public override void SetDesiredPosOrVelocity(FP deltaTime, IsPosWalkable w = null, bool bSkipBoids = false)
{
if (flowField != null)
{
TSVector desiredDirection = flowField.steeringBehaviourFlowField(_behaviour);
TSVector vec = _behaviour.position;// flowField._gridMap.GetGridFloatCoord(_behaviour.position);
FP fDtSecond = deltaTime;
List <IAgentBehaviour> agents = _behaviour.neighbours;
int preBoidsType = _activeBoids;
bool bUsePreBoidsForce = bSkipBoids && _preBoidsForce != TSVector.zero;
_activeBoids = !bUsePreBoidsForce ? _activeBoids : (byte)EBoidsActiveType.none;
// bool bStatic = false;
TSVector a = ApplyForce(deltaTime, desiredDirection, _behaviour.velocity, vec,
agents, bUsePreBoidsForce, false); //TSVector.zero;//
TSVector deltaV = a * fDtSecond;
FP maxSpeedSqr = _behaviour.maxSpeed * _behaviour.maxSpeed;
//if (deltaV.sqrMagnitude> maxSpeedSqr)
//{
// deltaV = deltaV.normalized * _behaviour.maxSpeed;
//}
_behaviour.preVelocity = (_behaviour.velocity + deltaV); //.normalized*_behaviour.maxSpeed;
if (_behaviour.preVelocity.sqrMagnitude > _behaviour.maxSpeed * _behaviour.maxSpeed) //|| TSVector.Dot(_behaviour.velocity, a) > 0
{
_behaviour.preVelocity = CustomMath.Normalize(_behaviour.preVelocity) * _behaviour.maxSpeed;
}
#if UNITY_EDITOR && !MULTI_THREAD
if (PathFindingManager.DEBUG)
{
if (FP.Abs(_behaviour.preVelocity.x) > _behaviour.maxSpeed * 2 || FP.Abs(_behaviour.preVelocity.z) > _behaviour.maxSpeed * 2)
{
UnityEngine.Debug.LogError("velocity error!");
}
}
#endif
if (agents.Count > 0)
{
//IAgentBehaviour nearestNeighbour = agents[0];
//FP r = nearestNeighbour.colliderRadius + _behaviour.colliderRadius;
//TSVector dir = nearestNeighbour.position - _behaviour.position;
//if (nearestNeighbour.agent == null)//the ally neighbour has a target,
// //cause this agent change type to atar type targeted to the same target
//{
// PathFindingAgentBehaviour agent = _behaviour as PathFindingAgentBehaviour;
// TSVector target = (nearestNeighbour as PathFindingAgentBehaviour)._targetPos;
// if(target!=TSVector.MaxValue)
// {
// agent.SetNewTargetPos(target);
// }
// // agent.ChangeAgentType(EAgentType.astar);
// return;
//}
//if (dir.sqrMagnitude<r*r )
//{
// FP dot = TSVector.Dot(dir, _behaviour.preVelocity);
// if(dot>0)//60 degree,CustomMath.FPHalf
// {
// {
// TSVector v = _behaviour.preVelocity;
// v.x = -dir.z;
// v.z = dir.x;
// _behaviour.preVelocity = v.normalized * _behaviour.maxSpeed;//10;// _behaviour.preVelocity.magnitude;
// }
// //TSVector v = _behaviour.preVelocity;
// //v.x = 0;
// //dot = dir.z *v.z;
// //if(dot<= CustomMath.FPHalf)
// //{
// // _behaviour.preVelocity = v.normalized*_behaviour.maxSpeed;
// //}
// //else
// //{
// // v = _behaviour.preVelocity;
// // v.z = 0;
// // dot = dir.x * v.x;
// // if(dot<= CustomMath.FPHalf)
// // {
// // _behaviour.preVelocity = v.normalized * _behaviour.maxSpeed;
// // }
// // else
// // {
// // _behaviour.preVelocity = TSVector.zero;
// // }
// //}
// }
//}
}
_activeBoids = preBoidsType;
}
}
