/// <summary>Traverses an off-mesh link</summary>
protected virtual IEnumerator TraverseSpecial(RichSpecial link)
{
traversingOffMeshLink = true;
// The current path part is a special part, for example a link
// Movement during this part of the path is handled by the TraverseSpecial coroutine
velocity2D = Vector3.zero;
var offMeshLinkCoroutine = onTraverseOffMeshLink != null?onTraverseOffMeshLink(link) : TraverseOffMeshLinkFallback(link);
yield return(StartCoroutine(offMeshLinkCoroutine));
// Off-mesh link traversal completed
traversingOffMeshLink = false;
NextPart();
// If a path completed during the time we traversed the special connection, we need to recalculate it
if (delayUpdatePath)
{
delayUpdatePath = false;
// TODO: What if canSearch is false? How do we notify other scripts that might be handling the path calculation that a new path needs to be calculated?
if (canSearch)
{
SearchPath();
}
}
}
protected virtual IEnumerator TraverseSpecial(RichSpecial rs)
{
traversingSpecialPath = true;
velocity2D = Vector3.zero;
var link = rs.nodeLink as AnimationLink;
if (link == null)
{
Debug.LogError("Unhandled RichSpecial");
yield break;
}
// Rotate character to face the correct direction
// Magic number, should expose as variable
while (Vector2.Angle(movementPlane.ToPlane(tr.forward), movementPlane.ToPlane(rs.first.forward)) > 5f)
{
RotateTowards(movementPlane.ToPlane(rs.first.forward), rotationSpeed * Time.deltaTime);
yield return(null);
}
// Reposition
tr.parent.position = tr.position;
tr.parent.rotation = tr.rotation;
tr.localPosition = Vector3.zero;
tr.localRotation = Quaternion.identity;
// Set up animation speeds
if (rs.reverse && link.reverseAnim)
{
anim[link.clip].speed = -link.animSpeed;
anim[link.clip].normalizedTime = 1;
anim.Play(link.clip);
anim.Sample();
}
else
{
anim[link.clip].speed = link.animSpeed;
anim.Rewind(link.clip);
anim.Play(link.clip);
}
// Fix required for animations in reverse direction
tr.parent.position -= tr.position - tr.parent.position;
// Wait for the animation to finish
yield return(new WaitForSeconds(Mathf.Abs(anim[link.clip].length / link.animSpeed)));
traversingSpecialPath = false;
NextPart();
// If a path completed during the time we traversed the special connection, we need to recalculate it
if (delayUpdatePath)
{
delayUpdatePath = false;
UpdatePath();
}
}
IEnumerator TraverseSpecial(RichSpecial rs)
{
traversingSpecialPath = true;
velocity = Vector3.zero;
var al = rs.nodeLink as AnimationLink;
if (al == null)
{
Debug.LogError("Unhandled RichSpecial");
yield break;
}
//Rotate character to face the correct direction
while (!RotateTowards(rs.first.forward))
{
yield return(null);
}
//Reposition
tr.parent.position = tr.position;
tr.parent.rotation = tr.rotation;
tr.localPosition = Vector3.zero;
tr.localRotation = Quaternion.identity;
//Set up animation speeds
if (rs.reverse && al.reverseAnim)
{
anim[al.clip].speed = -al.animSpeed;
anim[al.clip].normalizedTime = 1;
anim.Play(al.clip);
anim.Sample();
}
else
{
anim[al.clip].speed = al.animSpeed;
anim.Rewind(al.clip);
anim.Play(al.clip);
}
//Fix required for animations in reverse direction
tr.parent.position -= tr.position - tr.parent.position;
//Wait for the animation to finish
yield return(new WaitForSeconds(Mathf.Abs(anim[al.clip].length / al.animSpeed)));
traversingSpecialPath = false;
NextPart();
//If a path completed during the time we traversed the special connection, we need to recalculate it
if (delayUpdatePath)
{
delayUpdatePath = false;
UpdatePath();
}
}
protected virtual IEnumerator TraverseSpecial(RichSpecial rs)
{
this.traversingSpecialPath = true;
this.velocity2D = Vector3.zero;
AnimationLink link = rs.nodeLink as AnimationLink;
if (link == null)
{
Debug.LogError("Unhandled RichSpecial");
yield break;
}
while (Vector2.Angle(this.movementPlane.ToPlane(this.rotationIn2D ? this.tr.up : this.tr.forward), this.movementPlane.ToPlane(rs.first.forward)) > 5f)
{
this.RotateTowards(this.movementPlane.ToPlane(rs.first.forward), this.rotationSpeed * Time.deltaTime);
yield return(null);
}
this.tr.parent.position = this.tr.position;
this.tr.parent.rotation = this.tr.rotation;
this.tr.localPosition = Vector3.zero;
this.tr.localRotation = Quaternion.identity;
