public override void GetDesiredSteering(SteeringResult rst)
{
if (Finish)
{
return;
}
if (Vector3d.SqrDistance(Target, Self.Position) < FixedMath.One / 100)
{
Finish = true;
GridService.Clear(Target, Self as SceneObject);
GridService.TagAs(Self.Position, Self as SceneObject, GridService.NodeType.BeTaken);
return;
}
if (GridService.IsNotEmptyBy(Target) != Self)
{
GridService.SearchNearEmptyPoint(Target, out Target);
GridService.TagAs(Target, Self as SceneObject, GridService.NodeType.FlagAsTarget);
}
Vector3d dir = Target - Self.Position;
Vector3d desiredVelocity = dir.Normalize() * Self.Speed;
var acc = (desiredVelocity - Self.Velocity) / (LockFrameMgr.FixedFrameTime);
rst.DesiredSteering = acc;
}
protected override void OnExit()
{
base.OnExit();
GridService.Clear(Target, Self as SceneObject);
}
public override void GetDesiredSteering(SteeringResult rst)
{
if (Finish)
{
return;
}
if (_firstStart)
{
_index = 0;
if (Path != null && Path.Count > 0)
{
Target = Path[_index];
_finalTarget = Path[Path.Count - 1];
}
else
{
Finish = true;
return;
}
_firstStart = false;
}
if (Arrive())
{
Self.Position = Target;
GridService.Clear(Target, Self as SceneObject);
_index++;
if (_index == Path.Count)
{
GridService.TagAs(Target, Self as SceneObject, GridService.NodeType.BeTaken);
Finish = true;
return;
}
Target = Path[_index];
}
if (Vector3d.SqrDistance(Self.Position, _finalTarget) <= FixedMath.Create(Radius))
{
_index = Path.Count - 1;
}
if (_index == Path.Count - 1)
{
if (GridService.IsNotEmptyBy(Target) != Self) //|| (_caculatedIndex&(_index+1)) == 0)
{
// _caculatedIndex += _index + 1;
Vector3d t;
if (Formation == Formation.Quad)
{
GridService.SearchNearEmptyPoint(Path[_index], out t);
}
else
{
GridService.SearchNearCircleEmptyPoint(Self.Position, Path[_index], Radius, out t);
}
Target = t;
GridService.TagAs(Target, Self as SceneObject, GridService.NodeType.FlagAsTarget);
}
}
Vector3d desiredVelocity = _so.Forward * Self.Speed;
var nextPosi = Self.Position + desiredVelocity * LockFrameMgr.FixedFrameTime;
if (!JPSAStar.active.IsWalkable(nextPosi))
{
List <PathFinderNode> list = new List <PathFinderNode>();
JPSAStar.active.AStarFindPath(Self.Position, Target, list);
for (int i = 0; i < list.Count - 1; i++)
{
Path.Insert(0, JPSAStar.active.P2V(list[i]));
}
Target = Path[0];
}
Self.Position += desiredVelocity * LockFrameMgr.FixedFrameTime;
UnityEngine.Debug.DrawLine(Self.Position.ToVector3(), Target.ToVector3(), Color.red, 0.1f);
}
