public static int GenerateDeltaCount(int size)
{
long fixSize = FixedMath.Create(size);
int ret = FixedMath.Mul(FixedMath.Mul(fixSize, fixSize), FixedMath.Pi).CeilToInt();
return(ret);
}
public static int GenerateDeltaCount(long radius)
{
radius /= GridManager.ScanResolution;
int ret = FixedMath.Mul(FixedMath.Mul(radius, radius), FixedMath.Pi).CeilToInt();
//if (ret < 5) ret = 5;
return(ret);
}
protected override void OnSetup()
{
cachedBody = Agent.Body;
cachedBody.OnContact += HandleCollision;
cachedTurn = Agent.Turner;
collisionStopTreshold = FixedMath.Mul(timescaledSpeed, CollisionStopTreshold);
collisionStopTreshold *= collisionStopTreshold;
timescaledAcceleration = Acceleration * 32 / LockstepManager.FrameRate;
if (timescaledAcceleration > FixedMath.One)
{
timescaledAcceleration = FixedMath.One;
}
closingDistance = cachedBody.Radius;
stuckTolerance = ((Agent.Body.Radius * Speed) >> FixedMath.SHIFT_AMOUNT) / LockstepManager.FrameRate;
stuckTolerance *= stuckTolerance;
}
protected override void OnSetup()
{
cachedBody = Agent.Body;
cachedBody.OnContact += HandleCollision;
CachedTurn = Agent.GetAbility <Turn>();
CanTurn = _canTurn && CachedTurn != null;
collisionStopTreshold = FixedMath.Mul(timescaledSpeed, CollisionStopTreshold);
collisionStopTreshold *= collisionStopTreshold;
timescaledAcceleration = Acceleration * 32 / LockstepManager.FrameRate;
if (timescaledAcceleration > FixedMath.One)
{
timescaledAcceleration = FixedMath.One;
}
closingDistance = cachedBody.Radius;
stuckTolerance = ((Agent.Body.Radius * Speed) >> FixedMath.SHIFT_AMOUNT) / LockstepManager.FrameRate;
stuckTolerance *= stuckTolerance;
CanPathfind = _canPathfind;
this.SlowArrival = true;
}
protected override void OnSimulate()
{
if (!CanMove)
{
return;
}
if (IsMoving)
{
Agent.SetState(AnimState.Moving);
if (CanPathfind)
{
if (DoPathfind)
{
DoPathfind = false;
if (viableDestination)
{
if (Pathfinder.GetStartNode(cachedBody.Position, out currentNode))
{
if (currentNode.DoesEqual(this.destinationNode))
{
if (this.RepathTries >= 1)
{
this.Arrive();
}
}
else
{
if (straightPath)
{
if (Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize, GetNodeHash(destinationNode)))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
straightPath = false;
}
else
{
}
}
else
{
if (Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize, GetNodeHash(destinationNode)))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
straightPath = true;
}
}
}
}
else
{
}
}
else
{
hasPath = false;
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
}
if (straightPath)
{
targetPos = Destination;
}
else if (hasPath)
{
if (pathIndex >= myPath.Count)
{
targetPos = this.Destination;
}
else
{
targetPos = myPath[pathIndex];
}
}
else
{
targetPos = Destination;
}
}
else
{
targetPos = Destination;
}
movementDirection = targetPos - cachedBody._position;
movementDirection.Normalize(out distance);
if (targetPos.x != lastTargetPos.x || targetPos.y != lastTargetPos.y)
{
lastTargetPos = targetPos;
targetDirection = movementDirection;
}
bool movingToWaypoint = (this.hasPath && this.pathIndex < myPath.Count - 1);
long stuckThreshold = 0;
if (distance > closingDistance || movingToWaypoint)
{
desiredVelocity = (movementDirection);
if (CanTurn)
{
CachedTurn.StartTurnDirection(movementDirection);
}
stuckThreshold = this.timescaledAcceleration / 4;
}
else
{
if (distance < FixedMath.Mul(closingDistance, StopMultiplier))
{
Arrive();
return;
}
if (this.SlowArrival)
{
long closingSpeed = distance.Div(closingDistance);
desiredVelocity = movementDirection * (closingSpeed);
stuckThreshold = closingSpeed / 2;
}
else
{
desiredVelocity = (movementDirection);
stuckThreshold = this.timescaledAcceleration / 2;
}
}
//Temporary improvement to detecting stuck
StuckTime++;
stuckThreshold = stuckThreshold * 7 / 6;
if (GetFullCanAutoStop() && (Agent.Body.Position - this.AveragePosition).FastMagnitude() < (stuckThreshold * stuckThreshold))
{
if (StuckTime > StuckTimeThreshold)
{
if (movingToWaypoint)
