLocomotiveComponent.IsWithinDistance(StopMovementCondition));
}
public override void RotateAwayFromPosition()
{
var rotation = Quaternion.LookRotation(BotLocomotiveComponent.GetMoveAwayDestination() - BotLocomotiveComponent.transform.position, Vector3.up);
Flying3DObjectComponent.YawTo(rotation.eulerAngles.y);
}
