/// <summary>
/// Starts up the planner.
/// </summary>
/// <returns>True on success.</returns>
public bool Enter()
{
if (agent.navGroup.query == null)
{
return(false);
}
NavmeshPoint pos = agent.GetPointSearch(agent.data.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format(
"{0}: Could not constrain position to navigation mesh. {1}"
, agent.transform.name, pos.ToString()));
return(false);
}
NavmeshPoint goal = agent.GetPointSearch(agent.data.goal);
if (goal.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain goal to navigation mesh. {1}"
, agent.transform.name, goal.ToString()));
return(false);
}
agent.RemoveFromCrowd();
agent.SetCorridorAssets(true);
agent.SetPathAssets(false);
if (agent.PlanCorridor(pos, goal) <= 0)
{
Debug.LogError(string.Format("{0}: Could not plan corridor on enter."
, agent.transform.name));
agent.data.flags &= ~NavFlag.CorridorInUse;
return(false);
}
agent.data.desiredPosition = agent.corridor.Position;
agent.data.plannerGoal = agent.corridor.Target;
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
mSpeed = Mathf.Sqrt(agent.data.desiredSpeedSq);
mOptimizationTimer = OptimizationFrequency;
return(true);
}
/// <summary>
/// Starts up the planner.
/// </summary>
/// <returns>True if successful.</returns>
public bool Enter()
{
if (agent == null || agent.navGroup.query == null || agent.navGroup.crowd == null)
{
// Agent in invalid state.
return(false);
}
NavmeshPoint pos = agent.GetPointSearch(agent.data.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format(
"{0}: Could not constrain position to navigation mesh. {1}"
, agent.transform.name, pos.ToString()));
return(false);
}
NavmeshPoint goal = agent.GetPointSearch(agent.data.goal);
if (goal.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain goal to navigation mesh. {1}"
, agent.transform.name, goal.ToString()));
return(false);
}
if (agent.AddToCrowd(pos.point) == null)
{
Debug.LogError(string.Format("{0}: Could not add agent to the crowd."
, agent.transform.name));
return(false);
}
agent.data.desiredPosition = pos;
agent.data.plannerGoal = goal;
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
agent.SetCorridorAssets(false);
agent.SetPathAssets(true);
return(HandlePositionFeedback());
}
/// <summary>
/// Starts up the planner.
/// </summary>
/// <returns>True if successful.</returns>
public bool Enter()
{
if (agent == null || agent.navGroup.query == null || agent.navGroup.crowd == null)
{
return(false);
}
NavmeshPoint pos = agent.GetPointSearch(agent.data.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format(
"{0}: Could not constrain position to navigation mesh. {1}"
, agent.transform.name, pos.ToString()));
return(false);
}
agent.RemoveFromCrowd();
CrowdAgentParams config = agent.crowdConfig;
config.maxSpeed = 0;
agent.crowdAgent =
agent.navGroup.crowd.AddAgent(agent.data.plannerGoal.point, config);
if (agent.crowdAgent == null)
{
Debug.LogError(string.Format("{0}: Could not add agent to the crowd."
, agent.transform.name));
return(false);
}
agent.data.flags &= ~NavFlag.CrowdConfigUpdated;
agent.data.desiredPosition = agent.data.position;
agent.data.desiredSpeedSq = 0;
agent.data.desiredVelocity = Vector3.zero;
agent.SetCorridorAssets(false);
agent.SetPathAssets(false);
return(true);
}
/// <summary>
/// Initialize the planner.
/// </summary>
/// <remarks>
/// <para>
/// This method will fail on any problem, including failure to constrain the input points
/// to the navigation mesh and problems adding the agent to the crowd manager.
