public void Update()
{
if (Time.time >= nextRepath && canSearchAgain)
{
RecalculatePath();
}
Vector3 pos = transform.position;
if (vectorPath != null && vectorPath.Count != 0)
{
while ((controller.To2D(pos - vectorPath[wp]).sqrMagnitude < moveNextDist * moveNextDist && wp != vectorPath.Count - 1) || wp == 0)
{
wp++;
}
// Current path segment goes from vectorPath[wp-1] to vectorPath[wp]
// We want to find the point on that segment that is 'moveNextDist' from our current position.
// This can be visualized as finding the intersection of a circle with radius 'moveNextDist'
// centered at our current position with that segment.
var p1 = vectorPath[wp - 1];
var p2 = vectorPath[wp];
// Calculate the intersection with the circle. This involves some math.
var t = VectorMath.LineCircleIntersectionFactor(controller.To2D(transform.position), controller.To2D(p1), controller.To2D(p2), moveNextDist);
// Clamp to a point on the segment
t = Mathf.Clamp01(t);
Vector3 waypoint = Vector3.Lerp(p1, p2, t);
// Calculate distance to the end of the path
float remainingDistance = controller.To2D(waypoint - pos).magnitude + controller.To2D(waypoint - p2).magnitude;
for (int i = wp; i < vectorPath.Count - 1; i++)
{
remainingDistance += controller.To2D(vectorPath[i + 1] - vectorPath[i]).magnitude;
}
// Set the target to a point in the direction of the current waypoint at a distance
// equal to the remaining distance along the path. Since the rvo agent assumes that
// it should stop when it reaches the target point, this will produce good avoidance
// behavior near the end of the path. When not close to the end point it will act just
// as being commanded to move in a particular direction, not toward a particular point
var rvoTarget = (waypoint - pos).normalized * remainingDistance + pos;
// When within [slowdownDistance] units from the target, use a progressively lower speed
var desiredSpeed = Mathf.Clamp01(remainingDistance / slowdownDistance) * maxSpeed;
Debug.DrawLine(transform.position, waypoint, Color.red);
controller.SetTarget(rvoTarget, desiredSpeed, maxSpeed);
}
else
{
// Stand still
controller.SetTarget(pos, maxSpeed, maxSpeed);
}
// Get a processed movement delta from the rvo controller and move the character.
// This is based on information from earlier frames.
var movementDelta = controller.CalculateMovementDelta(Time.deltaTime);
pos += movementDelta;
// Rotate the character if the velocity is not extremely small
if (Time.deltaTime > 0 && movementDelta.magnitude / Time.deltaTime > 0.01f)
{
var rot = transform.rotation;
var targetRot = Quaternion.LookRotation(movementDelta, controller.To3D(Vector2.zero, 1));
const float RotationSpeed = 5;
if (controller.movementPlane == MovementPlane.XY)
{
targetRot = targetRot * Quaternion.Euler(-90, 180, 0);
}
transform.rotation = Quaternion.Slerp(rot, targetRot, Time.deltaTime * RotationSpeed);
}
if (controller.movementPlane == MovementPlane.XZ)
{
RaycastHit hit;
if (Physics.Raycast(pos + Vector3.up, Vector3.down, out hit, 2, groundMask))
{
pos.y = hit.point.y;
}
}
transform.position = pos;
}
public void Update()
{
if (Time.time >= nextRepath && canSearchAgain)
{
RecalculatePath();
}
Vector3 pos = transform.position;
if (vectorPath != null && vectorPath.Count != 0)
{
//Good Game
//while ((controller.To2D(pos - vectorPath[wp]).sqrMagnitude < moveNextDist*moveNextDist && wp != vectorPath.Count-1) || wp == 0)
//while ((controller.To2D((VInt3)pos - vectorPath[wp]).sqrMagnitude < moveNextDist*moveNextDist && wp != vectorPath.Count-1) || wp == 0)
//Debug.Log($"--waypoint--{gameObject.name}--{(controller.To2D((VInt3)pos - vectorPath[wp])).sqrMagnitude / 1000000f}--{moveNextDist * moveNextDist}");
while ((((Vector2)controller.To2D((VInt3)pos - vectorPath[wp])).sqrMagnitude < moveNextDist * moveNextDist && wp != vectorPath.Count - 1) || wp == 0)
{
wp++;
//Debug.Log($"--agent{transform.GetSiblingIndex()}--wp--{wp}");
}
// Current path segment goes from vectorPath[wp-1] to vectorPath[wp]
// We want to find the point on that segment that is 'moveNextDist' from our current position.
// This can be visualized as finding the intersection of a circle with radius 'moveNextDist'
// centered at our current position with that segment.
var p1 = vectorPath[wp - 1];
var p2 = vectorPath[wp];
// Calculate the intersection with the circle. This involves some math.
