void Update()
{
if (m_currentTargetNode)
{
// Do target node look at if target is valid
PerformLookAt(m_currentTargetNode.transform);
m_totalDuration += Time.deltaTime;
if (!IsWaiting)
{
// Move Truck towards next connection
PerformMovement();
// If nearly reached destination
float nextNodeDistance = Vector3.Distance(transform.position, m_currentTargetNode.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
// Increment and set new target game object
m_currentTargetNodeIndex++;
// Move target node to next node index
if (m_currentTargetNodeIndex > 0 && m_currentTargetNodeIndex < m_connectionDrivePath.Count)
{
Connection currentTargetConnection = m_connectionDrivePath[m_currentTargetNodeIndex];
m_currentTargetNode = currentTargetConnection.ToNode;
OnTravelNewConnection?.Invoke(this, currentTargetConnection);
}
else
{
//Debug.LogError("TargetNodeIndex is out of bounds!");
}
}
// Check if reached final node yet
float finalNodeDistance = Vector3.Distance(transform.position, m_connectionDrivePath[m_connectionDrivePath.Count - 1].ToNode.transform.position);
if (finalNodeDistance < DESTINATION_TOLERANCE)
{
// Invoke event for reached path end and remove target
Connection finalConnection = m_connectionDrivePath[m_connectionDrivePath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
string infoStr = $"Finished path to '{finalConnection.ToNode.name}', duration of '{Math.Round(m_totalDuration, 2)}s'";
m_ui.SetStatusText(infoStr);
Debug.Log($"Agent '{this.gameObject.name}' " + infoStr);
ResetPath();
}
}
}
}
private void NavigateACO()
{
if (m_currentTargetACOConn != null)
{
/// Look at next target node
GameObject targetNodeObj = m_currentTargetACOConn.Route[m_currentACOConnRouteIndex].ToNode;
PerformLookAt(targetNodeObj.transform);
if (!IsWaiting)
{
/// if not waiting, move toward next route node
PerformMovementTo(targetNodeObj.transform.position);
/// Check if agent reached next route node
float nextNodeDistance = Vector3.Distance(transform.position, targetNodeObj.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
/// Reached next route node, increment to next route node or to new ACOConnection
m_currentACOConnRouteIndex++;
/// Check RouteIndex is within route bounds
if (m_currentACOConnRouteIndex >= m_currentTargetACOConn.Route.Count)
{
/// If index is more than route, we've reached end and can move to next ACOConnection
m_currentACOConnRouteIndex = 0;
m_currentTargetACOConnIndex++;
/// Check if reached end of ACOConnection path
if (m_currentTargetACOConnIndex >= m_acoConnectionPath.Count)
{
ACOConnection finalConnection = m_acoConnectionPath[m_acoConnectionPath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
m_ui.SetStatusText($"Finished path to '{finalConnection.ToNode.name}'");
m_currentDrivePathTarget = NavigationTarget.ACOToStart;
Debug.Log($"Agent '{this.name}' finished ACO path. Navigating A* path to Start");
return;
}
else
{
/// Move to next node in Route
//Debug.Log($"Reached ACO goal {m_currentTargetACOConn.ToNode.name}");
OnReachedGoal?.Invoke(this, m_currentTargetACOConn.ToNode);
/// Continue moving through ACOConnection path if not at end
m_currentTargetACOConn = m_acoConnectionPath[m_currentTargetACOConnIndex];
OnTravelNewConnection?.Invoke(this, m_currentTargetACOConn);
return;
}
}
else
{
/// Still more Route nodes to travel to, invoke event to specify the connection
Connection nextRouteConnection = m_currentTargetACOConn.Route[m_currentACOConnRouteIndex];
OnTravelNewConnection?.Invoke(this, nextRouteConnection);
}
}
}
}
}
void Update()
{
if (m_currentTargetACOConn != null)
{
GameObject targetNodeObj = m_currentTargetACOConn.Route[m_currentACOConnRouteIndex].ToNode;
/// Look at next target node
PerformLookAt(targetNodeObj.transform);
if (!IsWaiting)
{
/// if not waiting, move toward next route node
PerformMovementTo(targetNodeObj.transform.position);
/// Check if agent reached next route node
float nextNodeDistance = Vector3.Distance(transform.position, targetNodeObj.transform.position);
if (nextNodeDistance < DESTINATION_TOLERANCE)
{
/// Reached next route node, increment to next route node or to new ACOConnection
m_currentACOConnRouteIndex++;
if (m_currentACOConnRouteIndex >= m_currentTargetACOConn.Route.Count)
{
m_currentACOConnRouteIndex = 0;
m_currentTargetACOConnIndex++;
/// Check if reached end of ACOConnection path
if (m_currentTargetACOConnIndex >= m_connectionPath.Count)
{
ACOConnection finalConnection = m_connectionPath[m_connectionPath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
m_ui.SetStatusText($"Finished path to '{finalConnection.ToNode.name}'");
ResetPath();
return;
}
else
{
/// Continue moving through ACOConnection path if not at end
m_currentTargetACOConn = m_connectionPath[m_currentTargetACOConnIndex];
OnTravelNewConnection?.Invoke(this, m_currentTargetACOConn);
return;
}
}
}
// Check if agent reached final ACOConnection node
float finalNodeDistance = Vector3.Distance(transform.position, m_connectionPath[m_connectionPath.Count - 1].ToNode.transform.position);
if (finalNodeDistance < DESTINATION_TOLERANCE && m_currentTargetACOConnIndex >= m_connectionPath.Count)
{
// Invoke event for reached path end and remove target
ACOConnection finalConnection = m_connectionPath[m_connectionPath.Count - 1];
OnReachedPathEnd?.Invoke(this, finalConnection.ToNode);
m_ui.SetStatusText($"Finished path to '{finalConnection.ToNode.name}'");
ResetPath();
}
}
}
}