/// <summary>
/// Updates the planner.
/// </summary>
/// <returns>True on success.</returns>
public bool Update()
{
// Note: Will never return false.
Vector3 pos = agent.data.position.point;
Vector3 goal = agent.data.goal.point;
// Uses a more accurate than normal location check
// in order to prevent snapping at the end of movement.
if (Vector3Util.SloppyEquals(pos, goal, NavAgent.ExactTolerance))
{
mSpeed = 0;
agent.data.desiredPosition = agent.data.goal;
agent.data.desiredVelocity = Vector3.zero;
agent.data.desiredSpeedSq = 0;
return(true);
}
float maxDelta = agent.crowdConfig.maxAcceleration * Time.deltaTime;
float desiredSpeed = agent.crowdConfig.maxSpeed;
// This test assumes the agent can halt in less than the given number of radii.
if (Vector3Util.GetDistance2D(pos, goal) < agent.crowdConfig.radius * 3)
{
desiredSpeed = Mathf.Max(mSpeed - maxDelta, desiredSpeed * 0.2f);
}
else
{
desiredSpeed = Mathf.Min(mSpeed + maxDelta, desiredSpeed);
}
Vector3 result = Vector3.MoveTowards(pos, goal, desiredSpeed * Time.deltaTime);
agent.data.desiredPosition.point = result;
agent.data.desiredPosition.polyRef = 0;
agent.data.desiredVelocity = (result - pos).normalized * desiredSpeed;
agent.data.desiredSpeedSq = desiredSpeed * desiredSpeed;
mSpeed = desiredSpeed;
return(true);
}
//只要没有结束就会一直更新
//这些更新是在NavManager里的更新方法进行统一更新的
public override bool Update()
{
try
{
//检测位置和目标变化，并约束到导航网格
bool newPos = (theAgent.flags & NavFlag.HasNewPosition) != 0;
bool newGoal = (theAgent.flags & NavFlag.HasNewGoal) != 0;
NavmeshPoint pt;
if (newPos)
{
//和critterai的dll交互，然后调到recast的dll
//获得当前的navmesh上面的点位置
pt = theAgent.GetPointSearch(theAgent.position);
//如果点无效就报个错
if (pt.polyRef == 0)
{
// Debug.LogWarning(string.Format("{0}: Could not constrain position to navigation mesh. Ignoring: {1}",
// theAgent.transform.name, pt.ToString()));
newPos = false;
}
else
{
theAgent.desiredPosition = pt;
}
}
if (newGoal)
{
//和critterai的dll交互，然后调到recast的dll
//获得当前的navmesh上面的点位置
pt = theAgent.GetPointSearch(theAgent.goal);
if (pt.polyRef == 0)
{
// Ignore new goal.
// Debug.LogWarning(string.Format("{0}: Could not constrain goal to navigation mesh. Ignoring: {1}"
// , theAgent.transform.name, pt.ToString()));
newGoal = false;
}
else
{
theAgent.plannerGoal = pt;
}
}
theAgent.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
if (newGoal || newPos)
{
//重新制定移动计划
if (!HandlePlanning(newPos, newGoal))
{
return(false);
}
}
//是否需要进行移动的判定
if (theAgent.IsAtDestination())
{
//在目标就不用移动了
mSpeed = 0;
theAgent.desiredPosition = theAgent.plannerGoal;
theAgent.desiredVelocity = Vector3.zero;
theAgent.desiredSpeedSq = 0;
return(true);
}
//在这里调整速度（这理由可以非常任性地修改的空间）
float maxDelta = theAgent.crowdConfig.maxAcceleration * 0.02f;
//float desiredSpeed = theAgent.crowdConfig.maxSpeed;
float desiredSpeed = theAgent.moveSpeed;
if (Vector3Util.GetDistance2D(theAgent.desiredPosition.point, theAgent.plannerGoal.point) < theAgent.crowdConfig.radius * 3)
{
//如果已经很贴近目标，就做了个减速，这个还是根据具体需求来搞吧
//这个效果目前还不用,感觉略显魔性
desiredSpeed = Mathf.Max(mSpeed - maxDelta, desiredSpeed * 0.2f);
}
else
{
//正常飚速度
desiredSpeed = Mathf.Min(mSpeed + maxDelta, desiredSpeed);
}
//运行到这里，终于，开始真正正正的移动了
//每个间隔几次，来一次优化
if (--mOptimizationTimer < 1)
{
theAgent.corridor.OptimizePathTopology(true);
mOptimizationTimer = OptimizationFrequency;
}
//desiredSpeed *= 10;//用于测试速度
Vector3 movePos = Vector3.MoveTowards(theAgent.desiredPosition.point, theAgent.corridor.Corners.verts[0], desiredSpeed * NavManager.threadUpdateTimer);
//运行底层的move进行移动（这句话是无比关键的关键）
theAgent.corridor.MovePosition(movePos);
//获取移动之后的位置
movePos = theAgent.corridor.Position.point;
//更新agent的数组记录
theAgent.desiredVelocity = (movePos - theAgent.desiredPosition.point).normalized * desiredSpeed;
theAgent.desiredSpeedSq = desiredSpeed * desiredSpeed;
theAgent.desiredPosition = theAgent.corridor.Position;
mSpeed = desiredSpeed;
return(true);
}
catch (Exception X)
{
Debug.Log("Error:" + X.ToString());
return(false);
}
}
/// <summary>
/// Updates the planner.
