public void Execute(int index)
{
var start = GridGeneratorSystem.ClosestNode(AgentGroup.Position[index].Value);
var goal = GridGeneratorSystem.ClosestNode(AgentGroup.Target[index].Value);
Commands.RemoveComponent <Target>(index, AgentGroup.AgentEntity[index]);
AStarSolver(start, goal, index, AgentGroup.AgentEntity[index]);
}
public void Execute(int i)
{
var index = Indexes[i];
float2 agentLoc = Simulator.Instance.getAgentPosition(index);
SpawnAgentSystem.agents.TryGetValue(index, out var agent);
int l = waypoints[agent].Length;
if (l == 0)
{
commands.DestroyEntity(i, agent);
SpawnAgentSystem.agents.Remove(index);
Simulator.Instance.removeAgent(index);
return;
}
var next = GridGeneratorSystem.GridToWorldPos(waypoints[agent][l - 1].Value);
float2 goalVector = next - agentLoc;
if (RVOMath.absSq(goalVector) > 1.0f)
{
goalVector = math.normalize(goalVector);
}
Simulator.Instance.setAgentPrefVelocity(index, goalVector);
var newPos = new float3(agentLoc.x, 0.15f, agentLoc.y);
Positions[agent] = new Position {
Value = newPos
};
var dir = next - agentLoc;
// remove waypoint
if (dir.x < 0.1f && dir.y < 0.1f)
{
waypoints[agent].RemoveAt(l - 1);
}
}
