private void debugBlock(SearchBlock block)
{
var color = Color.white;
switch (block.Index % 5)
{
case 0: color = Color.red; break;
case 1: color = Color.green; break;
case 2: color = Color.blue; break;
case 3: color = Color.yellow; break;
case 4: color = Color.cyan; break;
}
for (int i = 0; i < block.Count; i++)
{
debugPoint(block.Get(i), false, color);
}
foreach (var index in block.InvestigatedIndices)
{
debugPoint(_points.Points[index], !_hasPoint || index != _pointIndex, color);
}
}
private bool findBestPoint(SearchBlock block, out int pointIndex, out float pointValue)
{
var pickedIndex = -1;
var previousValue = 0f;
var previousLeft = -1;
var previousRight = -1;
if (_hasPreviousPoint)
{
var previousPoint = _points.Points[_previousPointIndex];
previousLeft = previousPoint.Left;
previousRight = previousPoint.Right;
}
for (int i = 0; i < block.Count; i++)
{
var index = block.Indices[i];
var point = block.Get(i);
var vector = _searchPosition - point.Position;
var distance = vector.magnitude;
var direction = vector / distance;
var value = distance;
if (_hasPreviousPoint && (index == previousLeft || index == previousRight))
{
value *= -1;
}
else
{
if (_hasSearchDirection)
{
value *= -Vector3.Dot(direction, _searchDirection) * 0.5f + 1.5f;
}
else
{
value *= -Vector3.Dot(direction, _actor.HeadDirection) * 0.5f + 1.5f;
}
}
if (pickedIndex < 0 || (value > 0 && value < previousValue) || (value < 0 && previousValue < 0 && value > previousValue) || (value < 0 && previousValue > 0))
{
pickedIndex = i;
previousValue = value;
}
}
pointIndex = pickedIndex;
pointValue = previousValue;
return(pointIndex >= 0);
}
private bool considerPoint(SearchBlock block, InvestigatedPoint point)
{
for (int i = 0; i < block.Count; i++)
{
if (areCloseEnough(point, block.Get(i)))
{
block.Investigate(i);
markInvestigated(point);
return(true);
}
}
return(false);
}
public void WriteTo(ref SearchBlock other)
{
other.Index = Index;
other.Sum = Sum;
other.Center = Center;
other.Indices.Clear();
other.InvestigatedIndices.Clear();
for (int i = 0; i < Indices.Count; i++)
{
other.Indices.Add(Indices[i]);
}
for (int i = 0; i < InvestigatedIndices.Count; i++)
{
other.InvestigatedIndices.Add(InvestigatedIndices[i]);
}
}
private void glimpse(SearchBlock block)
{
for (int i = block.Count - 1; i >= 0; i--)
{
var p = block.Get(i);
if (canBeInvestigated(p))
{
var point = new InvestigatedPoint(p.Position);
markInvestigated(point);
foreach (var friend in _friends)
{
friend.considerPoint(point);
}
block.Investigate(i);
}
}
}
public void Give(SearchBlock block)
{
_cache.Add(block);
}
private void Update()
{
for (int i = _investigated.Count - 1; i >= 0; i--)
{
if (_investigated[i].Time < Time.timeSinceLevelLoad - MaxInvestigationAge)
{
_investigated.RemoveAt(i);
}
}
if (!_isSearching)
{
return;
}
if (_blocks.Count == 0 && !_hasPoint)
{
ToClearSearchHistory();
_hasPreviousPoint = false;
_points.Clear();
foreach (var block in _investigatedBlocks)
{
_blockCache.Give(block);
}
_investigatedBlocks.Clear();
_usedCovers.Clear();
_coverCache.Reset(transform.position, MaxDistance, false);
foreach (var item in _coverCache.Items)
{
if (_usedCovers.Contains(item.Cover))
{
continue;
}
var cover = item.Cover;
while (cover.LeftAdjacent != null && !_usedCovers.Contains(cover.LeftAdjacent))
{
cover = cover.LeftAdjacent;
}
var index = -1;
while (cover != null)
{
_usedCovers.Add(cover);
var left = cover.LeftCorner(cover.Bottom) - cover.Forward * 0.25f;
var right = cover.RightCorner(cover.Bottom) - cover.Forward * 0.25f;
var vector = right - left;
var length = vector.magnitude;
var leftApproach = left;
var rightApproach = right;
{
NavMeshHit hit;
var position = left + cover.Left * CoverOffset;
if (NavMesh.Raycast(left, position, out hit, 1))
{
leftApproach = left;
}
else
{
leftApproach = position;
}
}
{
NavMeshHit hit;
var position = right + cover.Right * CoverOffset;
if (NavMesh.Raycast(right, position, out hit, 1))
{
rightApproach = right;
}
else
{
rightApproach = position;
}
}
if (cover.LeftAdjacent != null && cover.RightAdjacent != null)
{
leftApproach = left;
rightApproach = right;
}
else if (cover.LeftAdjacent != null)
{
leftApproach = rightApproach;
}
else if (cover.RightAdjacent != null)
{
rightApproach = leftApproach;
}
possiblyAddRightPoint(ref index, new SearchPoint(left, leftApproach, -cover.Forward, false));
if (length > Advanced.BlockThreshold * 2)
{
possiblyAddRightPoint(ref index, new SearchPoint(left + vector * 0.2f, leftApproach, -cover.Forward, false));
possiblyAddRightPoint(ref index, new SearchPoint(left + vector * 0.4f, leftApproach, -cover.Forward, false));
possiblyAddRightPoint(ref index, new SearchPoint(left + vector * 0.6f, rightApproach, -cover.Forward, false));