if (rs.reverse && link.reverseAnim)
{
this.anim[link.clip].speed = -link.animSpeed;
this.anim[link.clip].normalizedTime = 1f;
this.anim.Play(link.clip);
this.anim.Sample();
}
else
{
this.anim[link.clip].speed = link.animSpeed;
this.anim.Rewind(link.clip);
this.anim.Play(link.clip);
}
this.tr.parent.position -= this.tr.position - this.tr.parent.position;
yield return(new WaitForSeconds(Mathf.Abs(this.anim[link.clip].length / link.animSpeed)));
this.traversingSpecialPath = false;
this.NextPart();
if (this.delayUpdatePath)
{
this.delayUpdatePath = false;
this.UpdatePath();
}
yield break;
yield break;
}
private IEnumerator TraverseSpecial(RichSpecial rs)
{
this.traversingSpecialPath = true;
this.velocity = Vector3.zero;
AnimationLink al = rs.nodeLink as AnimationLink;
if (al == null)
{
Debug.LogError("Unhandled RichSpecial");
yield break;
}
while (!this.RotateTowards(rs.first.forward))
{
yield return(null);
}
this.tr.parent.position = this.tr.position;
this.tr.parent.rotation = this.tr.rotation;
this.tr.localPosition = Vector3.zero;
this.tr.localRotation = Quaternion.identity;
if (rs.reverse && al.reverseAnim)
{
this.anim[al.clip].speed = -al.animSpeed;
this.anim[al.clip].normalizedTime = 1f;
this.anim.Play(al.clip);
this.anim.Sample();
}
else
{
this.anim[al.clip].speed = al.animSpeed;
this.anim.Rewind(al.clip);
this.anim.Play(al.clip);
}
this.tr.parent.position -= this.tr.position - this.tr.parent.position;
yield return(new WaitForSeconds(Mathf.Abs(this.anim[al.clip].length / al.animSpeed)));
this.traversingSpecialPath = false;
this.NextPart();
if (this.delayUpdatePath)
{
this.delayUpdatePath = false;
this.UpdatePath();
}
yield break;
}
// Token: 0x06002180 RID: 8576 RVA: 0x0018EA3B File Offset: 0x0018CC3B
protected virtual IEnumerator TraverseSpecial(RichSpecial link)
{
this.traversingOffMeshLink = true;
this.velocity2D = Vector3.zero;
IEnumerator routine = (this.onTraverseOffMeshLink != null) ? this.onTraverseOffMeshLink(link) : this.TraverseOffMeshLinkFallback(link);
yield return(base.StartCoroutine(routine));
this.traversingOffMeshLink = false;
this.NextPart();
if (this.delayUpdatePath)
{
this.delayUpdatePath = false;
if (this.canSearch)
{
this.SearchPath();
}
}
yield break;
}
// Token: 0x06002181 RID: 8577 RVA: 0x0018EA51 File Offset: 0x0018CC51
protected IEnumerator TraverseOffMeshLinkFallback(RichSpecial link)
{
float duration = (this.maxSpeed > 0f) ? (Vector3.Distance(link.second.position, link.first.position) / this.maxSpeed) : 1f;
float startTime = Time.time;
for (;;)
{
Vector3 vector = Vector3.Lerp(link.first.position, link.second.position, Mathf.InverseLerp(startTime, startTime + duration, Time.time));
if (this.updatePosition)
{
this.tr.position = vector;
}
else
{
this.simulatedPosition = vector;
}
if (Time.time >= startTime + duration)
{
break;
}
yield return(null);
}
yield break;
}
/// <summary>
/// Fallback for traversing off-mesh links in case <see cref="onTraverseOffMeshLink"/> is not set.
/// This will do a simple linear interpolation along the link.
/// </summary>
protected IEnumerator TraverseOffMeshLinkFallback(RichSpecial link)
{
float duration = maxSpeed > 0 ? Vector3.Distance(link.second.position, link.first.position) / maxSpeed : 1;
float startTime = Time.time;
while (true)
{
var pos = Vector3.Lerp(link.first.position, link.second.position, Mathf.InverseLerp(startTime, startTime + duration, Time.time));
if (updatePosition)
{
tr.position = pos;
}
else
{
simulatedPosition = pos;
}
if (Time.time >= startTime + duration)
{
break;
}
yield return(null);
}
}
/** Use this for initialization.
*
* \param s Optionally provide in order to take tag penalties into account. May be null if you do not use a Seeker\
* \param p Path to follow
* \param mergePartEndpoints If true, then adjacent parts that the path is split up in will
* try to use the same start/end points. For example when using a link on a navmesh graph
* Instead of first following the path to the center of the node where the link is and then
* follow the link, the path will be adjusted to go to the exact point where the link starts
* which usually makes more sense.
* \param simplificationMode The path can optionally be simplified. This can be a bit expensive for long paths.
