public Vector3 CheckPosition(Vector3 _position, float _range, LayerMask _mask)
{
Collider[] _colliders = Physics.OverlapSphere(_position, _range, _mask);
int i = 0;
while (i < _colliders.Length)
{
Collider _collider = _colliders[i];
if (_collider != null)
{
// try to get the closest point but this could fail for some reasons ...
Vector3 _point = _collider.ClosestPointOnBounds(_position);
// ... so compare the points and try to get the closest point on another way ...
if (_point == _position)
{
_point = SystemTools.ClosestPointOnSurface(_collider, _position);
}
if (_point == _position)
{
_point = _collider.transform.position;
}
_position += (_position - _point).normalized * (PositionTools.Distance(_position, _point) + _range);
}
i++;
}
return(_position);
}
public WaypointObject GetWaypointByPosition(Vector3 _position)
{
WaypointObject new_waypoint = null;
int new_waypoint_index = m_WaypointIndex;
float distance = Mathf.Infinity;
List <WaypointObject> _waypoints = GetEnabledWaypoints();
for (int i = 0; i < _waypoints.Count; i++)
{
float tmp_distance = PositionTools.Distance(_position, _waypoints[i].TargetOffsetPosition);
if (tmp_distance < distance)
{
new_waypoint_index = i;
new_waypoint = _waypoints[new_waypoint_index];
distance = tmp_distance;
}
}
if (new_waypoint != null)
{
m_LastWaypoint = m_Waypoint;
m_Waypoint = new_waypoint;
m_WaypointIndex = new_waypoint_index;
}
return(m_Waypoint);
}
/// <summary>
/// Gets the nearest focused entity by the specified type.
/// </summary>
/// <returns>The nearest focused entity by type.</returns>
/// <param name="_type">Type.</param>
/// <param name="_allow_child">If set to <c>true</c> allow child.</param>
public ICECreatureEntity GetBestCounterpartByType(EntityClassType _type, int _max_counterparts, bool _allow_child = false)
{
ICECreatureEntity _best_entity = null;
float _best_distance = Mathf.Infinity;
int _best_counterparts = _max_counterparts;
// transform buffer
Transform _transform = this.transform;
for (int i = 0; i < ActiveCounterparts.Count; i++)
{
ICECreatureEntity _entity = ActiveCounterparts[i];
if (_entity != null && _entity.EntityType == _type)
{
Transform _entity_transform = _entity.transform;
int _entity_counterparts = _entity.ActiveCounterparts.Count;
float _entity_distance = PositionTools.Distance(_transform.position, _entity_transform.position);
if ((_entity_distance <= _best_distance) &&
(_allow_child || _entity_transform.IsChildOf(_transform) == false) &&
(_best_counterparts == -1 || _entity_counterparts <= _best_counterparts))
{
_best_counterparts = _entity_counterparts;
_best_distance = _entity_distance;
_best_entity = _entity;
}
}
}
return(_best_entity);
}
/// <summary>
/// Gets the nearest focused entity.
/// </summary>
/// <returns>The nearest focused entity.</returns>
/// <param name="_allow_child">If set to <c>true</c> allow child.</param>
public ICECreatureEntity GetNearestActiveCounterparts(bool _allow_child = false)
{
ICECreatureEntity _best_entity = null;
float _best_distance = Mathf.Infinity;
// transform buffer
Transform _transform = this.transform;
for (int i = 0; i < ActiveCounterparts.Count; i++)
{
ICECreatureEntity _entity = ActiveCounterparts[i];
if (_entity != null)
{
// transform buffer
Transform _entity_transform = _entity.transform;
float _distance = PositionTools.Distance(_transform.position, _entity_transform.position);
if (_distance < _best_distance)
{
if (_allow_child || _entity_transform.IsChildOf(_transform) == false)
{
_best_distance = _distance;
_best_entity = _entity;
}
}
}
}
return(_best_entity);
}
/// <summary>
/// Update the turret incl. movements and scan for targets
/// </summary>
public bool Update()
{
if (Owner == null)
{
return(false);
}
Scan();
m_IsFocused = false;
m_IsMoving = false;
// runs the default behaviour if there is no target
if (m_ActiveTarget == null)
{
if (UseParkPosition)
{
if (PivotType == MountingPivotType.PivotalPoint)
{
PivotPoint.rotation = Quaternion.Slerp(PivotPoint.rotation, DefaultPivotRotation, RotationSpeed * Time.deltaTime);
if (Quaternion.Angle(PivotPoint.rotation, DefaultPivotRotation) > MaxAngularDeviation)
{
m_IsMoving = true;
}
}
else if (PivotType == MountingPivotType.SeperateAxes)
{
if (PivotYawAxis != null)
{
if (PositionTools.Distance(PivotYawAxis.localEulerAngles, new Vector3(0, DefaultPivotYawRotation, 0)) > MaxAngularDeviation)
{