//Good Game
//var t = VectorMath.LineCircleIntersectionFactor(controller.To2D(transform.position), controller.To2D(p1), controller.To2D(p2), moveNextDist);
var t = VectorMath.LineCircleIntersectionFactor((Vector2)controller.To2D((VInt3)transform.position), (Vector2)controller.To2D(p1), (Vector2)controller.To2D(p2), moveNextDist);
// Clamp to a point on the segment
t = Mathf.Clamp01(t);
//Good Game
//Vector3 waypoint = Vector3.Lerp(p1, p2, t);
VInt3 waypoint = VInt3.Lerp(p1, p2, t);
// Calculate distance to the end of the path
//Good Game
/*float remainingDistance = controller.To2D(waypoint - pos).magnitude + controller.To2D(waypoint - p2).magnitude;
* for (int i = wp; i < vectorPath.Count - 1; i++)
* remainingDistance += controller.To2D(vectorPath[i+1] - vectorPath[i]).magnitude;*/
float remainingDistance = controller.To2D(waypoint - (VInt3)pos).magnitude + controller.To2D(waypoint - p2).magnitude;
for (int i = wp; i < vectorPath.Count - 1; i++)
{
remainingDistance += controller.To2D(vectorPath[i + 1] - vectorPath[i]).magnitude;
}
// Set the target to a point in the direction of the current waypoint at a distance
// equal to the remaining distance along the path. Since the rvo agent assumes that
// it should stop when it reaches the target point, this will produce good avoidance
// behavior near the end of the path. When not close to the end point it will act just
// as being commanded to move in a particular direction, not toward a particular point
//GG
remainingDistance /= 1000000;
//Debug.Log("--remian--" + remainingDistance.ToString("f2"));
//var rvoTarget = (waypoint - pos).normalized * remainingDistance + pos;
var rvoTarget = ((Vector3)waypoint - pos).normalized * remainingDistance + pos;
// When within [slowdownDistance] units from the target, use a progressively lower speed
var desiredSpeed = Mathf.Clamp01(remainingDistance / slowdownDistance) * maxSpeed;
Debug.DrawLine(transform.position, waypoint, Color.red);
//GG
//controller.SetTarget(rvoTarget, desiredSpeed, maxSpeed);
//Debug.Log($"--target--{rvoTarget}--de speed--{desiredSpeed}--maxSpeed--{maxSpeed}");
controller.SetTarget((VInt3)rvoTarget, (int)(desiredSpeed * 1000), (int)(maxSpeed * 1000));
//controller.SetTarget((VInt3)rvoTarget, 50, (int)(maxSpeed* 1000));
}
else
{
// Stand still
//GG
//controller.SetTarget(pos, maxSpeed, maxSpeed);
controller.SetTarget((VInt3)pos, (int)(maxSpeed * 1000), (int)(maxSpeed * 1000));
}
// Get a processed movement delta from the rvo controller and move the character.
// This is based on information from earlier frames.
//GG
//var movementDelta = controller.CalculateMovementDelta(Time.deltaTime);
//var movementDelta = controller.CalculateMovementDelta((int)(Time.deltaTime * 1000));
var movementDelta = controller.CalculateMovementDelta(50);
//GG
//pos += movementDelta;
pos += (Vector3)movementDelta;
//Debug.Log("--" + movementDelta.ToString());
//Rotate the character if the velocity is not extremely small
//GG
//if (Time.deltaTime > 0 && movementDelta.magnitude / Time.deltaTime > 0.01f)
if (Time.deltaTime > 0 && ((Vector3)movementDelta).magnitude / Time.deltaTime > 0.01f)
{
var rot = transform.rotation;
//GG
//var targetRot = Quaternion.LookRotation((Vector3)movementDelta, (Vector3)controller.To3D(Vector2.zero, 1));
var targetRot = Quaternion.LookRotation((Vector3)movementDelta, (Vector3)controller.To3D(VInt2.zero, 1000));
const float RotationSpeed = 5;
if (controller.movementPlane == MovementPlane.XY)
{
targetRot = targetRot * Quaternion.Euler(-90, 180, 0);
}
transform.rotation = Quaternion.Slerp(rot, targetRot, Time.deltaTime * RotationSpeed);
}
if (controller.movementPlane == MovementPlane.XZ)
{
RaycastHit hit;
if (Physics.Raycast(pos + Vector3.up, Vector3.down, out hit, 2, groundMask))
{
pos.y = hit.point.y;
}
}
transform.position = pos;
//Good Game
/*if(pos.x > 200 || pos.y > 200 || pos.z > 200 || pos.x > -200 || pos.z < -200)
* Debug.LogError("--" + gameObject.name + "--" + pos);*/
}