possiblyAddRightPoint(ref index, new SearchPoint(left + vector * 0.8f, rightApproach, -cover.Forward, false));
}
else if (length > Advanced.BlockThreshold)
{
possiblyAddRightPoint(ref index, new SearchPoint(left + vector * 0.33f, leftApproach, -cover.Forward, false));
possiblyAddRightPoint(ref index, new SearchPoint(left + vector * 0.66f, rightApproach, -cover.Forward, false));
}
possiblyAddRightPoint(ref index, new SearchPoint(right, rightApproach, -cover.Forward, false));
if (cover.RightAdjacent != null && !_usedCovers.Contains(cover.RightAdjacent))
{
cover = cover.RightAdjacent;
}
else
{
cover = null;
}
}
}
_zoneCache.Reset(transform.position, MaxDistance);
foreach (var block in _zoneCache.Items)
{
foreach (var position in block.Points(Advanced.BlockThreshold))
{
addPoint(new SearchPoint(position, false));
}
}
mergeBlocks();
}
if (DebugPoints)
{
foreach (var block in _blocks)
{
debugBlock(block);
}
foreach (var block in _investigatedBlocks)
{
debugBlock(block);
}
}
if (_blocks.Count == 0 && !_hasPoint)
{
return;
}
if (_block.Empty && !_hasPoint)
{
var pickedIndex = -1;
var previousValue = 0f;
for (int i = 0; i < _blocks.Count; i++)
{
var vector = _searchPosition - _blocks[i].Center;
var distance = vector.magnitude;
var direction = vector / distance;
var value = distance;
if (_hasBlockDirection)
{
value *= -Vector3.Dot(direction, _blockDirection) * 0.5f + 1.5f;
}
else
{
value *= -Vector3.Dot(direction, _actor.HeadDirection) * 0.5f + 1.5f;
}
if (pickedIndex < 0 || value < previousValue)
{
pickedIndex = i;
previousValue = value;
}
}
if (pickedIndex != -1)
{
_block = _blocks[pickedIndex];
_blocks.RemoveAt(pickedIndex);
_investigatedBlocks.Add(_block);
_hasBlockDirection = true;
_blockDirection = (_block.Center - _searchPosition).normalized;
}
}
if (!_hasPoint)
{
int index;
float value;
findBestPoint(_block, out index, out value);
setPoint(_block.Indices[index]);
_block.Investigate(index);
}
if (!_hasApproached && !shouldApproach(_point))
{
_hasApproached = true;
if (_wasRunning)
{
run();
}
else
{
walk();
}
}
if (_wasRunning && !shouldRunTo(_point.Position))
{
walk();
}
_checkWait -= Time.deltaTime;
if (_checkWait <= float.Epsilon)
{
glimpse(_block);
for (int b = _blocks.Count - 1; b >= 0; b--)
{
glimpse(_blocks[b]);
if (_blocks[b].Empty)
{
_investigatedBlocks.Add(_blocks[b]);
_blocks.RemoveAt(b);
}
}
_checkWait = 0.25f;
}
if (DebugTarget)
{
Debug.DrawLine(transform.position, _point.Position, Color.yellow);
}
if (canBeInvestigated(_point))
{
var point = new InvestigatedPoint(_point.Position);
_hasPoint = false;
markInvestigated(point);
foreach (var friend in _friends)
{
friend.considerPoint(point);
}
}
}
private void Awake()
{
_block = new SearchBlock(_points);
_blockCache = new SearchBlockCache(_points);
_actor = GetComponent <Actor>();
}
private void Update()
{
GlobalSearchCache.Update();
if (!_isSearching)
{
return;
}
if (_blocks.Count == 0 && !_hasPoint)
{
_isSearching = false;
Message("OnFinishSearch");
}
if (DebugPoints)
{
foreach (var block in _blocks)
{
debugBlock(block);
}
foreach (var block in _investigatedBlocks)
{
debugBlock(block);
}
}
if (_block.Empty && !_hasPoint && _blocks.Count > 0)
{
var pickedIndex = -1;
var previousValue = 0f;
for (int i = 0; i < _blocks.Count; i++)
{
var vector = _searchPosition - _blocks[i].Center;
var distance = vector.magnitude;
var direction = vector / distance;
var value = distance;
if (_hasBlockDirection)
{
value *= -Vector3.Dot(direction, _blockDirection) * 0.5f + 1.5f;
}
else
{
value *= -Vector3.Dot(direction, _actor.HeadDirection) * 0.5f + 1.5f;
}
if (pickedIndex < 0 || value < previousValue)
{
pickedIndex = i;
previousValue = value;
}
}
_block = _blocks[pickedIndex];
_blocks.RemoveAt(pickedIndex);
_investigatedBlocks.Add(_block);
_hasBlockDirection = true;
_blockDirection = (_block.Center - _searchPosition).normalized;
}
if (!_hasPoint)
{
int index;
float value;
if (findBestPoint(_block, out index, out value))
{
setPoint(_block.Indices[index]);
_block.Investigate(index);
}
}
if (!_hasPoint)
{
return;
}
if (!_hasApproached && !shouldApproach(_point))
{
_hasApproached = true;
if (_wasRunning)
{
run();
}
else
{
walk();
}
}
if (_wasRunning && !shouldRunTo(_point.Position))
{
walk();
}
_checkWait -= Time.deltaTime;
if (_checkWait <= float.Epsilon)
{
glimpse(_block);
for (int b = _blocks.Count - 1; b >= 0; b--)
{
glimpse(_blocks[b]);
if (_blocks[b].Empty)
{
_investigatedBlocks.Add(_blocks[b]);
_blocks.RemoveAt(b);
}
}
_checkWait = 0.25f;
}
if (DebugTarget)
{
Debug.DrawLine(transform.position, _point.Position, Color.yellow);
}
if (canBeInvestigated(_point))
{
finishInvestigatingThePoint();
}
}