PivotYawAxis.localEulerAngles = new Vector3(0, Mathf.LerpAngle(PivotYawAxis.localEulerAngles.y, DefaultPivotYawRotation, RotationSpeed * Time.deltaTime), 0);
m_IsMoving = true;
}
else
{
PivotYawAxis.localEulerAngles = new Vector3(0, DefaultPivotYawRotation, 0);
}
}
if (PivotPitchAxis != null)
{
if (PositionTools.Distance(PivotPitchAxis.localEulerAngles, new Vector3(DefaultPivotPitchRotation, 0, 0)) > MaxAngularDeviation)
{
PivotPitchAxis.localEulerAngles = new Vector3(Mathf.LerpAngle(PivotPitchAxis.localEulerAngles.x, DefaultPivotPitchRotation, RotationSpeed * Time.deltaTime), 0, 0);
m_IsMoving = true;
}
else
{
PivotPitchAxis.localEulerAngles = new Vector3(DefaultPivotPitchRotation, 0, 0);
}
}
}
}
}
// focus an existing target
else
{
float _height = 1;
Collider _collider = m_ActiveTarget.GetComponent <Collider>();
if (_collider != null)
{
_height = _collider.bounds.size.magnitude / 3;
}
_height += VerticalTargetAdjustment;
Vector3 _target_pos = m_ActiveTarget.position + (Vector3.up * _height);
if (PivotType == MountingPivotType.PivotalPoint)
{
Quaternion _rotation = Quaternion.LookRotation(_target_pos - PivotPoint.position, Vector3.up);
PivotPoint.rotation = Quaternion.Slerp(PivotPoint.rotation, _rotation, RotationSpeed * Time.deltaTime);
if (Quaternion.Angle(PivotPoint.rotation, _rotation) < MaxAngularDeviation)
{
m_IsFocused = true;
m_IsMoving = false;
}
else
{
m_IsFocused = false;
m_IsMoving = true;
}
}
else if (PivotType == MountingPivotType.SeperateAxes)
{
if (PivotYawAxis != null)
{
Vector3 _yaw_pos = new Vector3(_target_pos.x, PivotYawAxis.position.y, _target_pos.z);
Quaternion _yaw_rot = Quaternion.LookRotation(_yaw_pos - PivotYawAxis.position, Vector3.up);
PivotYawAxis.rotation = Quaternion.Slerp(PivotYawAxis.rotation, _yaw_rot, RotationSpeed * Time.deltaTime);
if (Quaternion.Angle(PivotYawAxis.rotation, _yaw_rot) <= MaxAngularDeviation)
{
m_IsFocused = true;
m_IsMoving = false;
}
else
{
m_IsFocused = false;
m_IsMoving = true;
}
}
if (PivotPitchAxis != null)
{
Vector3 _pitch_dir = PivotPitchAxis.position - _target_pos;
Vector3 _pitch_hor = new Vector3(_pitch_dir.x, 0, _pitch_dir.z);
float _angle = MathTools.NormalizeAngle(360 + Vector3.Angle(_pitch_dir, _pitch_hor) * Mathf.Sign(Vector3.Dot(_pitch_dir, Vector3.up)));
PivotPitchAxis.localEulerAngles = new Vector3(Mathf.LerpAngle(PivotPitchAxis.localEulerAngles.x, _angle, RotationSpeed * Time.deltaTime), 0, 0);
if (m_IsFocused && PositionTools.Distance(PivotPitchAxis.localEulerAngles, new Vector3(_angle, 0, 0)) <= MaxAngularDeviation)
{
m_IsFocused = true;
m_IsMoving = false;
}
else
{
m_IsFocused = false;
m_IsMoving = true;
}
}
}
}
if (m_IsMoving)
{
MovingSound.Play();
}
else
{
MovingSound.Stop();
}
return(m_IsFocused);
}
//private Quaternion m_MoveRotation;
//private float m_MoveAngle = 0;
/// <summary>
/// DoUpdateMovePosition can be used to override the default move position of a creature. This delegated method will be called on each frame update
/// </summary>
/// <param name="_sender">Sender.</param>
/// <param name="_origin_position">Origin position.</param>
/// <param name="_new_position">New position.</param>
private void DoUpdateMovePosition(GameObject _sender, Vector3 _transform_position, ref Vector3 _new_move_position)
{
// just to make sure that all required objects are available
if (Controller == null || Controller.Creature.ActiveTarget == null || Controller.Creature.Move.TargetMovePositionReached)
{
return;
}
// the active target move position is the final destination the creature have to reach
Vector3 _target_move_position = Controller.Creature.ActiveTargetMovePosition;
// this will adapt the target move position to the grid
Vector3 _grid_target_move_position = GetGridPosition(_target_move_position);
// here we apapt the level of the new move position
m_GridMovePosition.y = transform.position.y;
// if the creature is near to the given node point we have to generate the next one
if (PositionTools.Distance(m_GridMovePosition, transform.position) < Controller.Creature.Move.DesiredStoppingDistance)
{
// direction to the original target move position of the active target
Vector3 _dir = (_target_move_position - transform.position).normalized;
// here we get the next grid position according to the direction and the specified grid size
Vector3 _next_grid_pos = GetGridPosition(transform.position + (_dir * GridSize));
// We do not want to allow diagonal movements, so we have to adjust all the paths that are longer than the grid size.