{
this.pathIndex++;
}
else
{
if (RepathTries < StuckRepathTries)
{
DoPathfind = true;
RepathTries++;
}
else
{
RepathTries = 0;
this.Arrive();
}
}
StuckTime = 0;
}
}
else
{
if (StuckTime > 0)
{
StuckTime -= 1;
}
RepathTries = 0;
}
if (movingToWaypoint)
{
if (
(
this.pathIndex >= 0 &&
distance < closingDistance &&
(movementDirection).Dot(waypointDirection) < 0
) ||
distance < FixedMath.Mul(closingDistance, FixedMath.Half))
{
this.pathIndex++;
}
}
desiredVelocity *= Speed;
cachedBody._velocity += GetAdjustVector(desiredVelocity);
cachedBody.VelocityChanged = true;
AutoStopPauser--;
}
else
{
if (cachedBody.VelocityFastMagnitude > 0)
{
cachedBody.Velocity += GetAdjustVector(Vector2d.zero);
}
StoppedTime++;
}
AveragePosition = AveragePosition.Lerped(Agent.Body.Position, FixedMath.One / 4);
}
protected override void OnSimulate()
{
if (!CanMove)
{
return;
}
if (IsMoving)
{
if (CanPathfind)
{
if (repathCount <= 0)
{
if (viableDestination)
{
if (Pathfinder.GetPathNode(cachedBody._position.x, cachedBody._position.y, out currentNode))
{
if (straightPath)
{
if (forcePathfind || Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
straightPath = false;
repathCount = RepathRate;
}
else
{
repathCount = StraightRepathRate;
}
}
else
{
if (forcePathfind || Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
repathCount = RepathRate;
}
else
{
straightPath = true;
repathCount = StraightRepathRate;
}
}
}
else
{
}
}
else
{
hasPath = false;
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
if (hasPath)
{
//TODO: fix this shit
repathCount--;
}
else
{
repathCount--;
}
}
if (straightPath)
{
targetPos = Destination;
}
else if (hasPath)
{
if (pathIndex >= myPath.Count)
{
targetPos = this.Destination;
}
else
{
targetPos = myPath [pathIndex];
}
}
else
{
targetPos = Destination;
}
}
else
{
targetPos = Destination;
}
movementDirection = targetPos - cachedBody._position;
movementDirection.Normalize(out distance);
if (targetPos.x != lastTargetPos.x || targetPos.y != lastTargetPos.y)
{
lastTargetPos = targetPos;
targetDirection = movementDirection;
}
bool movingToWaypoint = (this.hasPath && this.pathIndex < myPath.Count - 1);
if (distance > closingDistance || movingToWaypoint)
{
desiredVelocity = (movementDirection);
if (movementDirection.Cross(lastMovementDirection.x, lastMovementDirection.y).AbsMoreThan(FixedMath.Half))
{
lastMovementDirection = movementDirection;
if (CanTurn)
{
CachedTurn.StartTurnDirection(movementDirection);
}
}
}
else
{
if (distance < FixedMath.Mul(closingDistance, CollisionStopMultiplier))
{
Arrive();
return;
}
if (this.SlowArrival)
{
desiredVelocity = (movementDirection * (distance) / (closingDistance));
}
else
{
desiredVelocity = (movementDirection);
}
}
if (movingToWaypoint)
{
if (distance < FixedMath.Mul(closingDistance, FixedMath.One))
{
this.pathIndex++;
}
}
desiredVelocity *= timescaledSpeed;
cachedBody._velocity += (desiredVelocity - cachedBody._velocity) * timescaledAcceleration;
cachedBody.VelocityChanged = true;
}
else
{
if (cachedBody.VelocityFastMagnitude > 0)
{
cachedBody._velocity -= cachedBody._velocity * timescaledAcceleration;
cachedBody.VelocityChanged = true;
}
stopTime++;
}
}
protected override void OnSimulate()
{
if (!CanMove)
{
return;
}
//TODO: Organize/split this function
if (IsMoving)
{
Agent.SetState(AnimState.Moving);
if (CanPathfind)
{
if (DoPathfind)
{
DoPathfind = false;
if (viableDestination)
{
if (Pathfinder.GetStartNode(cachedBody.Position, out currentNode))
{
if (currentNode.DoesEqual(this.destinationNode))
{
if (this.RepathTries >= 1)
{
this.Arrive();
}
}
else
{
if (straightPath)
{
if (Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize, GetNodeHash(destinationNode)))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
straightPath = false;
}
else
{
}
}
else
{
if (Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize, GetNodeHash(destinationNode)))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
straightPath = true;
}
}
}
}
else
{
}
}
else
{
hasPath = false;