*/
public void Initialize(Seeker s, Path p, bool mergePartEndpoints, RichFunnel.FunnelSimplification simplificationMode)
{
if (p.error)
{
throw new System.ArgumentException("Path has an error");
}
List <GraphNode> nodes = p.path;
if (nodes.Count == 0)
{
throw new System.ArgumentException("Path traverses no nodes");
}
seeker = s;
// Release objects back to object pool
// Yeah, I know, it's casting... but this won't be called much
for (int i = 0; i < parts.Count; i++)
{
if (parts[i] is RichFunnel)
{
ObjectPool <RichFunnel> .Release(parts[i] as RichFunnel);
}
else if (parts[i] is RichSpecial)
{
ObjectPool <RichSpecial> .Release(parts[i] as RichSpecial);
}
}
parts.Clear();
currentPart = 0;
// Initialize new
//Break path into parts
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is TriangleMeshNode)
{
var graph = AstarData.GetGraph(nodes[i]);
RichFunnel f = ObjectPool <RichFunnel> .Claim().Initialize(this, graph);
f.funnelSimplificationMode = simplificationMode;
int sIndex = i;
uint currentGraphIndex = nodes[sIndex].GraphIndex;
for (; i < nodes.Count; i++)
{
if (nodes[i].GraphIndex != currentGraphIndex && !(nodes[i] is NodeLink3Node))
{
break;
}
}
i--;
if (sIndex == 0)
{
f.exactStart = p.vectorPath[0];
}
else
{
f.exactStart = (Vector3)nodes[mergePartEndpoints ? sIndex - 1 : sIndex].position;
}
if (i == nodes.Count - 1)
{
f.exactEnd = p.vectorPath[p.vectorPath.Count - 1];
}
else
{
f.exactEnd = (Vector3)nodes[mergePartEndpoints ? i + 1 : i].position;
}
f.BuildFunnelCorridor(nodes, sIndex, i);
parts.Add(f);
}
else if (NodeLink2.GetNodeLink(nodes[i]) != null)
{
NodeLink2 nl = NodeLink2.GetNodeLink(nodes[i]);
int sIndex = i;
uint currentGraphIndex = nodes[sIndex].GraphIndex;
for (i++; i < nodes.Count; i++)
{
if (nodes[i].GraphIndex != currentGraphIndex)
{
break;
}
}
i--;
if (i - sIndex > 1)
{
throw new System.Exception("NodeLink2 path length greater than two (2) nodes. " + (i - sIndex));
}
else if (i - sIndex == 0)
{
//Just continue, it might be the case that a NodeLink was the closest node
continue;
}
RichSpecial rps = ObjectPool <RichSpecial> .Claim().Initialize(nl, nodes[sIndex]);
parts.Add(rps);
}
}
}
// Token: 0x06002140 RID: 8512 RVA: 0x001890A0 File Offset: 0x001872A0
public void Initialize(Seeker seeker, Path path, bool mergePartEndpoints, bool simplificationMode)
{
if (path.error)
{
throw new ArgumentException("Path has an error");
}
List <GraphNode> path2 = path.path;
if (path2.Count == 0)
{
throw new ArgumentException("Path traverses no nodes");
}
this.seeker = seeker;
for (int i = 0; i < this.parts.Count; i++)
{
RichFunnel richFunnel = this.parts[i] as RichFunnel;
RichSpecial richSpecial = this.parts[i] as RichSpecial;
if (richFunnel != null)
{
ObjectPool <RichFunnel> .Release(ref richFunnel);
}
else if (richSpecial != null)
{
ObjectPool <RichSpecial> .Release(ref richSpecial);
}
}
this.Clear();
this.Endpoint = path.vectorPath[path.vectorPath.Count - 1];
for (int j = 0; j < path2.Count; j++)
{
if (path2[j] is TriangleMeshNode)
{
NavmeshBase navmeshBase = AstarData.GetGraph(path2[j]) as NavmeshBase;
if (navmeshBase == null)
{
throw new Exception("Found a TriangleMeshNode that was not in a NavmeshBase graph");
}
RichFunnel richFunnel2 = ObjectPool <RichFunnel> .Claim().Initialize(this, navmeshBase);
richFunnel2.funnelSimplification = simplificationMode;
int num = j;
uint graphIndex = path2[num].GraphIndex;
while (j < path2.Count && (path2[j].GraphIndex == graphIndex || path2[j] is NodeLink3Node))
{
j++;
}
j--;
if (num == 0)
{
richFunnel2.exactStart = path.vectorPath[0];
}
else
{
richFunnel2.exactStart = (Vector3)path2[mergePartEndpoints ? (num - 1) : num].position;
}
if (j == path2.Count - 1)
{
richFunnel2.exactEnd = path.vectorPath[path.vectorPath.Count - 1];
}
else
{
richFunnel2.exactEnd = (Vector3)path2[mergePartEndpoints ? (j + 1) : j].position;
}
richFunnel2.BuildFunnelCorridor(path2, num, j);
this.parts.Add(richFunnel2);
}
