public override TargetGoal GetGoal(KinematicData character)
{
TargetGoal g = new TargetGoal() { position = Target.position + (Target.velocity * LookAhead )};
g.hasPosition = true;
return g;
}
public override MovementOutput GetMovement()
{
TargetGoal g = new TargetGoal();
foreach (Targeter t in Targeters)
{
g.UpdateChannels(t.GetGoal(Character));
}
foreach (Decomposer d in Decomposers)
{
g = d.Decompose(Character, g);
}
for (int i = 0; i <= MaxConstraintSteps; i++)
{
Actuator.goal = g;
LineSegmentPath path = Actuator.GetPath();
foreach (Constraint c in Constraints)
{
if (c.WillViolate(path))
{
g = c.Suggest(path, Character, g);
continue;
}
}
return Actuator.GetMovement();
}
return DeadlockMovement.GetMovement();
}
public override TargetGoal Suggest(LineSegmentPath path, KinematicData character, TargetGoal goal)
{
// procurar ponto do segmento mais próximo ao centro da esfera
Vector3 closest = path.GetPosition(MathHelper.closestParamInLineSegmentToPoint(path.StartPosition, path.EndPosition, Troll.KinematicData.position));
// Check if we pass through the center point
Vector3 newPt;
if (closest.sqrMagnitude == 0)
{
// Get any vector at right angles to the segment
Vector3 dirn = path.EndPosition - path.StartPosition;
//pode nao ser esta func TO DO
Vector3 newdirn = Vector3.Cross(dirn, Vector3.Cross(dirn, Vector3.forward));
newPt = Troll.KinematicData.position + newdirn * TrollRadius * margin;
}
else
{
// Otherwise project the point out beyond the radius
newPt = (Troll.KinematicData.position + (closest - Troll.KinematicData.position) * TrollRadius * margin) / closest.sqrMagnitude;
}
// Set up the goal and return
goal.position = newPt;
return goal;
}
public override TargetGoal Suggest(LineSegmentPath path, KinematicData character, TargetGoal goal)
{
if (this.chars.KinematicData.velocity.sqrMagnitude > 1.5f)
{
this.chars.KinematicData.velocity *= 0.01f;
}
return goal;
/* // procurar ponto do segmento mais próximo ao centro da esfera
Vector3 closest = path.GetPosition(MathHelper.closestParamInLineSegmentToPoint(path.StartPosition, path.EndPosition, chars.KinematicData.position));
// Check if we pass through the center point
Vector3 newPt;
float i = 1.0f;
while (i < 25.0f)
{
for(int a = 0; a < 360; a++)
{
float nx = (float) (closest.sqrMagnitude * i * Math.Cos((a * (Math.PI / 180))));
float ny = (float) (closest.sqrMagnitude * i * Math.Sin((a * (Math.PI / 180))));
newPt = new Vector3(nx, closest.y,ny);
if (navMeshP.IsPointOnGraph(newPt))
{
goal.position = newPt;
return goal;
}
}
i = i + 0.25f;
}
return goal;
// Set up the goal and return*/
}
public override TargetGoal GetGoal(KinematicData character)
{
if (!this.hasTarget)
return new TargetGoal();
TargetGoal g = new TargetGoal() { position = this.Target.position };
g.hasPosition = true;
return g;
}
public override TargetGoal Decompose(KinematicData character, TargetGoal goal)
{
if (!goal.hasPosition)
return new TargetGoal();
if (lastGoal == null || !lastGoal.position.Equals(goal.position)) {
Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
CurrentParam = 0.0f;
this.lastGoal = goal;
}
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
this.AStarSolution = currentSolution;
this.GlobalPath = StringPullingPathSmoothing.SmoothPath(character, currentSolution);
this.GlobalPath.CalculateLocalPathsFromPathPositions(character.position);
// gets first node
goal.position = this.GlobalPath.LocalPaths[0].EndPosition;
return goal;
}
/* else if(currentSolution != null && currentSolution.IsPartial)
{
goal.position = currentSolution.PathPositions[0];
return goal;
}*/
}
else
{
if (GlobalPath.PathEnd(CurrentParam))
{
goal.position = GlobalPath.LocalPaths[GlobalPath.LocalPaths.Count - 1].GetPosition(1.0f);
return goal;
}
CurrentParam = GlobalPath.GetParam(character.position, CurrentParam);
CurrentParam += GlobalPath.CalculateOffset(CurrentParam);
goal.position = GlobalPath.GetPosition(CurrentParam);
return goal;
}
return new TargetGoal();
}
public void UpdateChannels(TargetGoal o)
{
if (o.hasPosition)
{
position = o.position;
hasPosition = true;
}
if (o.hasOrientation)
{
orientation = o.orientation;
hasOrientation = true;
}
if (o.hasVelocity) {
velocity = o.velocity;
hasVelocity = true;
}
if (o.hasRotation) {
rotation = o.rotation;
hasRotation = true;
}
}
public override TargetGoal Decompose(KinematicData character, TargetGoal goal)
{
AStarPathfinding Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
// In goal, ends
if (Astar.StartNode.Equals(Astar.GoalNode)) {
return goal;
}
// else, plan
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
// gets first node
goal.position = currentSolution.PathNodes[0].Position;
return goal;
}
}
return goal;
}
public abstract TargetGoal Decompose(KinematicData character, TargetGoal goal);
public abstract TargetGoal Suggest(LineSegmentPath path, KinematicData character, TargetGoal goal);