if (PositionTools.Distance(m_GridMovePosition, _next_grid_pos) > GridSize + Controller.Creature.Move.DesiredStoppingDistance)
{
// ... in this case the selection of the direction will be done by chance
if (UnityEngine.Random.Range(0, 1) == 0)
{
_next_grid_pos.x = m_GridMovePosition.x;
}
else
{
_next_grid_pos.z = m_GridMovePosition.z;
}
}
// we take the new position only if this is closer to the target than the current one
//if( ( _next_grid_pos - _grid_target_move_position ).magnitude < ( m_GridMovePosition - _grid_target_move_position ).magnitude )
m_GridMovePosition = _next_grid_pos;
m_GridMoveRotation = Quaternion.LookRotation((m_GridMovePosition - transform.position).normalized);
}
else
{
// this code block makes sure that a creature is always on the grid
float _speed = (Controller.Creature.Move.DesiredVelocity.z > 0 ? Controller.Creature.Move.DesiredVelocity.z : 1) * Time.deltaTime;
Vector3 _move_direction = (m_GridMovePosition - transform.position);
if (Mathf.Abs(_move_direction.x) < Mathf.Abs(_move_direction.z))
{
transform.position = Vector3.Lerp(transform.position, new Vector3(transform.position.x + _move_direction.x, transform.position.y, transform.position.z), _speed);
}
else if (Mathf.Abs(_move_direction.z) < Mathf.Abs(_move_direction.x))
{
transform.position = Vector3.Lerp(transform.position, new Vector3(transform.position.x, transform.position.y, transform.position.z + _move_direction.z), _speed);
}
}
// here we finally override the default move position of the creature
_new_move_position = m_GridMovePosition;
}
public Vector3 Scan(Transform _transform, Vector3 _position, LayerMask _ground_mask, LayerMask _water_mask, float _offset)
{
if (ScanningRange == 0 || ScanningAngle == 0 || (!UseSlopeLimits && !AvoidWater))
{
return(_position);
}
if (Owner == null)
{
SetOwner(_transform.gameObject);
}
RaycastHit _hit;
Vector3 _pos = PositionTools.GetDirectionPosition(_transform, 0, ScanningRange);
_offset += m_VerticalRaycastOffset + ScanningRange;
_pos.y += _offset;
if (UseSlipping && MaxSurfaceSlopeAngle > 0)
{
if (Physics.Raycast(_transform.position + Vector3.up, Vector3.down, out _hit, Mathf.Infinity, _ground_mask, WorldManager.TriggerInteraction))
{
if (Mathf.Abs(Vector3.Angle(_hit.normal, Vector3.up)) > MaxSurfaceSlopeAngle)
{
m_SlopePathPosition = Vector3.zero;
_transform.position += new Vector3(_hit.normal.x * 9.8f * Time.deltaTime, 0, _hit.normal.z * 9.8f * Time.deltaTime);
return(_position);
}
}
}
if (m_SlopePathPosition == Vector3.zero || PositionTools.Distance(_transform.position, m_SlopePathPosition) < ScanningRange * 0.25f)
{
LayerMask _combined_mask = _ground_mask;
if (_water_mask.value != 0)
{
_combined_mask |= _water_mask;
}
if (Physics.Raycast(_pos, Vector3.down, out _hit, Mathf.Infinity, _combined_mask, WorldManager.TriggerInteraction))
{
Vector3 _dir = (_hit.point - _transform.position).normalized;
float _path_angle = Vector3.Angle(_dir, Vector3.down) - 90;
float _surface_angle = Vector3.Angle(_hit.normal, Vector3.up);
if ((MaxSurfaceSlopeAngle > 0 && Mathf.Abs(_surface_angle) > MaxSurfaceSlopeAngle) ||
(MaxPathSlopeAngle > 0 && Mathf.Abs(_path_angle) > MaxPathSlopeAngle) ||
(AvoidWater && SystemTools.IsInLayerMask(_hit.transform.gameObject, _water_mask)))
{
DebugLine(_hit.point, _hit.point + (Vector3.up * 2), Color.yellow);
for (int i = ScanningAngle; i <= 180; i += ScanningAngle)
{
Vector3 _pos_right = Vector3.zero;
Vector3 _pos_left = Vector3.zero;
int _right_angle = i;
_pos = PositionTools.GetDirectionPosition(_transform, _right_angle, ScanningRange);
_pos.y += _offset;
if (Physics.Raycast(_pos, Vector3.down, out _hit, Mathf.Infinity, _combined_mask, WorldManager.TriggerInteraction))