else if (NodeLink2.GetNodeLink(path2[j]) != null)
{
NodeLink2 nodeLink = NodeLink2.GetNodeLink(path2[j]);
int num2 = j;
uint graphIndex2 = path2[num2].GraphIndex;
j++;
while (j < path2.Count && path2[j].GraphIndex == graphIndex2)
{
j++;
}
j--;
if (j - num2 > 1)
{
throw new Exception("NodeLink2 path length greater than two (2) nodes. " + (j - num2));
}
if (j - num2 != 0)
{
RichSpecial item = ObjectPool <RichSpecial> .Claim().Initialize(nodeLink, path2[num2]);
this.parts.Add(item);
}
}
}
}
// Token: 0x06000033 RID: 51 RVA: 0x0000417C File Offset: 0x0000257C
public void Initialize(Seeker s, Path p, bool mergePartEndpoints, RichFunnel.FunnelSimplification simplificationMode)
{
if (p.error)
{
throw new ArgumentException("Path has an error");
}
List <GraphNode> path = p.path;
if (path.Count == 0)
{
throw new ArgumentException("Path traverses no nodes");
}
this.seeker = s;
for (int i = 0; i < this.parts.Count; i++)
{
if (this.parts[i] is RichFunnel)
{
ObjectPool <RichFunnel> .Release(this.parts[i] as RichFunnel);
}
else if (this.parts[i] is RichSpecial)
{
ObjectPool <RichSpecial> .Release(this.parts[i] as RichSpecial);
}
}
this.parts.Clear();
this.currentPart = 0;
for (int j = 0; j < path.Count; j++)
{
if (path[j] is TriangleMeshNode)
{
IFunnelGraph graph = AstarData.GetGraph(path[j]) as IFunnelGraph;
RichFunnel richFunnel = ObjectPool <RichFunnel> .Claim().Initialize(this, graph);
richFunnel.funnelSimplificationMode = simplificationMode;
int num = j;
uint graphIndex = path[num].GraphIndex;
while (j < path.Count)
{
if (path[j].GraphIndex != graphIndex && !(path[j] is NodeLink3Node))
{
break;
}
j++;
}
j--;
if (num == 0)
{
richFunnel.exactStart = p.vectorPath[0];
}
else if (mergePartEndpoints)
{
richFunnel.exactStart = (Vector3)path[num - 1].position;
}
else
{
richFunnel.exactStart = (Vector3)path[num].position;
}
if (j == path.Count - 1)
{
richFunnel.exactEnd = p.vectorPath[p.vectorPath.Count - 1];
}
else if (mergePartEndpoints)
{
richFunnel.exactEnd = (Vector3)path[j + 1].position;
}
else
{
richFunnel.exactEnd = (Vector3)path[j].position;
}
richFunnel.BuildFunnelCorridor(path, num, j);
this.parts.Add(richFunnel);
}
else if (path[j] != null && NodeLink2.GetNodeLink(path[j]) != null)
{
NodeLink2 nodeLink = NodeLink2.GetNodeLink(path[j]);
int num2 = j;
uint graphIndex2 = path[num2].GraphIndex;
for (j++; j < path.Count; j++)
{
if (path[j].GraphIndex != graphIndex2)
{
break;
}
}
j--;
if (j - num2 > 1)
{
throw new Exception("NodeLink2 path length greater than two (2) nodes. " + (j - num2));
}
if (j - num2 != 0)
{
RichSpecial item = ObjectPool <RichSpecial> .Claim().Initialize(nodeLink, path[num2]);
this.parts.Add(item);
}
}
}
}
protected virtual void Update()
{
RichAI.deltaTime = Mathf.Min(Time.smoothDeltaTime * 2f, Time.deltaTime);
if (this.rp != null)
{
RichPathPart currentPart = this.rp.GetCurrentPart();
RichFunnel richFunnel = currentPart as RichFunnel;
if (richFunnel != null)
{
Vector3 vector = this.UpdateTarget(richFunnel);
if (Time.frameCount % 5 == 0)
{
this.wallBuffer.Clear();
richFunnel.FindWalls(this.wallBuffer, this.wallDist);
}
int num = 0;
Vector3 vector2 = this.buffer[num];
Vector3 vector3 = vector2 - vector;
vector3.y = 0f;
bool flag = Vector3.Dot(vector3, this.currentTargetDirection) < 0f;
if (flag && this.buffer.Count - num > 1)
{
num++;
vector2 = this.buffer[num];
}
if (vector2 != this.lastTargetPoint)
{
this.currentTargetDirection = vector2 - vector;
this.currentTargetDirection.y = 0f;
this.currentTargetDirection.Normalize();
this.lastTargetPoint = vector2;
}
vector3 = vector2 - vector;
vector3.y = 0f;
float magnitude = vector3.magnitude;
this.distanceToWaypoint = magnitude;
vector3 = ((magnitude != 0f) ? (vector3 / magnitude) : Vector3.zero);
Vector3 vector4 = vector3;
Vector3 vector5 = Vector3.zero;
if (this.wallForce > 0f && this.wallDist > 0f)
{
float num2 = 0f;
float num3 = 0f;
for (int i = 0; i < this.wallBuffer.Count; i += 2)
{