/// </summary>
/// <returns>True on success.</returns>
public bool Update()
{
// Detect position and goal changes, and constrain to navmesh.
bool newPos = (agent.data.flags & NavFlag.HasNewPosition) != 0;
bool newGoal = (agent.data.flags & NavFlag.HasNewGoal) != 0;
NavmeshPoint pt;
if (newPos)
{
pt = agent.GetPointSearch(agent.data.position);
if (pt.polyRef == 0)
{
// Ignore new position.
Debug.LogWarning(string.Format(
"{0}: Could not constrain position to navigation mesh. Ignoring: {1}"
, agent.transform.name, pt.ToString()));
newPos = false;
}
else
{
agent.data.desiredPosition = pt;
}
}
if (newGoal)
{
pt = agent.GetPointSearch(agent.data.goal);
if (pt.polyRef == 0)
{
// Ignore new goal.
Debug.LogWarning(string.Format(
"{0}: Could not constrain goal to navigation mesh. Ignoring: {1}"
, agent.transform.name, pt.ToString()));
newGoal = false;
}
else
{
agent.data.plannerGoal = pt;
}
}
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
// Handle planning.
if (newGoal || newPos)
{
// Replanning needed.
if (!HandlePlanning(newPos, newGoal))
{
// Critical failure.
return(false);
}
}
// Is any movement needed?
if (Vector3Util.SloppyEquals(agent.data.desiredPosition.point
, agent.data.plannerGoal.point
, NavAgent.ExactTolerance))
{
// At goal. Don't need to do anything.
mSpeed = 0;
agent.data.desiredPosition = agent.data.plannerGoal;
agent.data.desiredVelocity = Vector3.zero;
agent.data.desiredSpeedSq = 0;
return(true);
}
// Handle speed adjustments.
float maxDelta = agent.crowdConfig.maxAcceleration * Time.deltaTime;
float desiredSpeed = agent.crowdConfig.maxSpeed;
// This shortcut test assumes the agent can halt in less than the
// specified number of radii.
if (Vector3Util.GetDistance2D(agent.data.desiredPosition.point
, agent.data.plannerGoal.point) < agent.crowdConfig.radius * 3)
{
// Slow down to as low of 20% of maximum speed.
desiredSpeed = Mathf.Max(mSpeed - maxDelta, desiredSpeed * 0.2f);
}
else
{
// Speed up to as high as maximum speed.
desiredSpeed = Mathf.Min(mSpeed + maxDelta, desiredSpeed);
}
// Perform the move.
if (--mOptimizationTimer < 1)
{
agent.corridor.OptimizePathTopology(true);
mOptimizationTimer = OptimizationFrequency;
}
Vector3 movePos = Vector3.MoveTowards(agent.data.desiredPosition.point
, agent.corridor.Corners.verts[0]
, desiredSpeed * Time.deltaTime);
agent.corridor.MovePosition(movePos);
movePos = agent.corridor.Position.point;
agent.data.desiredVelocity =
(movePos - agent.data.desiredPosition.point).normalized * desiredSpeed;
agent.data.desiredSpeedSq = desiredSpeed * desiredSpeed;
agent.data.desiredPosition = agent.corridor.Position;
mSpeed = desiredSpeed;
return(true);
}