/** Move as close as possible to the specified point */
public void MoveToClosestPoint(Vector3 point)
{
if (path == null)
{
return;
}
float bestDist = float.PositiveInfinity;
float bestFactor = 0f;
int bestIndex = 0;
for (int i = 0; i < path.Count - 1; i++)
{
float factor = VectorMath.ClosestPointOnLineFactor(path[i], path[i + 1], point);
Vector3 closest = Vector3.Lerp(path[i], path[i + 1], factor);
float dist = (point - closest).sqrMagnitude;
if (dist < bestDist)
{
bestDist = dist;
bestFactor = factor;
bestIndex = i;
}
}
MoveToSegment(bestIndex, bestFactor);
}
public void MoveToLocallyClosestPoint(Vector3 point, bool allowForwards = true, bool allowBackwards = true)
{
if (path == null)
{
return;
}
while (allowForwards && segmentIndex < path.Count - 2 && (path[segmentIndex + 1] - point).sqrMagnitude <= (path[segmentIndex] - point).sqrMagnitude)
{
NextSegment();
}
while (allowBackwards && segmentIndex > 0 && (path[segmentIndex - 1] - point).sqrMagnitude <= (path[segmentIndex] - point).sqrMagnitude)
{
PrevSegment();
}
// Check the distances to the two segments extending from the vertex path[segmentIndex]
// and pick the position on those segments that is closest to the #point parameter.
float factor1 = 0, factor2 = 0, d1 = float.PositiveInfinity, d2 = float.PositiveInfinity;
if (segmentIndex > 0)
{
factor1 = VectorMath.ClosestPointOnLineFactor(path[segmentIndex - 1], path[segmentIndex], point);
d1 = (Vector3.Lerp(path[segmentIndex - 1], path[segmentIndex], factor1) - point).sqrMagnitude;
}
if (segmentIndex < path.Count - 1)
{
factor2 = VectorMath.ClosestPointOnLineFactor(path[segmentIndex], path[segmentIndex + 1], point);
d2 = (Vector3.Lerp(path[segmentIndex], path[segmentIndex + 1], factor2) - point).sqrMagnitude;
}
if (d1 < d2)
{
MoveToSegment(segmentIndex - 1, factor1);
}
else
{
MoveToSegment(segmentIndex, factor2);
}
}
public static VECTOR Lerp(VECTOR a, VECTOR b, FLOAT amount)
{
return(VECTOR.Lerp(a, b, amount));
}