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
}
if (straightPath)
{
targetPos = Destination;
}
else if (hasPath)
{
if (pathIndex >= myPath.Count)
{
targetPos = this.Destination;
}
else
{
targetPos = myPath[pathIndex];
}
}
else
{
targetPos = Destination;
}
}
else
{
targetPos = Destination;
}
movementDirection = targetPos - cachedBody._position;
movementDirection.Normalize(out distance);
if (targetPos.x != lastTargetPos.x || targetPos.y != lastTargetPos.y)
{
lastTargetPos = targetPos;
targetDirection = movementDirection;
}
bool movingToWaypoint = (this.hasPath && this.pathIndex < myPath.Count - 1);
long stuckThreshold = timescaledAcceleration / LockstepManager.FrameRate;
long slowDistance = cachedBody.VelocityMagnitude.Div(timescaledDecceleration);
if (distance > slowDistance || movingToWaypoint)
{
desiredVelocity = (movementDirection);
if (CanTurn)
{
CachedTurn.StartTurnDirection(movementDirection);
}
}
else
{
if (distance < FixedMath.Mul(closingDistance, StopMultiplier))
{
Arrive();
//TODO: Don't skip this frame of slowing down
return;
}
if (distance > closingDistance)
{
if (CanTurn)
{
CachedTurn.StartTurnDirection(movementDirection);
}
}
if (distance <= slowDistance)
{
long closingSpeed = distance.Div(slowDistance);
if (CanTurn)
{
CachedTurn.StartTurnDirection(movementDirection);
}
desiredVelocity = movementDirection * closingSpeed;
decellerating = true;
//Reduce occurence of units preventing other units from reaching destination
stuckThreshold *= 4;
}
}
//If unit has not moved stuckThreshold in a frame, it's stuck
StuckTime++;
if (GetCanAutoStop())
{
if (Agent.Body.Position.FastDistance(AveragePosition) <= (stuckThreshold * stuckThreshold))
{
if (StuckTime > StuckTimeThreshold)
{
if (movingToWaypoint)
{
this.pathIndex++;
}
else
{
if (RepathTries < StuckRepathTries)
{
DoPathfind = true;
RepathTries++;
}
else
{
RepathTries = 0;
this.Arrive();
}
}
StuckTime = 0;
}
}
else
{
if (StuckTime > 0)
{
StuckTime -= 1;
}
RepathTries = 0;
}
}
if (movingToWaypoint)
{
if (
(
this.pathIndex >= 0 &&
distance < closingDistance &&
(movementDirection).Dot(waypointDirection) < 0
) ||
distance < FixedMath.Mul(closingDistance, FixedMath.Half))
{
this.pathIndex++;
}
}
desiredVelocity *= Speed;
cachedBody._velocity += GetAdjustVector(desiredVelocity);
cachedBody.VelocityChanged = true;
}
else
{
decellerating = true;
//Slowin' down
if (cachedBody.VelocityMagnitude > 0)
{
cachedBody.Velocity += GetAdjustVector(Vector2d.zero);
}
StoppedTime++;
}
decellerating = false;
AutoStopPauser--;
CollisionStopPauser--;
StopPauseLooker--;
AveragePosition = AveragePosition.Lerped(Agent.Body.Position, FixedMath.One / 2);
}
protected override void OnSimulate()
{
if (!CanMove)
{
return;
}
if (IsMoving)
{
if (CanPathfind)
{
if (DoPathfind)
{
DoPathfind = false;
if (viableDestination)
{
if (Pathfinder.GetPathNode(cachedBody._position.x, cachedBody._position.y, out currentNode))
{
if (straightPath)
{
if (Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
straightPath = false;
}
else
{
}
}
else
{
if (Pathfinder.NeedsPath(currentNode, destinationNode, this.GridSize))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath,
GridSize))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
straightPath = true;
}
}
}
else
{
}
}
else
{
hasPath = false;
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
}
if (straightPath)
{
targetPos = Destination;
}
else if (hasPath)
{
if (pathIndex >= myPath.Count)
{
targetPos = this.Destination;
}
else
{
targetPos = myPath [pathIndex];
}
}
else
{
targetPos = Destination;
}
}
else
{
targetPos = Destination;
}
movementDirection = targetPos - cachedBody._position;
movementDirection.Normalize(out distance);
if (targetPos.x != lastTargetPos.x || targetPos.y != lastTargetPos.y)
{
lastTargetPos = targetPos;
targetDirection = movementDirection;
}
bool movingToWaypoint = (this.hasPath && this.pathIndex < myPath.Count - 1);
if (distance > closingDistance || movingToWaypoint)
{
desiredVelocity = (movementDirection);