Vector3 vector6 = AstarMath.NearestPointStrict(this.wallBuffer[i], this.wallBuffer[i + 1], this.tr.position);
float sqrMagnitude = (vector6 - vector).sqrMagnitude;
if (sqrMagnitude <= this.wallDist * this.wallDist)
{
Vector3 normalized = (this.wallBuffer[i + 1] - this.wallBuffer[i]).normalized;
float num4 = Vector3.Dot(vector3, normalized) * (1f - Math.Max(0f, 2f * (sqrMagnitude / (this.wallDist * this.wallDist)) - 1f));
if (num4 > 0f)
{
num3 = Math.Max(num3, num4);
}
else
{
num2 = Math.Max(num2, -num4);
}
}
}
Vector3 vector7 = Vector3.Cross(Vector3.up, vector3);
vector5 = vector7 * (num3 - num2);
}
bool flag2 = this.lastCorner && this.buffer.Count - num == 1;
if (flag2)
{
if (this.slowdownTime < 0.001f)
{
this.slowdownTime = 0.001f;
}
Vector3 vector8 = vector2 - vector;
vector8.y = 0f;
if (this.preciseSlowdown)
{
vector3 = (6f * vector8 - 4f * this.slowdownTime * this.velocity) / (this.slowdownTime * this.slowdownTime);
}
else
{
vector3 = 2f * (vector8 - this.slowdownTime * this.velocity) / (this.slowdownTime * this.slowdownTime);
}
vector3 = Vector3.ClampMagnitude(vector3, this.acceleration);
vector5 *= Math.Min(magnitude / 0.5f, 1f);
if (magnitude < this.endReachedDistance)
{
this.NextPart();
}
}
else
{
vector3 *= this.acceleration;
}
this.velocity += (vector3 + vector5 * this.wallForce) * RichAI.deltaTime;
if (this.slowWhenNotFacingTarget)
{
float num5 = (Vector3.Dot(vector4, this.tr.forward) + 0.5f) * 0.6666667f;
float num6 = Mathf.Sqrt(this.velocity.x * this.velocity.x + this.velocity.z * this.velocity.z);
float y = this.velocity.y;
this.velocity.y = 0f;
float num7 = Mathf.Min(num6, this.maxSpeed * Mathf.Max(num5, 0.2f));
this.velocity = Vector3.Lerp(this.tr.forward * num7, this.velocity.normalized * num7, Mathf.Clamp((!flag2) ? 0f : (magnitude * 2f), 0.5f, 1f));
this.velocity.y = y;
}
else
{
float num8 = Mathf.Sqrt(this.velocity.x * this.velocity.x + this.velocity.z * this.velocity.z);
num8 = this.maxSpeed / num8;
if (num8 < 1f)
{
this.velocity.x = this.velocity.x * num8;
this.velocity.z = this.velocity.z * num8;
}
}
if (flag2)
{
Vector3 trotdir = Vector3.Lerp(this.velocity, this.currentTargetDirection, Math.Max(1f - magnitude * 2f, 0f));
this.RotateTowards(trotdir);
}
else
{
this.RotateTowards(this.velocity);
}
this.velocity += RichAI.deltaTime * this.gravity;
if (this.rvoController != null && this.rvoController.enabled)
{
this.tr.position = vector;
this.rvoController.Move(this.velocity);
}
else if (this.controller != null && this.controller.enabled)
{
this.tr.position = vector;
this.controller.Move(this.velocity * RichAI.deltaTime);
}
else
{
float y2 = vector.y;
vector += this.velocity * RichAI.deltaTime;
vector = this.RaycastPosition(vector, y2);
this.tr.position = vector;
}
}
else if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.Move(Vector3.zero);
}
if (currentPart is RichSpecial)
{
RichSpecial rs = currentPart as RichSpecial;
if (!this.traversingSpecialPath)
{
base.StartCoroutine(this.TraverseSpecial(rs));
}
}
}
else if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.Move(Vector3.zero);
}
else if (!(this.controller != null) || !this.controller.enabled)
{
this.tr.position = this.RaycastPosition(this.tr.position, this.tr.position.y);
}
}
private IEnumerator TraverseSpecial(RichSpecial rs)
{
RichAI.<TraverseSpecial>c__Iterator2 <TraverseSpecial>c__Iterator = new RichAI.<TraverseSpecial>c__Iterator2();
<TraverseSpecial>c__Iterator.rs = rs;
<TraverseSpecial>c__Iterator.<$>rs = rs;
<TraverseSpecial>c__Iterator.<>f__this = this;
return <TraverseSpecial>c__Iterator;
}
/** Update is called once per frame */
protected virtual void Update()
{
deltaTime = Mathf.Min(Time.smoothDeltaTime * 2, Time.deltaTime);
if (rp != null)
{
//System.Diagnostics.Stopwatch w = new System.Diagnostics.Stopwatch();
//w.Start();
RichPathPart pt = rp.GetCurrentPart();
RichFunnel fn = pt as RichFunnel;
if (fn != null)
{
//Clear buffers for reuse
Vector3 position = UpdateTarget(fn);
