private void NavigateACOToStart()
{
if (m_acoToStartPath != null && m_acoToStartPath.Count > 0 && m_acoToStartNavInfo != null)
{
NavigateGeneric(m_acoToStartNavInfo.TargetNode);
/// Check if agent reached next route node
float nextNodeDistance = Vector3.Distance(transform.position, m_acoToStartNavInfo.TargetNode.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
/// Increment target index
m_acoToStartNavInfo.TargetIndex += 1;
/// Check if index is more or equal to path length
if (m_acoToStartNavInfo.TargetIndex >= m_acoToStartPath.Count)
{
/// Finished all paths, reset and sleep
m_currentDrivePathTarget = NavigationTarget.None;
m_ui.SetStatusText("Finished and returned home. Sleeping (zzz)");
Debug.Log($"Agent '{this.gameObject.name}' finished ACO path, duration of '{m_totalDuration}s'");
ResetPath();
}
else
{
/// Set next to node if inside range
Connection nextConn = m_acoToStartPath[m_acoToStartNavInfo.TargetIndex];
OnTravelNewConnection?.Invoke(this, nextConn);
m_acoToStartNavInfo.TargetNode = nextConn.ToNode;
}
}
}
}
private void NavigateStartToACO()
{
if (m_startToACOPath != null && m_startToACOPath.Count > 0 && m_startToACONavInfo != null)
{
NavigateGeneric(m_startToACONavInfo.TargetNode);
/// Check if agent reached next route node
float nextNodeDistance = Vector3.Distance(transform.position, m_startToACONavInfo.TargetNode.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
/// Increment target index
m_startToACONavInfo.TargetIndex += 1;
/// Check if index is more or equal to path length
if (m_startToACONavInfo.TargetIndex >= m_startToACOPath.Count)
{
/// Set drive path to ACO, the next path
m_currentDrivePathTarget = NavigationTarget.ACO;
Debug.Log($"Agent '{this.gameObject.name}' completed A* Navigation. Proceeding with ACO path...");
}
else
{
/// Set next to node if inside range
Connection nextConn = m_startToACOPath[m_startToACONavInfo.TargetIndex];
OnTravelNewConnection?.Invoke(this, nextConn);
m_startToACONavInfo.TargetNode = nextConn.ToNode;
}
}
}
}
/// <summary>
/// Drives the truck along a certain connection path
/// </summary>
/// <param name="connectionPath">List of connections to drive along</param>
public void DriveAlong(List <Connection> connectionPath)
{
// Reset any previous paths
m_connectionDrivePath = null;
m_currentTargetNode = null;
if (connectionPath == null || connectionPath != null && connectionPath.Count <= 0)
{
Debug.LogError("Unable to drive along connection path. connectionPath invalid");
return;
}
m_connectionDrivePath = connectionPath;
Debug.Log($"Truck '{this.name}' path set! '{m_connectionDrivePath.Count}' connections");
if (m_currentTargetNode == null)
{
// Set Truck position from first FromNode and target to ToNode
this.transform.position = m_connectionDrivePath[m_currentTargetNodeIndex].FromNode.transform.position;
Connection nextConnection = m_connectionDrivePath[m_currentTargetNodeIndex];
m_currentTargetNode = nextConnection.ToNode;
// Fire event to first set new target location
OnTravelNewConnection?.Invoke(this, nextConnection);
m_ui.SetStatusText($"New Path: Driving to '{connectionPath[connectionPath.Count - 1].ToNode.name}'");
}
}
void Update()
{
if (m_currentTargetNode)
{
// Do target node look at if target is valid
PerformLookAt(m_currentTargetNode.transform);
m_totalDuration += Time.deltaTime;
if (!IsWaiting)
{
// Move Truck towards next connection
PerformMovement();
// If nearly reached destination
float nextNodeDistance = Vector3.Distance(transform.position, m_currentTargetNode.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
// Increment and set new target game object
m_currentTargetNodeIndex++;
// Move target node to next node index
if (m_currentTargetNodeIndex > 0 && m_currentTargetNodeIndex < m_connectionDrivePath.Count)
{
Connection currentTargetConnection = m_connectionDrivePath[m_currentTargetNodeIndex];
m_currentTargetNode = currentTargetConnection.ToNode;
OnTravelNewConnection?.Invoke(this, currentTargetConnection);
}
else
{
//Debug.LogError("TargetNodeIndex is out of bounds!");
}
}
// Check if reached final node yet
float finalNodeDistance = Vector3.Distance(transform.position, m_connectionDrivePath[m_connectionDrivePath.Count - 1].ToNode.transform.position);
if (finalNodeDistance < DESTINATION_TOLERANCE)
