public override Vector2 get(Vector2 target, Vector2 currentVelocity, Vector2 targetVelocity = new Vector2())
{
Vector2 direction = target - arrive.pos;
float length = direction.magnitude;
float speed = currentVelocity.magnitude;
float predict;
if (speed <= length / maxPredict)
{
predict = maxPredict;
}
else
{
predict = length / speed;
}
return(arrive.get(target + targetVelocity * predict, currentVelocity));
}
public override Vector2 get(Vector2 target, Vector2 currentVelocity, Vector2 targetVelocity = new Vector2())
{
float minDist = (path[0] - (Vector2)owned.position).magnitude;
int index = 0;
int secondIndex;
Vector2 forward;
for (int i = 0; i < path.Length; ++i)
{
float dist = (path[i] - (Vector2)owned.position).magnitude;
if (dist < minDist)
{
minDist = dist;
index = i;
}
}
if (index == 0)
{
secondIndex = 1;
forward = path[secondIndex] - path[index];
}
else if (index == path.Length - 1)
{
secondIndex = path.Length - 2;
forward = path[index] - path[secondIndex];
}
else
{
Vector2 toPrev = (Vector2)owned.position - path[index - 1];
Vector2 toNext = (Vector2)owned.position - path[index + 1];
forward = path[index + 1] - path[index - 1];
float prevMag = (path[index] - path[index - 1]).magnitude;
float nextMag = (path[index] - path[index + 1]).magnitude;
float projToPrev = Vector2.Dot(toPrev, path[index] - path[index - 1]) / prevMag;
float projToNext = Vector2.Dot(toNext, path[index] - path[index + 1]) / nextMag;
if (projToNext >= nextMag && projToPrev >= prevMag)
{
secondIndex = index;
}
else if (projToNext >= nextMag)
{
secondIndex = index - 1;
}
else if (projToPrev >= prevMag)
{
secondIndex = index + 1;
}
else if (projToNext > projToPrev)
{
secondIndex = index - 1;
}
else
{
secondIndex = index + 1;
}
}
Vector2 objectDirection = (Vector2)owned.position - path[index];
Vector2 pathDirection = path[secondIndex] - path[index];
float len = Vector2.Dot(objectDirection, pathDirection) / pathDirection.magnitude;
target = path[index];
if (len > Mathf.Epsilon)
{
target += pathDirection.normalized * len;
float dot = Vector2.Dot(path[index] - target, forward);
if (dot < 0)
{
++index;
}
}
else
{
++index;
}
secondIndex = index + 1;
len = (getOrLast(index) - target).magnitude;
if (len > followDistance)
{
return(arrive.get(distanceLerp(target, getOrLast(index), followDistance), currentVelocity));
}
len = followDistance - len;
return(arrive.get(distanceLerp(getOrLast(index), getOrLast(secondIndex), len), currentVelocity));
}