//tr.position = ps;
//Only get walls every 5th frame to save on performance
if (Time.frameCount % 5 == 0)
{
wallBuffer.Clear();
fn.FindWalls(wallBuffer, wallDist);
}
/*for (int i=0;i<wallBuffer.Count;i+=2) {
* Debug.DrawLine (wallBuffer[i],wallBuffer[i+1],Color.magenta);
* }*/
//Pick next waypoint if current is reached
int tgIndex = 0;
/*if (buffer.Count > 1) {
* if ((buffer[tgIndex]-tr.position).sqrMagnitude < pickNextWaypointDist*pickNextWaypointDist) {
* tgIndex++;
* }
* }*/
//Target point
Vector3 tg = buffer[tgIndex];
Vector3 dir = tg - position;
dir.y = 0;
bool passedTarget = Vector3.Dot(dir, currentTargetDirection) < 0;
//Check if passed target in another way
if (passedTarget && buffer.Count - tgIndex > 1)
{
tgIndex++;
tg = buffer[tgIndex];
}
if (tg != lastTargetPoint)
{
currentTargetDirection = (tg - position);
currentTargetDirection.y = 0;
currentTargetDirection.Normalize();
lastTargetPoint = tg;
//Debug.DrawRay (tr.position, Vector3.down*2,Color.blue,0.2f);
}
//Direction to target
dir = (tg - position);
dir.y = 0;
float magn = dir.magnitude;
//Write out for other scripts to read
distanceToWaypoint = magn;
//Normalize
dir = magn == 0 ? Vector3.zero : dir / magn;
Vector3 normdir = dir;
Vector3 force = Vector3.zero;
if (wallForce > 0 && wallDist > 0)
{
float wLeft = 0;
float wRight = 0;
for (int i = 0; i < wallBuffer.Count; i += 2)
{
Vector3 closest = AstarMath.NearestPointStrict(wallBuffer[i], wallBuffer[i + 1], tr.position);
float dist = (closest - position).sqrMagnitude;
if (dist > wallDist * wallDist)
{
continue;
}
Vector3 tang = (wallBuffer[i + 1] - wallBuffer[i]).normalized;
//Using the fact that all walls are laid out clockwise (seeing from inside)
//Then left and right (ish) can be figured out like this
float dot = Vector3.Dot(dir, tang) * (1 - System.Math.Max(0, (2 * (dist / (wallDist * wallDist)) - 1)));
if (dot > 0)
{
wRight = System.Math.Max(wRight, dot);
}
else
{
wLeft = System.Math.Max(wLeft, -dot);
}
}
Vector3 norm = Vector3.Cross(Vector3.up, dir);
force = norm * (wRight - wLeft);
//Debug.DrawRay (tr.position, force, Color.cyan);
}
//Is the endpoint of the path (part) the current target point
bool endPointIsTarget = lastCorner && buffer.Count - tgIndex == 1;
if (endPointIsTarget)
{
//Use 2nd or 3rd degree motion equation to figure out acceleration to reach target in "exact" [slowdownTime] seconds
//Clamp to avoid divide by zero
if (slowdownTime < 0.001f)
{
slowdownTime = 0.001f;
}
Vector3 diff = tg - position;
diff.y = 0;
if (preciseSlowdown)
{
//{ t = slowdownTime
//{ diff = vt + at^2/2 + qt^3/6
//{ 0 = at + qt^2/2
//{ solve for a
dir = (6 * diff - 4 * slowdownTime * velocity) / (slowdownTime * slowdownTime);
}
else
{
dir = 2 * (diff - slowdownTime * velocity) / (slowdownTime * slowdownTime);
}
dir = Vector3.ClampMagnitude(dir, acceleration);
force *= System.Math.Min(magn / 0.5f, 1);
if (magn < endReachedDistance)
{
//END REACHED
NextPart();
}
}
else
{
dir *= acceleration;
}
//Debug.DrawRay (tr.position+Vector3.up, dir*3, Color.blue);
velocity += (dir + force * wallForce) * deltaTime;
if (slowWhenNotFacingTarget)
{
float dot = (Vector3.Dot(normdir, tr.forward) + 0.5f) * (1.0f / 1.5f);
//velocity = Vector3.ClampMagnitude (velocity, maxSpeed * Mathf.Max (dot, 0.2f) );
float xzmagn = Mathf.Sqrt(velocity.x * velocity.x + velocity.z * velocity.z);
float prevy = velocity.y;
velocity.y = 0;
float mg = Mathf.Min(xzmagn, maxSpeed * Mathf.Max(dot, 0.2f));
velocity = Vector3.Lerp(tr.forward * mg, velocity.normalized * mg, Mathf.Clamp(endPointIsTarget ? (magn * 2) : 0, 0.5f, 1.0f));
velocity.y = prevy;
}
else
{
// Clamp magnitude on the XZ axes
float xzmagn = Mathf.Sqrt(velocity.x * velocity.x + velocity.z * velocity.z);
xzmagn = maxSpeed / xzmagn;
if (xzmagn < 1)
{
velocity.x *= xzmagn;
velocity.z *= xzmagn;
//Vector3.ClampMagnitude (velocity, maxSpeed);
}
}
//Debug.DrawLine (tr.position, tg, lastCorner ? Color.red : Color.green);