{
_dir = (_hit.point - _transform.position).normalized;
_path_angle = Vector3.Angle(_dir, Vector3.down) - 90;
_surface_angle = Vector3.Angle(_hit.normal, Vector3.up);
bool _walkable_right = true;
bool _water = false;
if (MaxSurfaceSlopeAngle > 0 && Mathf.Abs(_surface_angle) > MaxSurfaceSlopeAngle)
{
_walkable_right = false;
}
if (MaxPathSlopeAngle > 0 && _walkable_right && Mathf.Abs(_path_angle) > MaxPathSlopeAngle)
{
_walkable_right = false;
}
if (AvoidWater && SystemTools.IsInLayerMask(_hit.transform.gameObject, _water_mask))
{
_walkable_right = false;
_water = true;
}
if (DebugRayIsEnabled)
{
float _h = (MaxPathSlopeAngle > 0 ? MathTools.Normalize(MaxPathSlopeAngle - Mathf.Abs(_path_angle), 0, MaxPathSlopeAngle) : MathTools.Normalize(MaxSurfaceSlopeAngle - _surface_angle, 0, MaxSurfaceSlopeAngle));
//DebugLine( _pos, _hit.point, ( _water ? Color.blue : ( _walkable_right ? Color.green : new HSBColor( _h * 0.3333333f, 1f, 1f ).ToColor() ) ) );
DebugLine(_hit.point, _hit.point + (Vector3.up * 2), (_water ? Color.blue : (_walkable_right ? Color.green : new HSBColor(_h * 0.3333333f, 1f, 1f).ToColor())));
}
if (_walkable_right)
{
_pos_right = _hit.point;
}
}
else
{
m_VerticalRaycastOffset += 0.25f;
}
int _left_angle = 360 - i;
_pos = PositionTools.GetDirectionPosition(_transform, _left_angle, ScanningRange);
_pos.y += _offset;
if (Physics.Raycast(_pos, Vector3.down, out _hit, Mathf.Infinity, _combined_mask, WorldManager.TriggerInteraction))
{
_dir = (_hit.point - _transform.position).normalized;
_path_angle = Vector3.Angle(_dir, Vector3.down) - 90;
_surface_angle = Vector3.Angle(_hit.normal, Vector3.up);
bool _walkable_left = true;
bool _water = false;
if (MaxSurfaceSlopeAngle > 0 && Mathf.Abs(_surface_angle) > MaxSurfaceSlopeAngle)
{
_walkable_left = false;
}
if (MaxPathSlopeAngle > 0 && _walkable_left && Mathf.Abs(_path_angle) > MaxPathSlopeAngle)
{
_walkable_left = false;
}
if (AvoidWater && SystemTools.IsInLayerMask(_hit.transform.gameObject, _water_mask))
{
_walkable_left = false;
_water = true;
}
if (DebugRayIsEnabled)
{
float _h = (MaxPathSlopeAngle > 0 ? MathTools.Normalize(MaxPathSlopeAngle - Mathf.Abs(_path_angle), 0, MaxPathSlopeAngle) : MathTools.Normalize(MaxSurfaceSlopeAngle - _surface_angle, 0, MaxSurfaceSlopeAngle));
//DebugLine( _pos, _hit.point, ( _water ? Color.blue : ( _walkable_left ? Color.green : new HSBColor( _h * 0.3333333f, 1f, 0.25f ).ToColor() ) ) );
DebugLine(_hit.point, _hit.point + (Vector3.up * 2), (_water ? Color.blue : (_walkable_left ? Color.green : new HSBColor(_h * 0.3333333f, 1f, 1f).ToColor())));
}
if (_walkable_left)
{
_pos_left = _hit.point;
}
}
else
{
m_VerticalRaycastOffset += 0.25f;
}
if (_pos_right != Vector3.zero && _pos_left != Vector3.zero)
{
//if( Vector3.Distance( _position, _pos_right ) <= Vector3.Distance( _position, _pos_left ) )
if (UnityEngine.Random.Range(0, 2) == 0)
{
m_SlopePathPosition = _pos_right;
}
else
{
m_SlopePathPosition = _pos_left;
}
break;
}
else if (_pos_right != Vector3.zero)
{
m_SlopePathPosition = _pos_right;
break;
}
else if (_pos_left != Vector3.zero)
{
m_SlopePathPosition = _pos_left;
break;
}
}
}
else
{
m_SlopePathPosition = Vector3.zero;
if (DebugRayIsEnabled)
{
float _h = (MaxPathSlopeAngle > 0 ? MathTools.Normalize(MaxPathSlopeAngle - Mathf.Abs(_path_angle), 0, MaxPathSlopeAngle) : MathTools.Normalize(MaxSurfaceSlopeAngle - _surface_angle, 0, MaxSurfaceSlopeAngle));
DebugLine(_pos, _hit.point + (Vector3.up * 2), new HSBColor(_h * 0.3333333f, 1f, 0.25f).ToColor());
DebugLine(_hit.point, _hit.point + (Vector3.up * 2), new HSBColor(_h * 0.3333333f, 1f, 1f).ToColor());
