public override Goal Decompose(KinematicData character, Goal goal)
{
if ((Astar == null))
{
Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
CurrentParam = 0.0f;
}
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
this.AStarSolution = currentSolution;
this.GlobalPath = StringPullingPathSmoothing.SmoothPath(character, currentSolution);
this.GlobalPath.CalculateLocalPathsFromPathPositions(character.position);
// gets first node
goal.position = this.GlobalPath.LocalPaths[0].EndPosition;
return(goal);
}
/* else if(currentSolution != null && currentSolution.IsPartial)
* {
* goal.position = currentSolution.PathPositions[0];
* return goal;
* }*/
}
else
{
if (GlobalPath.PathEnd(CurrentParam))
{
goal.position = GlobalPath.LocalPaths[GlobalPath.LocalPaths.Count - 1].GetPosition(1.0f);
return(goal);
}
CurrentParam = GlobalPath.GetParam(character.position, CurrentParam);
goal.position = GlobalPath.GetPosition(CurrentParam + 0.2f);
return(goal);
}
return(new Goal());
}
public void SetPath(GlobalPath globalPath)
{
this.path = globalPath;
base.Character.Position = globalPath.PathPositions[0];
base.Target.Position = globalPath.PathPositions[0] + globalPath.GetPosition(pathOffset);
}
private void Update()
{
foreach (var pedestrian in this.Pedestrians)
{
pedestrian.Update();
}
Vector3 testMouseClickPosition;
if (TargeterComponent.GetGoalPosition(out testMouseClickPosition))
{
this.mouseClickPosition = testMouseClickPosition;
Actuator.SetGoalPosition(this.mouseClickPosition);
DecomposerComponent.Initialize(this.mouseClickPosition);
this.startPosition = this.character.KinematicData.position;
currentSmoothedSolution = null;
}
if (this.character.KinematicData.Arrived)
{
//NOTE: stops the char from going forward before it flips back
this.character.KinematicData.velocity = Vector3.zero;
return;
}
// Path recalculation for the car actuator
if (currentSmoothedSolution != null)
{
float distanceToPath = (character.KinematicData.position - currentSmoothedSolution.GetPosition((Actuator.GetMovement() as DynamicFollowPath).CurrentParam)).sqrMagnitude;
if (distanceToPath > 400 && DecomposerComponent.Initialize(this.mouseClickPosition)) // 400 = 20^2
{
Debug.Log("searching");
this.startPosition = this.character.KinematicData.position;
Actuator.SetGoalPosition(this.mouseClickPosition);
this.CalculatePath = true;
currentSmoothedSolution = null;
currentSolution = null;
}
}
if (this.CalculatePath)
{
//Debug.Log("CALCULATE PATH");
DecomposerComponent.CalculatePath(out this.currentSolution);
}
if (this.currentSolution != null &&
(this.currentSmoothedSolution == null || DecomposerComponent.InNewLocalPath(this.currentSmoothedSolution) || this.violation))
{
//Debug.Log("NEW LINE");
this.currentSmoothedSolution = DecomposerComponent.SmoothPath(this.currentSolution);
Actuator.SetPath(currentSmoothedSolution);
}
if (this.currentSmoothedSolution == null)
{
return;
}
GlobalPath actuatorPath = null;
GlobalPath pathToFollow = currentSmoothedSolution;
violation = false;
for (int i = 0; i < ITERATIONS_LIMIT; i++)
{
actuatorPath = Actuator.GetPath(pathToFollow);
foreach (IConstraint constraint in PathConstraints)
{
Vector3 suggestedPosition;
violation = constraint.WillViolate(actuatorPath, out suggestedPosition);
if (violation)
{
pathToFollow = new GlobalPath();
pathToFollow.LocalPaths.Add(new LineSegmentPath(character.KinematicData.position, suggestedPosition));
//Debug.Log("Path collision violation");
break;
}
}
if (violation)
{
continue;
}
// restrições de output
foreach (IConstraint constraint in MovementConstraints)
{
Vector3 suggestedPosition;
violation = constraint.WillViolate(actuatorPath, out suggestedPosition);
if (violation)
{
pathToFollow = new GlobalPath();
pathToFollow.LocalPaths.Add(new LineSegmentPath(character.KinematicData.position, suggestedPosition));
//Debug.Log("Movement collision violation");
break;
}
}
if (!violation)
{
break;
}
}
Debug.DrawLine(this.character.KinematicData.position, actuatorPath.LocalPaths[0].EndPosition, Color.black);
//NOTE: setting new legal path for the actuator and clearing auxiliary variable
if (!violation)
{
Actuator.SetPath(actuatorPath);
actuatorPath = null;
}
character.MovementOutput = Actuator.GetOutput(actuatorPath, character);
this.character.Update();
}