if (endPointIsTarget)
{
Vector3 trotdir = Vector3.Lerp(velocity, currentTargetDirection, System.Math.Max(1 - magn * 2, 0));
RotateTowards(trotdir);
}
else
{
RotateTowards(velocity);
}
//Applied after rotation to enable proper checks on if velocity is zero
velocity += deltaTime * gravity;
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
tr.position = position;
rvoController.Move(velocity);
}
else
if (controller != null && controller.enabled)
{
//Use CharacterController
tr.position = position;
controller.Move(velocity * deltaTime);
}
else
{
//Use Transform
float lasty = position.y;
position += velocity * deltaTime;
position = RaycastPosition(position, lasty);
tr.position = position;
}
}
else
{
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
rvoController.Move(Vector3.zero);
}
}
if (pt is RichSpecial)
{
RichSpecial rs = pt as RichSpecial;
if (!traversingSpecialPath)
{
StartCoroutine(TraverseSpecial(rs));
}
}
//w.Stop();
//Debug.Log ((w.Elapsed.TotalMilliseconds*1000));
}
else
{
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
rvoController.Move(Vector3.zero);
}
else
if (controller != null && controller.enabled)
{
}
else
{
tr.position = RaycastPosition(tr.position, tr.position.y);
}
}
}
/// <summary>Use this for initialization.</summary>
/// <param name="seeker">Optionally provide in order to take tag penalties into account. May be null if you do not use a Seeker\</param>
/// <param name="path">Path to follow</param>
/// <param name="mergePartEndpoints">If true, then adjacent parts that the path is split up in will
/// try to use the same start/end points. For example when using a link on a navmesh graph
/// Instead of first following the path to the center of the node where the link is and then
/// follow the link, the path will be adjusted to go to the exact point where the link starts
/// which usually makes more sense.</param>
/// <param name="simplificationMode">The path can optionally be simplified. This can be a bit expensive for long paths.</param>
public void Initialize(Seeker seeker, Path path, bool mergePartEndpoints, bool simplificationMode)
{
if (path.error)
{
throw new System.ArgumentException("Path has an error");
}
List <GraphNode> nodes = path.path;
if (nodes.Count == 0)
{
throw new System.ArgumentException("Path traverses no nodes");
}
this.seeker = seeker;
// Release objects back to object pool
// Yeah, I know, it's casting... but this won't be called much
for (int i = 0; i < parts.Count; i++)
{
var funnelPart = parts[i] as RichFunnel;
var specialPart = parts[i] as RichSpecial;
if (funnelPart != null)
{
ObjectPool <RichFunnel> .Release(ref funnelPart);
}
else if (specialPart != null)
{
ObjectPool <RichSpecial> .Release(ref specialPart);
}
}
Clear();
// Initialize new
Endpoint = path.vectorPath[path.vectorPath.Count - 1];
//Break path into parts
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is TriangleMeshNode)
{
var graph = AstarData.GetGraph(nodes[i]) as NavmeshBase;
if (graph == null)
{
throw new System.Exception("Found a TriangleMeshNode that was not in a NavmeshBase graph");
}
RichFunnel f = ObjectPool <RichFunnel> .Claim().Initialize(this, graph);
f.funnelSimplification = simplificationMode;
int sIndex = i;
uint currentGraphIndex = nodes[sIndex].GraphIndex;
for (; i < nodes.Count; i++)
{
if (nodes[i].GraphIndex != currentGraphIndex && !(nodes[i] is NodeLink3Node))
{
break;
}
}
i--;
if (sIndex == 0)
{
f.exactStart = path.vectorPath[0];
}
else
{
f.exactStart = (Vector3)nodes[mergePartEndpoints ? sIndex - 1 : sIndex].position;
}
if (i == nodes.Count - 1)
{
f.exactEnd = path.vectorPath[path.vectorPath.Count - 1];
}
else
{
f.exactEnd = (Vector3)nodes[mergePartEndpoints ? i + 1 : i].position;
}
f.BuildFunnelCorridor(nodes, sIndex, i);
parts.Add(f);
}
else if (NodeLink2.GetNodeLink(nodes[i]) != null)
{
NodeLink2 nl = NodeLink2.GetNodeLink(nodes[i]);
int sIndex = i;
uint currentGraphIndex = nodes[sIndex].GraphIndex;