}
}
}
else
{
m_VerticalRaycastOffset += 0.25f;
}
}
if (m_SlopePathPosition != Vector3.zero)
{
DebugLine(m_SlopePathPosition, m_SlopePathPosition + (Vector3.up * 2), Color.green);
_position = m_SlopePathPosition;
}
return(_position);
}
public Vector3 Scan(Transform _transform, Vector3 _position, LayerMask _mask, float _stopping_distance, float _speed)
{
if ((!UseDynamicScanningRange && ScanningRange == 0) || (UseDynamicScanningRange && _speed == 0))
{
return(_position);
}
if (Time.time - m_StartTime <= m_ExpectedActionTime)
{
return(_position);
}
m_ActionType = ObstacleAvoidanceActionType.None;
m_StoppingDistance = _stopping_distance;
if (Owner != _transform.gameObject)
{
SetOwner(_transform.gameObject);
}
float _vertical_offset = 0;
Vector3 _avoid_position = _position;
Vector3 _transform_pos = _transform.position;
Vector3 _move_pos = _position;
float _distance = (UseDynamicScanningRange ? _speed * DynamicScanningRangeSpeedMultiplier : ScanningRange);
_transform_pos.y = _transform_pos.y + _vertical_offset;
_move_pos.y = _transform_pos.y;
RaycastHit _hit;
RaycastHit _hit_up = new RaycastHit();
RaycastHit _hit_down = new RaycastHit();
Vector3 _desired_dir = _position - _transform.position;
Vector3 _origin = _transform.position + (_transform.up * VerticalRaycastOffset);
Vector3 _origin_up = _transform.position + (_transform.up * (VerticalRaycastOffset + VerticalRaycastOffsetDifference)); // TODO : slide height
Vector3 _origin_down = _transform.position + (_transform.up * (VerticalRaycastOffset - VerticalRaycastOffsetDifference)); // TODO : slide height
Vector3 _forward = _transform.forward;
float _cross_down_distance = (UseCrossBelowSpeed ? _speed * CrossBelowStartDistanceSpeedMultiplier : CrossBelowStartDistance);
float _cross_up_distance = (UseCrossOverSpeed ? _speed * CrossOverStartDistanceSpeedMultiplier : CrossOverStartDistance);
float _hit_down_distance = Mathf.Infinity;
float _hit_up_distance = Mathf.Infinity;
m_CrossBelowPossible = false;
m_CrossOverPossible = false;
if (UseOvercomeObstacles && Physics.Raycast(_origin_down, _forward, out _hit_down, _distance, _mask, WorldManager.TriggerInteraction) && !_hit_down.transform.IsChildOf(_transform))
{
DebugLine(_origin_down, _hit_down.point, Color.red);
DebugRay(_origin_down, _forward * _cross_down_distance, Color.blue);
_hit_down_distance = _hit_down.distance;
m_CrossBelowPossible = true;
}
else if (UseOvercomeObstacles)
{
DebugRay(_origin_down, _forward * _distance, Color.green);
}
if (UseOvercomeObstacles && Physics.Raycast(_origin_up, _forward, out _hit_up, _distance, _mask, WorldManager.TriggerInteraction) && !_hit_up.transform.IsChildOf(_transform))
{
DebugLine(_origin_up, _hit_up.point, Color.red);
DebugRay(_origin_up, _forward * _cross_up_distance, Color.blue);
_hit_up_distance = _hit_up.distance;
m_CrossOverPossible = true;
}
else if (UseOvercomeObstacles)
{
DebugRay(_origin_up, _forward * _distance, Color.green);
}
// CHECK POSIBLE CROSS OVER
if (UseOvercomeObstacles && _hit_down_distance < _hit_up_distance)
{
if (_hit_down.distance < _cross_up_distance)
{
m_DesiredCrossOverPosition = _hit_down.point;
m_DesiredCrossOverPosition.y = _hit_down.collider.bounds.center.y + 0.5f * Owner.GetComponent <Collider>().bounds.extents.y + 0.075f;
m_StartTime = Time.time;
m_ExpectedActionTime = _cross_up_distance * 2 / (_speed > 0 ? _speed : 1);
m_ActionType = ObstacleAvoidanceActionType.CrossOver;
}
}
// CHECK POSIBLE CROSS BELOW
else if (UseOvercomeObstacles && _hit_up_distance < _hit_down_distance)
{
if (_hit_up.distance < _cross_down_distance)
{
m_DesiredCrossBelowPosition = _position + (1.25f * _hit_up.distance * _forward);
