protected Vector3 GetClampedPoint(Vector3 from, Vector3 to, GraphNode hint)
{
Vector3 point = to;
RaycastHit hit;
if (useRaycasting && Physics.Linecast(from, to, out hit, mask))
{
point = hit.point;
}
if (useGraphRaycasting && hint != null)
{
var rayGraph = UnityHelper.GetGraph(hint) as IRaycastableGraph;
if (rayGraph != null)
{
GraphHitInfo graphHit;
if (rayGraph.Linecast(from, point, hint, out graphHit))
{
point = graphHit.point;
}
}
}
return(point);
}
/** Check if a straight path between v1 and v2 is valid.
* If both \a n1 and \a n2 are supplied it is assumed that the line goes from the center of \a n1 to the center of \a n2 and a more optimized graph linecast may be done.
*/
protected bool ValidateLine(GraphNode n1, GraphNode n2, Vector3 v1, Vector3 v2)
{
if (useRaycasting)
{
// Use raycasting to check if a straight path between v1 and v2 is valid
if (use2DPhysics)
{
if (thickRaycast && thickRaycastRadius > 0 && Physics2D.CircleCast(v1 + raycastOffset, thickRaycastRadius, v2 - v1, (v2 - v1).magnitude, mask))
{
return(false);
}
if (Physics2D.Linecast(v1 + raycastOffset, v2 + raycastOffset, mask))
{
return(false);
}
}
else
{
// Perform a thick raycast (if enabled)
if (thickRaycast && thickRaycastRadius > 0 && Physics.SphereCast(new Ray(v1 + raycastOffset, v2 - v1), thickRaycastRadius, (v2 - v1).magnitude, mask))
{
return(false);
}
// Perform a normal raycast
// This is done even if a thick raycast is also done because thick raycasts do not report collisions for
// colliders that overlapped the (imaginary) sphere at the origin of the thick raycast.
// If this raycast was not done then some obstacles could be missed.
if (Physics.Linecast(v1 + raycastOffset, v2 + raycastOffset, mask))
{
return(false);
}
}
}
if (useGraphRaycasting)
{
#if !AstarFree && !ASTAR_NO_GRID_GRAPH
bool betweenNodeCenters = n1 != null && n2 != null;
#endif
if (n1 == null)
{
n1 = PathFindHelper.GetNearest(v1).node;
}
if (n2 == null)
{
n2 = PathFindHelper.GetNearest(v2).node;
}
if (n1 != null && n2 != null)
{
// Use graph raycasting to check if a straight path between v1 and v2 is valid
NavGraph graph = UnityHelper.GetGraph(n1);
NavGraph graph2 = UnityHelper.GetGraph(n2);
if (graph != graph2)
{
return(false);
}
var rayGraph = graph as IRaycastableGraph;
if (rayGraph != null)
{
return(!rayGraph.Linecast(v1, v2, n1));
}
}
}
return(true);
}
/** Called when a requested path has been calculated.
* A path is first requested by #UpdatePath, it is then calculated, probably in the same or the next frame.
* Finally it is returned to the seeker which forwards it to this function.
*/
protected override void OnPathComplete(Path newPath)
{
ABPath p = newPath as ABPath;
if (p == null)
{
throw new System.Exception("This function only handles ABPaths, do not use special path types");
}
waitingForPathCalculation = false;
// Increase the reference count on the new path.
// This is used for object pooling to reduce allocations.
p.Claim(this);
// Path couldn't be calculated of some reason.
// More info in p.errorLog (debug string)
if (p.error)
{
p.Release(this);
return;
}
// Release the previous path.
if (path != null)
{
path.Release(this);
}
// Replace the old path
path = p;
// Make sure the path contains at least 2 points
if (path.vectorPath.Count == 1)
{
path.vectorPath.Add(path.vectorPath[0]);
}
interpolator.SetPath(path.vectorPath);
var graph = UnityHelper.GetGraph(path.path[0]) as ITransformedGraph;
movementPlane = graph != null ? graph.transform : (rotationIn2D ? new GraphTransform(Matrix4x4.TRS(Vector3.zero, Quaternion.Euler(-90, 270, 90), Vector3.one)) : GraphTransform.identityTransform);
// Reset some variables
reachedEndOfPath = false;
// Simulate movement from the point where the path was requested
// to where we are right now. This reduces the risk that the agent
// gets confused because the first point in the path is far away
// from the current position (possibly behind it which could cause
// the agent to turn around, and that looks pretty bad).
interpolator.MoveToLocallyClosestPoint((GetFeetPosition() + p.originalStartPoint.ToUnityV3()) * 0.5f);
interpolator.MoveToLocallyClosestPoint(GetFeetPosition());
// Update which point we are moving towards.
// Note that we need to do this here because otherwise the remainingDistance field might be incorrect for 1 frame.
// (due to interpolator.remainingDistance being incorrect).
interpolator.MoveToCircleIntersection2D(position, pickNextWaypointDist, movementPlane);
var distanceToEnd = remainingDistance;
if (distanceToEnd <= endReachedDistance)
{
reachedEndOfPath = true;
OnTargetReached();
}
}