for (i++; i < nodes.Count; i++)
{
if (nodes[i].GraphIndex != currentGraphIndex)
{
break;
}
}
i--;
if (i - sIndex > 1)
{
throw new System.Exception("NodeLink2 path length greater than two (2) nodes. " + (i - sIndex));
}
else if (i - sIndex == 0)
{
//Just continue, it might be the case that a NodeLink was the closest node
continue;
}
RichSpecial rps = ObjectPool <RichSpecial> .Claim().Initialize(nl, nodes[sIndex]);
parts.Add(rps);
}
else if (!(nodes[i] is PointNode))
{
// Some other graph type which we do not have support for
throw new System.InvalidOperationException("The RichAI movment script can only be used on recast/navmesh graphs. A node of type " + nodes[i].GetType().Name + " was in the path.");
}
}
}
IEnumerator TraverseSpecial (RichSpecial rs) {
traversingSpecialPath = true;
velocity = Vector3.zero;
AnimationLink al = rs.nodeLink as AnimationLink;
if (al == null) {
Debug.LogError ("Unhandled RichSpecial");
yield break;
}
//Rotate character to face the correct direction
while (!RotateTowards(rs.first.forward)) yield return null;
//Reposition
tr.parent.position = tr.position;
tr.parent.rotation = tr.rotation;
tr.localPosition = Vector3.zero;
tr.localRotation = Quaternion.identity;
//Set up animation speeds
if (rs.reverse && al.reverseAnim) {
anim[al.clip].speed = -al.animSpeed;
anim[al.clip].normalizedTime = 1;
anim.Play(al.clip);
anim.Sample();
} else {
anim[al.clip].speed = al.animSpeed;
anim.Rewind(al.clip);
anim.Play(al.clip);
}
//Fix required for animations in reverse direction
tr.parent.position -= tr.position-tr.parent.position;
//Wait for the animation to finish
yield return new WaitForSeconds(Mathf.Abs(anim[al.clip].length/al.animSpeed));
traversingSpecialPath = false;
NextPart ();
//If a path completed during the time we traversed the special connection, we need to recalculate it
if (delayUpdatePath) {
delayUpdatePath = false;
UpdatePath();
}
}
public void Initialize(Seeker s, Path p, bool mergePartEndpoints, RichFunnel.FunnelSimplification simplificationMode)
{
if (p.error)
{
throw new ArgumentException("Path has an error");
}
List <GraphNode> path = p.path;
if (path.Count == 0)
{
throw new ArgumentException("Path traverses no nodes");
}
this.seeker = s;
for (int i = 0; i < this.parts.Count; i++)
{
RichFunnel funnel = this.parts[i] as RichFunnel;
RichSpecial special = this.parts[i] as RichSpecial;
if (funnel != null)
{
Pathfinding.Util.ObjectPool <RichFunnel> .Release(ref funnel);
}
else if (special != null)
{
Pathfinding.Util.ObjectPool <RichSpecial> .Release(ref special);
}
}
this.parts.Clear();
this.currentPart = 0;
for (int j = 0; j < path.Count; j++)
{
if (path[j] is TriangleMeshNode)
{
NavGraph graph = AstarData.GetGraph(path[j]);
RichFunnel item = Pathfinding.Util.ObjectPool <RichFunnel> .Claim().Initialize(this, graph);
item.funnelSimplificationMode = simplificationMode;
int start = j;
uint graphIndex = path[start].GraphIndex;
while (j < path.Count)
{
if ((path[j].GraphIndex != graphIndex) && !(path[j] is NodeLink3Node))
{
break;
}
j++;
}
j--;
if (start == 0)
{
item.exactStart = p.vectorPath[0];
}
else
{
item.exactStart = (Vector3)path[!mergePartEndpoints ? start : (start - 1)].position;
}
if (j == (path.Count - 1))
{
item.exactEnd = p.vectorPath[p.vectorPath.Count - 1];
}
else
{
item.exactEnd = (Vector3)path[!mergePartEndpoints ? j : (j + 1)].position;
}
item.BuildFunnelCorridor(path, start, j);
this.parts.Add(item);
continue;
}
if (NodeLink2.GetNodeLink(path[j]) != null)
{
NodeLink2 nodeLink = NodeLink2.GetNodeLink(path[j]);
int num5 = j;
uint num6 = path[num5].GraphIndex;
j++;
while (j < path.Count)
{
if (path[j].GraphIndex != num6)
{
break;
}
j++;
}
j--;
if ((j - num5) > 1)
{
throw new Exception("NodeLink2 path length greater than two (2) nodes. " + (j - num5));
}
if ((j - num5) != 0)
{
RichSpecial special2 = Pathfinding.Util.ObjectPool <RichSpecial> .Claim().Initialize(nodeLink, path[num5]);
this.parts.Add(special2);
}
}
}
}