m_StartTime = Time.time;
m_ExpectedActionTime = _cross_down_distance * 2 / (_speed > 0 ? _speed : 1);
m_ActionType = ObstacleAvoidanceActionType.CrossBelow;
}
}
// CHECK AVOIDANCE
else if (Physics.Raycast(_origin, _forward, out _hit, _distance, _mask, WorldManager.TriggerInteraction))
{
if (!_hit.transform.IsChildOf(_transform))
{
DebugLine(_origin, _hit.point, Color.red);
if (_desired_dir.magnitude < PositionTools.Distance(_hit.point, _transform.position))
{
DebugLine(_origin, _desired_dir, Color.green);
m_ObstacleAvoidancePosition = Vector3.zero;
m_FixDirection = PreferedDirectionType.UNDEFINED;
}
else
{
if (_distance > _hit.collider.bounds.size.magnitude * 0.5f)
{
_distance = _hit.collider.bounds.size.magnitude * 0.5f;
}
else if (_distance > new Vector2(_hit.collider.bounds.size.z, _hit.collider.bounds.size.x).magnitude)
{
_distance = new Vector2(_hit.collider.bounds.size.z, _hit.collider.bounds.size.x).magnitude;
}
DebugLine(_origin, _hit.point, Color.red);
int _cost_right = 0;
Vector3 _avoid_right = Vector3.zero;
for (int i = ScanningAngle; i <= 360; i += ScanningAngle)
{
_cost_right++;
Vector3 _pos = PositionTools.GetDirectionPosition(_transform, i, _distance);
if (!Physics.Linecast(_origin, _pos, _mask))
{
_avoid_right = _pos;
DebugLine(_origin, _pos, SystemTools.ColorA(Color.blue, 0.5f));
break;
}
else
{
//TODO: if there is no free position we could determinate the best posibility
DebugLine(_origin, _pos, SystemTools.ColorA(Color.red, 0.25f));
}
}
int _cost_left = 0;
Vector3 _avoid_left = Vector3.zero;
for (int i = 360 - ScanningAngle; i > 0; i -= ScanningAngle)
{
_cost_left++;
Vector3 _pos = PositionTools.GetDirectionPosition(_transform, i, _distance);
if (!Physics.Linecast(_origin, _pos, _mask))
{
_avoid_left = _pos;
DebugLine(_origin, _pos, SystemTools.ColorA(Color.blue, 0.5f));
break;
}
else
{
//TODO: if there is no free position we could determinate the best posibility
DebugLine(_origin, _pos, SystemTools.ColorA(Color.red, 0.25f));
}
}
// selects the best solution according to the given costs
if (_avoid_right != Vector3.zero && _avoid_left != Vector3.zero)
{
if (_cost_left < _cost_right)
{
m_ObstacleAvoidancePosition = _avoid_left;
}
else if (_cost_right < _cost_left)
{
m_ObstacleAvoidancePosition = _avoid_right;
}
else
{
m_ObstacleAvoidancePosition = (Random.Range(0, 1) == 1 ? _avoid_left : _avoid_right);
}
}
else if (_avoid_right != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_right;
}
else if (_avoid_left != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_left;
}
// makes sure that the creature will not change the direction if not needed
if (UseFixDirection)
{
if (m_FixDirection == PreferedDirectionType.UNDEFINED)
{
if (m_ObstacleAvoidancePosition == _avoid_right)
{
m_FixDirection = PreferedDirectionType.RIGHT;
}
else if (m_ObstacleAvoidancePosition == _avoid_left)
{
m_FixDirection = PreferedDirectionType.LEFT;
}
}
else if (m_FixDirection == PreferedDirectionType.RIGHT && _avoid_right != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_right;
}
else if (m_FixDirection == PreferedDirectionType.LEFT && _avoid_left != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_left;
}
}
}
}
}
else
{
DebugRay(_origin, _forward * _distance, Color.green);
m_FixDirection = PreferedDirectionType.UNDEFINED;
if (Physics.Raycast(_origin, _desired_dir, out _hit, _distance, _mask, WorldManager.TriggerInteraction))
{
DebugLine(_origin, _hit.point, SystemTools.ColorA(Color.red, MathTools.Normalize(_distance - PositionTools.Distance(_hit.point, _origin), 0, _distance)));
if (AvoidanceMovePositionReached)
{
