bool isTargetFound(ref TargetInfoUnit targ)
{
var isFound = targ.isExists();
if (isFound)
{
target = targ;
targetReleaseTime = Time.time + targetReleaseLimit;
}
else
{
if (isVirtualTargetLost)
{
target = new TargetInfoUnit();
}
else
{
// 敵を発見できなくても、時間限界内なら敵のだいたい（半径３０ｍ）の位置を特定し続ける。
// ただし、残り３０秒を切ると時間とともに誤差が大きくなっていく。
var remainingTime = targetReleaseTime - Time.time;
var errRadius = remainingTime > 30.0f ? 30.0f : 30.0f + 30.0f - remainingTime;
target.cocapture(errRadius);
}
}
isRealTargetLost = !isFound;
return(isFound);
}
public bool capture(int id, _Action3 thisTarget, bool forceChangeTarget = false)
{
if (thisTarget != null && !thisTarget.isDead)
{
target.act = thisTarget;
var isFound = capture(id);
if (!isFound && forceChangeTarget)
{
target.act = thisTarget;
isRealTargetLost = true;
}
return(isFound);
}
else
{
if (forceChangeTarget)
{
target = new TargetInfoUnit();
isRealTargetLost = true;
}
return(false);
}
}
void OnEnable()
{
target = new TargetInfoUnit(rb.position, 30.0f); targetReleaseTime = 1000.0f;
setSensitiveRate(1.0f);
isRealTargetLost = true;
researchBaseTime = Time.time - Random.value * perceptions[0].scanInterval;
}
public bool isExists()
{
if (act != null)
{
if (act.isDead)
{
this = new TargetInfoUnit();
}
else
{
return(true);
}
}
return(false);
}
// キャプチャ ---------------------------
public bool capture(int id)
{
var resTarget = new TargetInfoUnit();
if (target.isExists())
{
researchBaseTime = Time.time;
var sqrDist = (target.act.tfObservedCenter.position - tfSensor.position).sqrMagnitude;
resTarget = perceptions[id].capture(this, target.act, sqrDist);
}
return(isTargetFound(ref resTarget));
}
public void forceUntarget()
{
target = new TargetInfoUnit();
targetReleaseTime = 0.0f;
}
public void forceTarget(Vector3 point, float errRadius = 30.0f)
{
target = new TargetInfoUnit(point, errRadius);
targetReleaseTime = Time.time + targetReleaseLimit;
}
// スキャン -------------------------------------------------
public bool scan(int id)
{
researchBaseTime = Time.time;
var pos = tfSensor.position;
var maxRadius = perceptions[id].maxDistance * sensitiveRate;
var targ = new TargetInfoUnit();
var cs = Physics.OverlapSphere(pos, maxRadius, targetLayerMask);
if (cs.Length > 1)
{
var others = new _Action3[cs.Length];
var sqrDists = new float[cs.Length];
for (var i = 0; i < cs.Length; i++)
{
var thisRb = cs[i].attachedRigidbody;
if (thisRb != rb)
{
var other = thisRb.GetComponent <_Action3>();
sqrDists[i] = (other.tfObservedCenter.position - pos).sqrMagnitude;
others[i] = other;
}
else
{
sqrDists[i] = float.PositiveInfinity;
}
}
System.Array.Sort(sqrDists, others);
targ = perceptions[id].scan(this, others, sqrDists);
}
else if (cs.Length == 1 && cs[0].attachedRigidbody != rb)
{
var otherRb = cs[0].attachedRigidbody;
var other = otherRb.GetComponent <_Action3>();
var sqrDist = (other.tfObservedCenter.position - pos).sqrMagnitude;
targ = perceptions[id].capture(this, other, sqrDist);
}
else
{
//targ = new TargetInfoUnit();
}
return(isTargetFound(ref targ));
}
