public RaycastHit2D IntersectionFollowingImpulse(Vector2 impulse, params Condition <RaycastHit2D>[] conditions)
{
//Debug.Log(GetType().Name + " (" + Time.realtimeSinceStartup + ") -> public RaycastHit2D IntersectionFollowingImpulse(Vector2 impulse, params Condition<RaycastHit2D>[] conditions)");
validHitConditions = conditions;
Vector2[] curvePoints = MxArithmetic.CurvePoints(Physics2D.gravity, Velocity + impulse, Origin, MaxExtrapolationDeltaT, TrajectorySegments);
for (int i = 0; i < TrajectorySegments - 1; i++)
{
RaycastHit2D hit = Physics2D.Linecast(curvePoints[i], curvePoints[i + 1]);
if (visualizeTrajectory && i % 2 == 0)
{
Debug.DrawLine(curvePoints[i], curvePoints[i + 1]);
}
if (hit.collider != null && hit.collider.gameObject != gameObject)
{
foreach (Condition <RaycastHit2D> meetsCondition in conditions)
{
if (!meetsCondition(hit))
{
continue;
}
}
return(hit);
}
}
return(LastKnownIntersection);
}
/// <summary>
/// <para>Uses the object's ballistic trajectory to (attempt to) predict its position at a given height.</para>
/// <para>Returns 'null' when unable to make a prediction.</para>
/// </summary>
Vector2?PredictPositionAtHeight(float height)
{
Vector2?prevPoint = null;
foreach (Vector2 point in MxArithmetic.CurvePoints(Physics2D.gravity, EstimatedVelocity, transform.position, 5f, 100))
{
if (prevPoint != null && MxArithmetic.IsValueInRange(height, point.y, prevPoint.Value.y))
{
return(.5f * (point + prevPoint));
}
prevPoint = point;
}
return(null);
}
public static void UnsignedFloatField(string labelText, ref float value)
{
FloatField(labelText, ref value);
MxArithmetic.Unsigned(ref value);
}
void FixedUpdate()
{
//float mockOutput;
//if (rigidbody2D.velocity.y > 0f || !groundDetector.PerformRaycast(out mockOutput))
// return;
Line[] foundSurfaces = IdentifySurfaces();
Plane[] surfacePlanes = Line.ToPlanes2D(foundSurfaces);
Vector2?targetDeltaV = null;
/* Continuously raycast along ballistic trajectories (starting from their peaks)
* derived from randomized velocity changes (within the specified delta-V budget). */
for (int i = 0; i < maxTrajectoryEvaluations; i++)
{
Vector2 deltaV;
switch (impulseMode)
{
case ImpulseMode.Incremental:
deltaV = minVelocity + (maxVelocity - minVelocity) * i / maxTrajectoryEvaluations;
break;
case ImpulseMode.Random:
deltaV = RandomValidDeltaV;
break;
default:
throw new InvalidOperationException();
}
Vector2?prevPoint = null;
foreach (Vector2 point in MxArithmetic.CurvePoints(GetComponent <Rigidbody2D>().gravityScale *Physics2D.gravity, GetComponent <Rigidbody2D>().velocity + deltaV, GetComponent <Rigidbody2D>().position + feetPosition, 5f, 100))
{
if (prevPoint != null && point.y < prevPoint.Value.y)
{
Debug.DrawLine(prevPoint.Value, point, Color.red);
for (int j = 0; j < foundSurfaces.Length; j++)
{
Plane plane = surfacePlanes[j];
Vector2 delta = point - prevPoint.Value;
Ray ray = new Ray(prevPoint.Value, delta);
float intersectionDist;
if (plane.Raycast(ray, out intersectionDist))
{
Vector2 landingPoint = prevPoint.Value + intersectionDist * delta.normalized;
if (MxArithmetic.IsValueInRange(landingPoint.x, foundSurfaces[j].start.x, foundSurfaces[j].end.x) &&
MxArithmetic.IsValueInRange(intersectionDist, 0f, delta.magnitude))
{
targetDeltaV = deltaV;
//if (showChosenLandingSites)
// Debug.DrawLine(landingPoint, (Vector3)landingPoint + Vector3.up, Color.yellow, 1f);
storedLandingSiteData.AddLast(new LandingSiteData(landingPoint, Vector2.up));
goto ApplyDeltaV;
}
}
}
}
else if (prevPoint != null)
{
Debug.DrawLine(prevPoint.Value, point, Color.green);
}
prevPoint = point;
}
prevPoint = null;
}
return;
ApplyDeltaV:
//rigidbody2D.velocity += targetDeltaV.Value;
GetComponent <Rigidbody2D>().velocity += jumpMultiplier * targetDeltaV.Value;
//jumpMultiplier = 1f;
onJump.Invoke();
}
protected Vector2[] TrajectoryCurvePoints()
{
return(MxArithmetic.CurvePoints(Physics2D.gravity, Velocity, Position + offset, maxExtrapolationDeltaT, trajectorySegments));
}