m_ObstacleAvoidancePosition = _transform.position + (_transform.forward * _distance);
}
}
else
{
DebugRay(_origin, _desired_dir.normalized * _distance, Color.gray);
m_ObstacleAvoidancePosition = Vector3.zero;
}
}
if (m_ObstacleAvoidancePosition != Vector3.zero)
{
_avoid_position = m_ObstacleAvoidancePosition;
}
return(_avoid_position);
}
/// <summary>
/// SendDamage handles damage and impact forces for the specified target object. You can use this static method to
/// affect each entity object within your scene. Please note that _target can be adjusted to null, in
/// such a case the _force_type will be automatically changed to DamageForceType.Explosion and the origin
/// of the detonation will be the _sender.transform.position.
/// </summary>
/// <param name="_sender">Sender.</param>
/// <param name="_target">Target.</param>
/// <param name="_impact_type">Impact type.</param>
/// <param name="_damage">Damage.</param>
/// <param name="_damage_method">Damage method.</param>
/// <param name="_damage_point">Damage point.</param>
/// <param name="_force_type">Force type.</param>
/// <param name="_force">Force.</param>
/// <param name="_radius">Radius.</param>
public static void SendDamage(GameObject _sender, GameObject _target, DamageTransferType _impact_type, float _damage, string _damage_method, Vector3 _damage_point, DamageForceType _force_type, float _force, float _radius)
{
if (_sender == null)
{
return;
}
if (_target == null)
{
_force_type = DamageForceType.Explosion;
}
// If the force type is an explosion will will handle first the explosion impact to all objects around the specified target
// in cases the target will be NULL (e.g. remote or timed detonation of an explosive etc.) the sender will be the origin of
// the explosion.
if (_force_type == DamageForceType.Explosion)
{
_damage_point = (_damage_point == Vector3.zero ? (_target != null ? _target.transform.position : _sender.transform.position) : _damage_point);
Collider[] _colliders = Physics.OverlapSphere(_damage_point, _radius);
if (_colliders != null)
{
foreach (Collider _collider in _colliders)
{
if (_collider == null || _collider.gameObject == _target || _collider.gameObject == _sender)
{
continue;
}
float _distance = PositionTools.Distance(_damage_point, _collider.gameObject.transform.position);
float _multiplier = Mathf.Clamp01(1 - MathTools.Normalize(_distance, 0, _radius));
// If a explosion radius is given we will try to apply a suitable force to the colliders gamesobject
if (_radius > 0)
{
if (_collider.attachedRigidbody != null && !_collider.attachedRigidbody.isKinematic)
{
_collider.attachedRigidbody.AddExplosionForce(_force * _multiplier, _damage_point, _radius);
}
else
{
ICEWorldEntity _entity = ICEWorldEntity.GetWorldEntity(_collider.gameObject);
if (_entity != null)
{
Vector3 _direction = _collider.transform.position - _damage_point;
_entity.ApplyImpact(_direction, _force * _multiplier);
}
}
}
// SendTargetDamage will try now to damage the colliders gameobject according to the given distance and multiplier
ICEWorldEntity.SendTargetDamage(_sender, _collider.gameObject, _impact_type, _damage * _multiplier, _damage_method, _damage_point, _force_type, _force * _multiplier);
}
}
}
if (_target != null)
{
// whenever a target is specified and the defined force type isn't NONE we try to apply also a force to the target
if (_force_type != DamageForceType.None)
{
Vector3 _direction = _target.transform.position - _sender.transform.position;
_direction.Normalize();
// Handle Target Rigidbody and forces
Rigidbody _target_rigidbody = _target.GetComponent <Rigidbody>();
if (_target_rigidbody != null && !_target_rigidbody.isKinematic)
