void ObstacleRoutine(Vector3 diffxz, Vector3 destination)
{
List <Collider> obstacles = Physics.OverlapBox((transform.position) - (diffxz.normalized * obstaclesCheckExtend.z), obstaclesCheckExtend, transform.rotation, physicalLayer).ToList();
if (obstacles.Count > 0 && obstacles.Exists(col => col.gameObject.layer != agentLayer))
{
bool didJump = false;
if (Time.timeSinceLevelLoad - lastJumpTime > jumpCooldown && sensor.IsGrounded) // TODO: check if possible to jump over
{
Collider theObstacle = obstacles.First(col => col.gameObject.layer != agentLayer);
float height = theObstacle.bounds.extents.y + theObstacle.bounds.center.y;
float jumpforce = 280f * height;
if (jumpforce < maxJumpForce)
{
actions.Jump(jumpforce);
didJump = true;
lastJumpTime = Time.timeSinceLevelLoad;
}
}
if (!didJump && sensor.IsGrounded)
{
SetDestination(destination);
}
// else if you can shoot through, do so
}
}
// Update is called once per frame
void FixedUpdate()
{
// ALL of this is debug
// TODO: remove
if (doMoveTowards)
{
actionSet.MoveTowards(target.position, moveSpeed);
}
if (doJump)
{
actionSet.Jump(jumpHeight);
doJump = false;
}
if (doPickupRight)
{
Physics.IgnoreCollision(GetComponent <CapsuleCollider>(), rightPickupTarget.GetComponent <Collider>());
actionSet.PickupObject(rightPickupTarget, rightHand, rightHand.Find("WeaponPos"));
doPickupRight = false;
}
if (doPickupLeft)
{
Physics.IgnoreCollision(GetComponent <CapsuleCollider>(), leftPickupTarget.GetComponent <Collider>());
actionSet.PickupObject(leftPickupTarget, leftHand, leftHand.Find("WeaponPos"));
doPickupLeft = false;
}
/*if (doDrop)
* {
* Vector3 velocity = hand.GetComponent<Rigidbody>().velocity;
* actionSet.DropObject(pickupTarget, hand.transform, velocity);
* doDrop = false;
* }*/
if (doActivateRight)
{
actionSet.ActivateObject(rightPickupTarget, rightHand.Find("WeaponPos"));
}
if (doActivateLeft)
{
actionSet.ActivateObject(leftPickupTarget, leftHand.Find("WeaponPos"));
}
if (doAimAtRight)
{
rightSlerpPos += 0.2f;
actionSet.AimAt(rightHand, target.position, rightSlerpPos);
if (rightSlerpPos > 1)
{
rightSlerpPos = 0;
}
//doAimAtRight = false;
}
if (doAimAtLeft)
{
leftSlerpPos += 0.2f;
actionSet.AimAt(leftHand, target.position, leftSlerpPos);
if (leftSlerpPos > 1)
{
leftSlerpPos = 0;
}
}
if (doCrouch)
{
actionSet.Crouch(leg, originalHeight, 0.3f);
doCrouch = false;
}
if (doStandup)
{
actionSet.StandUp(leg, originalHeight);
doStandup = false;
}
if (doReload)
{
actionSet.ReloadWeapon(rightPickupTarget);
actionSet.ReloadWeapon(leftPickupTarget);
doReload = false;
}
if (doOrientate)
{
actionSet.TurnTowards(target, 1.0f, 2.0f, 7f);
}
if (setDestinationWithStrafe)
{
setDestinationWithoutStrafe = false;
setDestinationWithStrafe = activitySet.GoTowardsDestination(destination.position);
actionSet.TurnTowards(destination, 1.0f, 2.0f, 7f);
}
if (setDestinationWithoutStrafe)
{
setDestinationWithStrafe = false;
setDestinationWithoutStrafe = activitySet.GoTowardsDestination(destination.position, false);
//actionSet.TurnTowards(destination, 1.0f, 2.0f, 7f);
}
//animator.SetInteger("RoutineStatus", routineStatus);
}