public override IEnumerable <Status> Run()
{
InitializePath();
if (TrajectoryTimer == null)
{
yield break;
}
while (!TrajectoryTimer.HasTriggered)
{
TrajectoryTimer.Update(DwarfTime.LastTime);
PerformCurrentAction();
if (Agent.DrawPath)
{
List <Vector3> points =
Path.Select((v, i) => v.Voxel.Position + new Vector3(0.5f, 0.5f, 0.5f) + RandomPositionOffsets[i]).ToList();
Drawer3D.DrawLineList(points, Color.Red, 0.1f);
}
// Check if the path has been made invalid
if (ValidPathTimer.HasTriggered && !IsPathValid(Path))
{
Creature.OverrideCharacterMode = false;
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
}
yield return(Status.Running);
}
Creature.OverrideCharacterMode = false;
SetPath(null);
yield return(Status.Success);
}
public override IEnumerable <Status> Run()
{
Creature.CurrentCharacterMode = Creature.CharacterMode.Walking;
Creature.OverrideCharacterMode = false;
while (true)
{
// ERROR CHECKS / INITIALIZING
Agent.Physics.Orientation = Physics.OrientMode.RotateY;
//Agent.Physics.CollideMode = Physics.CollisionMode.UpDown;
List <Creature.MoveAction> path = GetPath();
if (path == null)
{
SetPath(null);
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
else if (path.Count > 0)
{
TargetVoxel = path.ElementAt(0).Voxel;
}
else
{
yield return(Status.Success);
break;
}
Creature.MoveAction currentAction = path.ElementAt(0);
// IF WE ARE MOVING
if (TargetVoxel != null)
{
Agent.Physics.IsSleeping = false;
Agent.LocalControlTimeout.Update(DwarfTime.LastTime);
ValidPathTimer.Update(DwarfTime.LastTime);
// Check if the path has been made invalid
if (ValidPathTimer.HasTriggered && !IsPathValid(path))
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
}
if (Agent.LocalControlTimeout.HasTriggered)
{
Vector3 target = TargetVoxel.Position + new Vector3(.5f, .5f, .5f);
float distToTarget = (target - Agent.Position).Length();
while (distToTarget > 0.1f)
{
Agent.Position = 0.9f * Agent.Position + 0.1f * target;
distToTarget = (target - Agent.Position).Length();
yield return(Status.Running);
}
Agent.LocalControlTimeout.Reset(Agent.LocalControlTimeout.TargetTimeSeconds);
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Running);
}
if (PreviousTargetVoxel == null)
{
LocalTarget = TargetVoxel.Position + new Vector3(0.5f, 0.5f, 0.5f);
}
else
{
LocalTarget = MathFunctions.ClosestPointToLineSegment(Agent.Position,
PreviousTargetVoxel.Position,
TargetVoxel.Position, 0.25f) + new Vector3(0.5f, 0.5f, 0.5f);
}
Vector3 desiredVelocity = (LocalTarget - Agent.Position);
desiredVelocity.Normalize();
desiredVelocity *= Creature.Stats.MaxSpeed;
Vector3 output =
Agent.Creature.Controller.GetOutput((float)DwarfTime.LastTime.ElapsedGameTime.TotalSeconds,
desiredVelocity,
Creature.Physics.Velocity);
output.Y = 0.0f;
Agent.Creature.Physics.ApplyForce(output * 0.25f,
(float)DwarfTime.LastTime.ElapsedGameTime.TotalSeconds);
float yDifference = (LocalTarget - Agent.Position).Y;
if (yDifference > 0.25f)
{
Agent.Jump(DwarfTime.LastTime);
}
if (Agent.DrawPath)
{
Drawer3D.DrawLineList(
new List <Vector3> {
LocalTarget, Agent.Creature.Physics.GlobalTransform.Translation
},
Color.White, 0.01f);
List <Vector3> points =
path.Select(v => v.Voxel.Position + new Vector3(0.5f, 0.5f, 0.5f)).ToList();
Drawer3D.DrawLineList(points, Color.Red, 0.1f);
}
bool goToNextNode;
if (path.Count > 1)
{
goToNextNode = (yDifference < 0.05 &&
(LocalTarget - Agent.Creature.Physics.GlobalTransform.Translation).Length() <
0.5f);
}
else
{
goToNextNode = (LocalTarget - Agent.Creature.Physics.GlobalTransform.Translation).Length() <
0.25f;
}
if (goToNextNode)
{
if (path.Count > 0)
{
PreviousTargetVoxel = TargetVoxel;
Agent.LocalControlTimeout.Reset(Agent.LocalControlTimeout.TargetTimeSeconds);
TargetVoxel = path[0].Voxel;
path.RemoveAt(0);
}
else
{
PreviousTargetVoxel = null;
SetPath(null);
yield return(Status.Success);
break;
}
}
}
else
{
PreviousTargetVoxel = null;
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
yield return(Status.Running);
}
}