static void Rotate(float deltaSeconds, LocalToWorld destinationSurfaceLocalToWorld, LocalToWorld surfaceLocalToWorld, NavSteering steering, NavAgent agent, Translation translation, ref Rotation rotation)
{
var lookAt = (translation.Value + steering.CurrentHeading)
.ToWorld(destinationSurfaceLocalToWorld)
.ToLocal(surfaceLocalToWorld);
lookAt.y = translation.Value.y;
var lookRotation = quaternion.LookRotationSafe(lookAt - translation.Value, math.up());
if (math.length(agent.SurfacePointNormal) > 0.01f)
{
lookRotation = math.mul(lookRotation, math.up().FromToRotation(agent.SurfacePointNormal));
}
rotation.Value = math.slerp(rotation.Value, lookRotation, deltaSeconds / agent.RotationSpeed);
}
static void HandleCompletePath(ComponentDataFromEntity <LocalToWorld> localToWorldFromEntity, Entity entity, Rotation rotation, ref NavAgent agent, Parent surface, Translation translation, PhysicsWorld physicsWorld, float elapsedSeconds, EntityCommandBuffer.ParallelWriter commandBuffer, int entityInQueryIndex, NavSettings settings)
{
var rayInput = new RaycastInput
{
Start = localToWorldFromEntity[entity].Position + agent.Offset,
End = math.forward(rotation.Value) * settings.ObstacleRaycastDistanceMax,
Filter = new CollisionFilter
{
BelongsTo = NavUtil.ToBitMask(settings.ColliderLayer),
CollidesWith = NavUtil.ToBitMask(settings.ObstacleLayer)
}
};
if (
!surface.Value.Equals(agent.DestinationSurface) &&
!NavUtil.ApproxEquals(translation.Value, agent.LocalDestination, settings.StoppingDistance) &&
!physicsWorld.CastRay(rayInput, out _)
)
{
agent.JumpSeconds = elapsedSeconds;
commandBuffer.RemoveComponent <NavWalking>(entityInQueryIndex, entity);
commandBuffer.RemoveComponent <NavSteering>(entityInQueryIndex, entity);
commandBuffer.AddComponent <NavJumping>(entityInQueryIndex, entity);
commandBuffer.AddComponent <NavPlanning>(entityInQueryIndex, entity);
return;
}
commandBuffer.RemoveComponent <NavWalking>(entityInQueryIndex, entity);
commandBuffer.RemoveComponent <NavSteering>(entityInQueryIndex, entity);
commandBuffer.RemoveComponent <NavDestination>(entityInQueryIndex, entity);
}
static void Translate(float deltaSeconds, NavSteering steering, NavAgent agent, ref Translation translation) => translation.Value += steering.CurrentHeading * agent.TranslationSpeed * deltaSeconds;
