void FixedUpdate()
{
float distancetotarget = Vector3.Distance(this.transform.position, target.transform.position);
//Debug.Log(distancetotarget);
if (distancetotarget > 50)
{
/*pathPoint = PathManager.FindClosestPoint(this.transform.position);
* pathPointNextClosest = pathPoint.getNextClosestPathPoint();*/
Vector3 current3dPos = myTransform.position;
Vector2 current2dPos = new Vector2(current3dPos.x, current3dPos.z);
float angle = Vector2.Angle(pathPointNextClosest.Pos2d - pathPoint.Pos2d, current2dPos - pathPoint.Pos2d);
//Debug.Log(angle);
transform.LookAt(pathPointNextClosest.transform.position);
if ((Vector2.Distance(pathPoint.Pos2d, current2dPos) +
Vector2.Distance(pathPoint.Pos2d, pathPointNextClosest.Pos2d)
> Vector2.Distance(pathPointNextClosest.Pos2d, current2dPos) + SMOOTH_MARGIN ||
Vector2.Distance(pathPoint.Pos2d, current2dPos) < SMOOTH_MARGIN ||
(angle < 120)) &&
Vector2.Distance(pathPoint.Pos2d, current2dPos) < SMOOTH_MARGIN * 4 ||
(angle < 100)
)
{
pathPoint = pathPoint.getNextWeightedPathPoint();
pathPointNextClosest = pathPoint.getNextClosestPathPoint();
}
/*
* Quaternion saveRotation = myTransform.rotation;
*
* Vector2 direction = new Vector2(rigidbody.velocity.x, rigidbody.velocity.z);
* Vector3 relativePoint = transform.InverseTransformPoint(pathPoint.transform.position);
* Vector3 forward = myTransform.forward;
* transform.rotation = saveRotation;
*
* Vector3 targetDir = pathPoint.transform.position - transform.position;
* Vector3 normal = rigidbody.velocity.normalized;
*
* angle = Vector3.Angle(targetDir, forward);*/
transform.rigidbody.velocity = transform.forward * speed;
}
else
{
transform.LookAt(target.transform.position);
transform.rigidbody.velocity = transform.forward * 300f;
//Destroy(this.gameObject);
}
}
void FixedUpdate()
{
float distancetotarget = Vector3.Distance(this.transform.position, target.transform.position);
//Debug.Log(distancetotarget);
if (distancetotarget > 50)
{
/*pathPoint = PathManager.FindClosestPoint(this.transform.position);
* pathPointNextClosest = pathPoint.getNextClosestPathPoint();*/
Vector3 current3dPos = myTransform.position;
Vector2 current2dPos = new Vector2(current3dPos.x, current3dPos.z);
float angle = Vector2.Angle(pathPointNextClosest.Pos2d - pathPoint.Pos2d, current2dPos - pathPoint.Pos2d);
//Debug.Log(angle);
transform.LookAt(pathPointNextClosest.transform.position);
if ((Vector2.Distance(pathPoint.Pos2d, current2dPos) +
Vector2.Distance(pathPoint.Pos2d, pathPointNextClosest.Pos2d)
> Vector2.Distance(pathPointNextClosest.Pos2d, current2dPos) + SMOOTH_MARGIN ||
Vector2.Distance(pathPoint.Pos2d, current2dPos) < SMOOTH_MARGIN ||
(angle < 120)) &&
Vector2.Distance(pathPoint.Pos2d, current2dPos) < SMOOTH_MARGIN * 4 ||
(angle < 100)
)
{
pathPoint = pathPoint.getNextWeightedPathPoint();
pathPointNextClosest = pathPoint.getNextClosestPathPoint();
}
transform.rigidbody.velocity = transform.forward * speed;
}
else
{
transform.LookAt(target.transform.position);
transform.rigidbody.velocity = transform.forward * 300f;
//Destroy(this.gameObject);
}
}
/******************************************************
* MonoBehaviour methods, FixedUpdate
******************************************************/
void FixedUpdate()
{
if (isMoving && !stuckDisable)
{
Vector3 current3dPos = myTransform.position;
Vector2 current2dPos = new Vector2(current3dPos.x, current3dPos.z);
float angle = Vector2.Angle(pathPointNextClosest.Pos2d - pathPoint.Pos2d, current2dPos - pathPoint.Pos2d);
//Debug.Log(angle);
// if the distance between current pos to pathpoint + pathpoint to next pathpoint
// is greater than going from current to next pathpoint
if ((Vector2.Distance(pathPoint.Pos2d, current2dPos) +
Vector2.Distance(pathPoint.Pos2d, pathPointNextClosest.Pos2d)
> Vector2.Distance(pathPointNextClosest.Pos2d, current2dPos) + SMOOTH_MARGIN ||
Vector2.Distance(pathPoint.Pos2d, current2dPos) < SMOOTH_MARGIN ||
(angle < 120)) &&
Vector2.Distance(pathPoint.Pos2d, current2dPos) < SMOOTH_MARGIN * 4 ||
(angle < 100)
)
{
pathPoint = pathPoint.getNextWeightedPathPoint();
pathPointNextClosest = pathPoint.getNextClosestPathPoint();