{
_target_rigidbody.AddForce(_direction.normalized * _force, ForceMode.Force);
}
else
{
ICEWorldEntity _entity = ICEWorldEntity.GetWorldEntity(_target);
if (_entity != null)
{
_entity.ApplyImpact(_direction, _force);
}
}
}
// Finally we try to damage the specified target
ICEWorldEntity.SendTargetDamage(_sender, _target, _impact_type, _damage, _damage_method, _damage_point, _force_type, _force);
}
}
public bool Check(Transform _transform, Vector3 _velocity)
{
if (!Enabled || _transform == null)
{
return(false);
}
if (_velocity.z == 0)
{
m_DeadlockMoveTimer = 0;
m_DeadlockLoopTimer = 0;
return(false);
}
m_DeadlockMoveTimer += Time.deltaTime;
m_DeadlockLoopTimer += Time.deltaTime;
if (m_DeadlockPosition == Vector3.zero)
{
m_DeadlockPosition = _transform.position;
}
if (m_DeadlockMoveTimer >= MoveInterval)
{
m_DeadlocksDistance = PositionTools.Distance(_transform.position, m_DeadlockPosition);
// CHECK DEADLOCK
if (m_DeadlocksDistance <= MinMoveDistance)
{
if (m_Deadlocked == false)
{
m_DeadlocksCount++;
}
m_DeadlocksCriticalPositions.Add(_transform.position);
if (m_DeadlocksCriticalPositions.Count > MoveMaxCriticalPositions)
{
m_Deadlocked = true;
}
}
else if (m_DeadlocksCriticalPositions.Count > 0)
{
m_DeadlocksCriticalPositions.RemoveAt(0);
}
else
{
m_DeadlockPosition = _transform.position;
m_DeadlockMoveTimer = 0;
}
}
// CHECK INFINITY LOOP
if (m_DeadlockLoopTimer >= LoopInterval)
{
if (m_DeadlocksDistance <= LoopRange)
{
if (m_Deadlocked == false)
{
m_DeadlockLoopsCount++;
}
m_DeadlocksCriticalLoops.Add(_transform.position);
if (m_DeadlocksCriticalLoops.Count > LoopMaxCriticalPositions)
{
m_Deadlocked = true;
}
}
else if (m_DeadlocksCriticalLoops.Count > 0)
{
m_DeadlocksCriticalLoops.RemoveAt(0);
}
else
{
m_DeadlockLoopTimer = 0;
}
}
if (m_DeadlockMoveTimer == 0 && m_DeadlocksCriticalPositions.Count == 0 && m_DeadlockLoopTimer == 0 && m_DeadlocksCriticalLoops.Count == 0)
{
m_Deadlocked = false;
}
return(m_Deadlocked);
}
private bool IsTargetUpdatePermitted(TargetObject _target)
{
if (_target == null)
{
return(false);
}
if (m_ActiveTarget == null || Behaviour.ActiveBehaviourMode == null || Behaviour.ActiveBehaviourMode.Favoured.Enabled == false)
{
return(true);
}
bool _permitted = true;
if ((Behaviour.ActiveBehaviourMode.Favoured.Enabled == true) && (
(Behaviour.ActiveBehaviourMode.Favoured.Runtime > 0 && Behaviour.BehaviourTimer < Behaviour.ActiveBehaviourMode.Favoured.Runtime) ||
(Behaviour.ActiveBehaviourMode.Favoured.FavouredUntilNextMovePositionReached && !Move.MovePositionReached) ||
(Behaviour.ActiveBehaviourMode.Favoured.FavouredUntilTargetMovePositionReached && !Move.TargetMovePositionReached) ||
(Behaviour.ActiveBehaviourMode.Favoured.FavouredUntilNewTargetInRange(_target, PositionTools.Distance(_target.TargetGameObject.transform.position, Owner.transform.position))) ||
(Behaviour.ActiveBehaviourMode.HasActiveDetourRule && Behaviour.ActiveBehaviourMode.Favoured.FavouredUntilDetourPositionReached && !Move.DetourComplete)))
{
_permitted = false;
}
else
{
_permitted = true;
}
//mode check - the new mode could be also forced, so we have to check this here
if (_permitted == false)
{
BehaviourModeObject _mode = Behaviour.GetBehaviourModeByKey(_target.Behaviour.CurrentBehaviourModeKey);
if (_mode != null && _mode.Favoured.Enabled == true)
{
if (Behaviour.ActiveBehaviourMode.Favoured.FavouredPriority > _mode.Favoured.FavouredPriority)
{
_permitted = false;
}
else if (Behaviour.ActiveBehaviourMode.Favoured.FavouredPriority < _mode.Favoured.FavouredPriority)
{
_permitted = true;
}
else
{
_permitted = (Random.Range(0, 1) == 0?false:true);
}
}
}
return(_permitted);
}