{
// Invoke event for reached path end and remove target
Connection finalConnection = m_connectionDrivePath[m_connectionDrivePath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
string infoStr = $"Finished path to '{finalConnection.ToNode.name}', duration of '{Math.Round(m_totalDuration, 2)}s'";
m_ui.SetStatusText(infoStr);
Debug.Log($"Agent '{this.gameObject.name}' " + infoStr);
ResetPath();
}
}
}
}
private void NavigateACO()
{
if (m_currentTargetACOConn != null)
{
/// Look at next target node
GameObject targetNodeObj = m_currentTargetACOConn.Route[m_currentACOConnRouteIndex].ToNode;
PerformLookAt(targetNodeObj.transform);
if (!IsWaiting)
{
/// if not waiting, move toward next route node
PerformMovementTo(targetNodeObj.transform.position);
/// Check if agent reached next route node
float nextNodeDistance = Vector3.Distance(transform.position, targetNodeObj.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
/// Reached next route node, increment to next route node or to new ACOConnection
m_currentACOConnRouteIndex++;
/// Check RouteIndex is within route bounds
if (m_currentACOConnRouteIndex >= m_currentTargetACOConn.Route.Count)
{
/// If index is more than route, we've reached end and can move to next ACOConnection
m_currentACOConnRouteIndex = 0;
m_currentTargetACOConnIndex++;
/// Check if reached end of ACOConnection path
if (m_currentTargetACOConnIndex >= m_acoConnectionPath.Count)
{
ACOConnection finalConnection = m_acoConnectionPath[m_acoConnectionPath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
m_ui.SetStatusText($"Finished path to '{finalConnection.ToNode.name}'");
m_currentDrivePathTarget = NavigationTarget.ACOToStart;
Debug.Log($"Agent '{this.name}' finished ACO path. Navigating A* path to Start");
return;
}
else
{
/// Move to next node in Route
//Debug.Log($"Reached ACO goal {m_currentTargetACOConn.ToNode.name}");
OnReachedGoal?.Invoke(this, m_currentTargetACOConn.ToNode);
/// Continue moving through ACOConnection path if not at end
m_currentTargetACOConn = m_acoConnectionPath[m_currentTargetACOConnIndex];
OnTravelNewConnection?.Invoke(this, m_currentTargetACOConn);
return;
}
}
else
{
/// Still more Route nodes to travel to, invoke event to specify the connection
Connection nextRouteConnection = m_currentTargetACOConn.Route[m_currentACOConnRouteIndex];
OnTravelNewConnection?.Invoke(this, nextRouteConnection);
}
}
}
}
}
void Update()
{
if (m_currentTargetACOConn != null)
{
GameObject targetNodeObj = m_currentTargetACOConn.Route[m_currentACOConnRouteIndex].ToNode;
/// Look at next target node
PerformLookAt(targetNodeObj.transform);
if (!IsWaiting)
{
/// if not waiting, move toward next route node
PerformMovementTo(targetNodeObj.transform.position);
/// Check if agent reached next route node
float nextNodeDistance = Vector3.Distance(transform.position, targetNodeObj.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
/// Reached next route node, increment to next route node or to new ACOConnection
m_currentACOConnRouteIndex++;
if (m_currentACOConnRouteIndex >= m_currentTargetACOConn.Route.Count)
{
m_currentACOConnRouteIndex = 0;
m_currentTargetACOConnIndex++;
/// Check if reached end of ACOConnection path
if (m_currentTargetACOConnIndex >= m_connectionPath.Count)
{
ACOConnection finalConnection = m_connectionPath[m_connectionPath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
m_ui.SetStatusText($"Finished path to '{finalConnection.ToNode.name}'");
ResetPath();
return;
}
else
{
/// Continue moving through ACOConnection path if not at end
m_currentTargetACOConn = m_connectionPath[m_currentTargetACOConnIndex];
OnTravelNewConnection?.Invoke(this, m_currentTargetACOConn);
return;
}
}
}
// Check if agent reached final ACOConnection node
float finalNodeDistance = Vector3.Distance(transform.position, m_connectionPath[m_connectionPath.Count - 1].ToNode.transform.position);
if (finalNodeDistance < DESTINATION_TOLERANCE && m_currentTargetACOConnIndex >= m_connectionPath.Count)
{
// Invoke event for reached path end and remove target
ACOConnection finalConnection = m_connectionPath[m_connectionPath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
m_ui.SetStatusText($"Finished path to '{finalConnection.ToNode.name}'");
ResetPath();
}
}
}
}