}
Quaternion saveRotation = myTransform.rotation;
Vector2 direction = new Vector2(rigidbody.velocity.x, rigidbody.velocity.z);
Vector3 relativePoint = transform.InverseTransformPoint(pathPoint.transform.position);
Vector3 forward = myTransform.forward;
transform.rotation = saveRotation;
Vector3 targetDir = pathPoint.transform.position - transform.position;
Vector3 normal = rigidbody.velocity.normalized;
angle = Vector3.Angle(targetDir, forward);
bool hasTurned = false;
// collision turning rays
Ray forwardRay = new Ray(current3dPos, rigidbody.velocity.normalized);
Ray forwardDownRay = new Ray(current3dPos + (rigidbody.velocity.normalized * GAP_MARGIN), -Vector3.up);
Ray leftRay = new Ray(current3dPos, -myTransform.right);
Ray leftDownRay = new Ray(current3dPos + (-myTransform.right * GAP_MARGIN), -Vector3.up);
Ray rightRay = new Ray(current3dPos, myTransform.right);
Ray rightDownRay = new Ray(current3dPos + (myTransform.right * GAP_MARGIN), -Vector3.up);
bool forwardTest = Physics.Raycast(forwardRay, GAP_MARGIN, layerMask);
bool forwardDownTest = Physics.Raycast(forwardDownRay, PIT_MARGIN, layerMask);
bool leftTest = Physics.Raycast(leftRay, GAP_MARGIN, layerMask);
bool leftDownTest = Physics.Raycast(leftDownRay, PIT_MARGIN, layerMask);
bool rightTest = Physics.Raycast(rightRay, GAP_MARGIN, layerMask);
bool rightDownTest = Physics.Raycast(rightDownRay, PIT_MARGIN, layerMask);
// pit detection turning
if (!forwardDownTest && !hasTurned)
{
if (!leftDownTest)
{
player.turnRight();
hasTurned = true;
}
else if (!rightDownTest)
{
player.turnLeft();
hasTurned = true;
}
}
// obstacle turning
if (forwardTest && !hasTurned)
{
bool stopLeftTesting = false;
bool stopRightTesting = false;
for (int i = 1; i <= NUM_OF_INTERVALS; i++)
{
if (!stopLeftTesting)
{
if (!Physics.Raycast(leftRay, INTERVAL_MARGIN * i, layerMask))
{
Vector3 leftPoint = current3dPos + (-myTransform.right * INTERVAL_MARGIN * i);
Vector3 leftVector = leftPoint - pathPoint.Pos3d;
Ray leftFollowIntervalRay = new Ray(leftPoint, leftVector.normalized);
if (Physics.Raycast(leftFollowIntervalRay, leftVector.magnitude))
{
Ray leftIntervalDownRay = new Ray(leftPoint, -Vector3.up);
if (!Physics.Raycast(leftIntervalDownRay, PIT_MARGIN))
{
player.turnLeft();
hasTurned = true;
break;
}
}
}
else
{
stopLeftTesting = true;
}
}
if (!stopRightTesting)
{
if (!Physics.Raycast(rightRay, INTERVAL_MARGIN * i, layerMask))
{
Vector3 rightPoint = current3dPos + (myTransform.right * INTERVAL_MARGIN * i);
Vector3 rightVector = rightPoint - pathPoint.Pos3d;
Ray rightIntervalRay = new Ray(rightPoint, rightVector.normalized);
if (Physics.Raycast(rightIntervalRay, rightVector.magnitude))
{
Ray rightIntervalDownRay = new Ray(rightPoint, Vector3.up);
if (!Physics.Raycast(rightIntervalDownRay, PIT_MARGIN))
{
player.turnRight();
hasTurned = true;
break;
}
else
{
stopRightTesting = true;
}
}
}
else
{
stopRightTesting = true;
}
}
}
/*
* if (!hasTurned)
* {
* if (!leftTest)
* {
* if (leftDownTest)
* {
* player.turnRight();
* hasTurned = true;
* }
* }
* else if (!rightTest)
* {
* if (rightDownTest)
* {
* player.turnLeft();
* hasTurned = true;
* }
* }
* }*/
}
// normal turning
if (!hasTurned)
{
if (relativePoint.x < 0f && angle > 15)
{
player.turnLeft();
}
else if (relativePoint.x > 0f && angle > 15)
{
player.turnRight();
}
else
{
player.turnCenter();
}
}
// normal accelerate
if (angle < 90)
{
player.applyAcceleration();
}
else
{
player.applyIdleMotion();
}
stuckTimeCounter += Time.deltaTime;
stuckMoveCounter += Vector3.Distance(myTransform.position, lastUpdatePosition);
lastUpdatePosition = myTransform.position;
if (stuckMoveCounter >= REQUIRED_MOVE_RESET)
{
stuckTimeCounter = 0;
stuckMoveCounter = 0;
}
else if (stuckTimeCounter >= REQUIRED_STUCK_TIME)
{
stuckTimeCounter = 0;
stuckMoveCounter = 0;
stuckDisable = true;
}
}
else if (stuckDisable)
{
stuckDisableTimeCounter += Time.deltaTime;
player.applyReverse();
if (stuckDisableTimeCounter >= STUCK_DISABLE_TIME)
{
stuckDisableTimeCounter = 0;
stuckDisable = false;
}
}
else if (isMoving == false)
{
player.applyIdleMotion();
player.turnCenter();
}
}