BezierCurvePath FindPath(Vector3 start_position, Vector3 target_position)
{
this.UpdateMeshFilterBounds();
var path_list = PathFinding.FindPathAstar(
start_position,
target_position,
this._search_boundary,
this._grid_granularity,
this._actor_size,
this._approach_distance);
if (path_list != null && path_list.Count > 0)
{
path_list = PathFinding.SimplifyPath(path_list, this._actor_size);
path_list.Add(target_position);
}
else
{
path_list = new List <Vector3> {
start_position, target_position
};
}
var path = new BezierCurvePath(start_position, target_position, this._bezier_curve, path_list);
return(path);
}
BezierCurvePath FindPath(Vector3 start_position, Vector3 target_position)
{
this.UpdateMeshFilterBounds();
var path_list = PathFinding.FindPathAstar(
start_position,
target_position,
this._search_boundary,
this._grid_granularity,
this._actor_size,
this._approach_distance);
if (path_list != null && path_list.Count > 0)
{
path_list = PathFinding.SimplifyPath(path_list, this._actor_size);
path_list.Add(target_position);
}
else
{
path_list = new List <Vector3> {
start_position, target_position
}
};
var path = new BezierCurvePath(start_position, target_position, this._bezier_curve, path_list);
return(path);
}
void ApproachTarget(float step_size)
{
this.transform.position = Vector3.MoveTowards(
this.transform.position,
this._target_grasp.transform.position,
step_size);
if (this._debugging)
{
Debug.DrawLine(this.transform.position, this._target_grasp.transform.position, Color.green);
}
}
void FollowPathToApproach(float step_size, Quaternion rotation, bool rotate = true)
{
if (Vector3.Distance(this.transform.position, this._intermediate_target) <= this._precision)
{
this._intermediate_target = this._path.Next(step_size);
}
if (this._debugging)
{
Debug.DrawRay(this._intermediate_target, this.transform.forward, Color.magenta);
}
if (rotate)
{
this.transform.rotation = Quaternion.RotateTowards(this.transform.rotation, rotation, step_size * 50);
}
this.transform.position = Vector3.MoveTowards(
this.transform.position,
this._intermediate_target,
step_size);
}
#endregion
}