if (CanTurn)
{
CachedTurn.StartTurnDirection(movementDirection);
}
long threshold = this.timescaledSpeed / 4;
if (GetFullCanCollisionStop() && (Agent.Body.Position - this.LastPosition).FastMagnitude() < (threshold * threshold))
{
StuckTime++;
if (StuckTime > StuckTimeThreshold)
{
if (RepathTries < StuckRepathTries)
{
DoPathfind = true;
RepathTries++;
}
else
{
RepathTries = 0;
this.Arrive();
}
StuckTime = 0;
}
}
else
{
StuckTime = 0;
RepathTries = 0;
}
}
else
{
StuckTime = 0;
if (distance < FixedMath.Mul(closingDistance, StopMultiplier))
{
Arrive();
return;
}
if (this.SlowArrival)
{
desiredVelocity = (movementDirection * (distance) / (closingDistance));
}
else
{
desiredVelocity = (movementDirection);
}
}
if (movingToWaypoint)
{
if (distance < FixedMath.Mul(closingDistance, FixedMath.Half))
{
this.pathIndex++;
}
}
desiredVelocity *= timescaledSpeed;
cachedBody._velocity += (desiredVelocity - cachedBody._velocity) * timescaledAcceleration;
cachedBody.VelocityChanged = true;
TempCanCollisionStop = true;
}
else
{
if (cachedBody.VelocityFastMagnitude > 0)
{
cachedBody._velocity -= cachedBody._velocity * timescaledAcceleration;
cachedBody.VelocityChanged = true;
}
StoppedTime++;
}
LastPosition = Agent.Body.Position;
}
protected override void OnSimulate()
{
if (!CanMove)
{
return;
}
if (IsMoving)
{
if (canPathfind)
{
if (repathCount <= 0)
{
if (viableDestination)
{
if (Pathfinder.GetPathNode(cachedBody.Position.x, cachedBody.Position.y, out currentNode))
{
if (straightPath)
{
if (forcePathfind || Pathfinder.NeedsPath(currentNode, destinationNode))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
straightPath = false;
repathCount = RepathRate;
}
else
{
repathCount = StraightRepathRate;
}
}
else
{
if (forcePathfind || Pathfinder.NeedsPath(currentNode, destinationNode))
{
if (Pathfinder.FindPath(Destination, currentNode, destinationNode, myPath))
{
hasPath = true;
pathIndex = 0;
}
else
{
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
repathCount = RepathRate;
}
else
{
straightPath = true;
repathCount = StraightRepathRate;
}
}
}
else
{
}
}
else
{
hasPath = false;
if (IsFormationMoving)
{
StartMove(MyMovementGroup.Destination);
IsFormationMoving = false;
}
}
}
else
{
if (hasPath)
{
repathCount--;
}
else
{
repathCount--;
}
}
if (straightPath)
{
targetPos = Destination;
}
else if (hasPath)
{
if (pathIndex >= myPath.Count)
{
pathIndex = myPath.Count - 1;
}
targetPos = myPath[pathIndex];
}
else
{
targetPos = Destination;
}
}
else
{
targetPos = Destination;
}
movementDirection = targetPos - cachedBody.Position;
movementDirection.Normalize(out distance);
if (targetPos.x != lastTargetPos.x || targetPos.y != lastTargetPos.y)
{
lastTargetPos = targetPos;
targetDirection = movementDirection;
}
if (distance > closingDistance)
{
desiredVelocity = (movementDirection);
if (movementDirection.Cross(lastMovementDirection.x, lastMovementDirection.y) != 0)
{
lastMovementDirection = movementDirection;
cachedTurn.StartTurnRaw(movementDirection);
}
}
else
{
if (distance < FixedMath.Mul(closingDistance, CollisionStopMultiplier))
{
Arrive();
return;
}
desiredVelocity = (movementDirection * (distance) / (closingDistance));
}
desiredVelocity *= timescaledSpeed;
cachedBody._velocity += (desiredVelocity - cachedBody._velocity) * timescaledAcceleration;
if (distance <= closingDistance)
{
pathIndex++;
}
cachedBody.VelocityChanged = true;
if (collidedWithTrackedAgent)
{
if (collidedCount >= CollisionStopCount)
{
collidedCount = 0;
collidingAgent = null;
Arrive();
}
else
{
if (lastPosition.FastDistance(cachedBody.Position.x, cachedBody.Position.y)
< collisionStopTreshold)
{
collidedCount++;
}
else
{
lastPosition = cachedBody.Position;
collidedCount = 0;
}
}
collidedWithTrackedAgent = false;
}
else
{
collidingAgent = null;
collidedCount = 0;
}
}
else
{
if (cachedBody.VelocityFastMagnitude > 0)
{
cachedBody._velocity -= cachedBody._velocity * timescaledAcceleration;
cachedBody.VelocityChanged = true;
}
stopTime++;
}
}