/// </para>
/// </remarks>
/// <returns>True if the startup was a success.</returns>
public bool Enter()
{
if (agent.navGroup.query == null)
{
return(false);
}
NavmeshPoint pos = agent.GetPointSearch(agent.data.position);
NavmeshPoint goal = agent.GetPointSearch(agent.data.goal);
if (pos.polyRef == 0 || goal.polyRef == 0)
{
Debug.LogError(string.Format(
"{0}: Could not constrain point(s) to navigation mesh. Position: {1}, Goal: {2}"
, agent.transform.name, pos.ToString(), goal.ToString()));
return(false);
}
if (agent.AddToCrowd(pos.point) == null)
{
Debug.LogError(
string.Format("{0}: Could not add agent to crowd.", agent.transform.name));
return(false);
}
agent.SetCorridorAssets(false);
agent.SetPathAssets(false);
if (!agent.crowdAgent.RequestMoveTarget(goal))
{
Debug.LogError(
string.Format("{0}: Request agent move failed.", agent.transform.name));
return(false);
}
agent.data.plannerGoal = goal;
agent.data.desiredPosition = pos; // Just in case it's new.
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
return(true);
}
//进入到状态
public override bool Enter()
{
if (theAgent == null || theAgent.navGroup.query == null || theAgent.navGroup.crowd == null)
{
return(false);
}
//当前的位置映射到navmesh的位置
NavmeshPoint pos = theAgent.GetPointSearch(theAgent.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain position to navigation mesh. {1}"
, theAgent.transform.name, pos.ToString()));
return(false);
}
//目标映射到navmesh的位置
NavmeshPoint goal = theAgent.GetPointSearch(theAgent.goal);
if (goal.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain goal to navigation mesh. {1}"
, theAgent.transform.name, goal.ToString()));
return(false);
}
//NavAgent开始进入到crowd
if (theAgent.AddToCrowd(pos.point) == null)
{
Debug.LogError(string.Format("{0}: Could not add agent to the crowd.", theAgent.transform.name));
return(false);
}
theAgent.desiredPosition = pos;
theAgent.plannerGoal = goal;
theAgent.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
theAgent.SetCorridorAssets(false);
theAgent.SetPathAssets(true);
return(HandlePositionFeedback());
}
/// <summary>
/// Update the planner.
/// </summary>
/// <returns>True if the update completed successfully.</returns>
public bool Update()
{
agent.SyncCrowdToDesired();
// Constrain the goal to the navigation mesh.
NavmeshPoint ngoal = agent.GetPointSearch(agent.data.goal);
if (ngoal.polyRef == 0)
{
Debug.LogWarning(string.Format(
"{0}: Failed constrain goal to navmesh: Ignoring: {1}"
, agent.transform.name, ngoal.ToString()));
// Leave the flag alone. It will be handled later.
ngoal = agent.data.plannerGoal; // Revert to last good.
}
agent.data.plannerGoal = ngoal;
// Handle a full planner reset if the agent position has changed.
if ((agent.data.flags & NavFlag.HasNewPosition) != 0)
{
NavmeshPoint pt = agent.GetPointSearch(agent.data.position);
if (pt.polyRef == 0)
{
// Ignore the new position.
Debug.LogWarning(string.Format(
"{0}: Failed constrain pos to navmesh: Ignoring: {1}"
, agent.transform.name, agent.data.position.ToString()));
agent.data.flags &= ~NavFlag.HasNewPosition;
}
else
{
// Assume large change in position. So force a full reset of planning.
// Note: Ignoring failure of add since it can only occur from invalid crowd
// manager use cases.
agent.AddToCrowd(pt.point);
agent.crowdAgent.RequestMoveTarget(ngoal);
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
agent.data.desiredPosition = pt;
//Debug.Log(string.Format(
// "{0}: Reset planning. New position."
// , agent.transform.name));
return(true);
}
}
// Feed the goal to the crowd manager.
if ((agent.data.flags & NavFlag.HasNewGoal) != 0)
{
agent.crowdAgent.RequestMoveTarget(ngoal);
agent.data.flags &= ~NavFlag.HasNewGoal;
//Debug.Log(string.Format("{0}: Reset crowd goal."
// , agent.transform.name));
}
else
{
agent.crowdAgent.AdjustMoveTarget(ngoal);
}
// Handle posting configation changes to the crowd.
if ((agent.data.flags & NavFlag.CrowdConfigUpdated) != 0)
{
agent.crowdAgent.SetConfig(agent.crowdConfig);
agent.data.flags &= ~NavFlag.CrowdConfigUpdated;
}
return(true);
}