|
public FindWalls ( List |
||
| wallBuffer | List |
|
| range | float | |
| return | void | |
void TraverseFunnel(RichFunnel fn, float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
{
// Clamp the current position to the navmesh
// and update the list of upcoming corners in the path
// and store that in the 'nextCorners' field
var position3D = UpdateTarget(fn);
float elevation;
Vector2 position = movementPlane.ToPlane(position3D, out elevation);
// Only find nearby walls every 5th frame to improve performance
if (Time.frameCount % 5 == 0 && wallForce > 0 && wallDist > 0)
{
wallBuffer.Clear();
fn.FindWalls(wallBuffer, wallDist);
}
// Target point
steeringTarget = nextCorners[0];
Vector2 targetPoint = movementPlane.ToPlane(steeringTarget);
// Direction to target
Vector2 dir = targetPoint - position;
// Normalized direction to the target
Vector2 normdir = VectorMath.Normalize(dir, out distanceToSteeringTarget);
// Calculate force from walls
Vector2 wallForceVector = CalculateWallForce(position, elevation, normdir);
Vector2 targetVelocity;
if (approachingPartEndpoint)
{
targetVelocity = slowdownTime > 0 ? Vector2.zero : normdir * maxSpeed;
// Reduce the wall avoidance force as we get closer to our target
wallForceVector *= System.Math.Min(distanceToSteeringTarget / 0.5f, 1);
if (distanceToSteeringTarget <= endReachedDistance)
{
// Reached the end of the path or an off mesh link
NextPart();
}
}
else
{
var nextNextCorner = nextCorners.Count > 1 ? movementPlane.ToPlane(nextCorners[1]) : position + 2 * dir;
targetVelocity = (nextNextCorner - targetPoint).normalized * maxSpeed;
}
var forwards = movementPlane.ToPlane(simulatedRotation * (orientation == OrientationMode.YAxisForward ? Vector3.up : Vector3.forward));
Vector2 accel = MovementUtilities.CalculateAccelerationToReachPoint(targetPoint - position, targetVelocity, velocity2D, acceleration, rotationSpeed, maxSpeed, forwards);
// Update the velocity using the acceleration
velocity2D += (accel + wallForceVector * wallForce) * deltaTime;
// Distance to the end of the path (almost as the crow flies)
var distanceToEndOfPath = distanceToSteeringTarget + Vector3.Distance(steeringTarget, fn.exactEnd);
var slowdownFactor = distanceToEndOfPath < maxSpeed *slowdownTime?Mathf.Sqrt(distanceToEndOfPath / (maxSpeed *slowdownTime)) : 1;
FinalMovement(position3D, deltaTime, distanceToEndOfPath, slowdownFactor, out nextPosition, out nextRotation);
}
private void TraverseFunnel(RichFunnel fn, float deltaTime)
{
float elevation;
Vector2 vector = this.movementPlane.ToPlane(this.UpdateTarget(fn), out elevation);
if (Time.frameCount % 5 == 0 && this.wallForce > 0f && this.wallDist > 0f)
{
this.wallBuffer.Clear();
fn.FindWalls(this.wallBuffer, this.wallDist);
}
Vector2 vector2 = this.waypoint = this.movementPlane.ToPlane(this.nextCorners[0]);
Vector2 vector3 = vector2 - vector;
object obj = this.lastCorner && this.nextCorners.Count == 1;
Vector2 vector4 = VectorMath.Normalize(vector3, out this.distanceToWaypoint);
Vector2 a = this.CalculateWallForce(vector, elevation, vector4);
object obj2 = obj;
Vector2 targetVelocity;
if (obj2 != null)
{
targetVelocity = ((this.slowdownTime > 0f) ? Vector2.zero : (vector4 * this.maxSpeed));
a *= Math.Min(this.distanceToWaypoint / 0.5f, 1f);
if (this.distanceToWaypoint <= this.endReachedDistance)
{
this.NextPart();
}
}
else
{
targetVelocity = (((this.nextCorners.Count > 1) ? this.movementPlane.ToPlane(this.nextCorners[1]) : (vector + 2f * vector3)) - vector2).normalized * this.maxSpeed;
}
Vector2 a2 = MovementUtilities.CalculateAccelerationToReachPoint(vector2 - vector, targetVelocity, this.velocity2D, this.acceleration, this.maxSpeed);
this.velocity2D += (a2 + a * this.wallForce) * deltaTime;
float distanceToEndOfPath = fn.DistanceToEndOfPath;
float num = (this.slowdownTime > 0f) ? (distanceToEndOfPath / (this.maxSpeed * this.slowdownTime)) : 1f;
this.velocity2D = MovementUtilities.ClampVelocity(this.velocity2D, this.maxSpeed, num, this.slowWhenNotFacingTarget, this.movementPlane.ToPlane(this.rotationIn2D ? this.tr.up : this.tr.forward));
base.ApplyGravity(deltaTime);
if (this.rvoController != null && this.rvoController.enabled)
{
Vector3 pos = this.movementPlane.ToWorld(vector + Vector2.ClampMagnitude(this.velocity2D, distanceToEndOfPath), elevation);
this.rvoController.SetTarget(pos, this.velocity2D.magnitude, this.maxSpeed);
}
Vector2 vector5 = base.CalculateDeltaToMoveThisFrame(vector, distanceToEndOfPath, deltaTime);
float num2 = (obj2 != null) ? Mathf.Clamp01(1.1f * num - 0.1f) : 1f;
this.RotateTowards(vector5, this.rotationSpeed * num2 * deltaTime);
base.Move(this.movementPlane.ToWorld(vector, elevation), this.movementPlane.ToWorld(vector5, this.verticalVelocity * deltaTime));
}
// Token: 0x0600217C RID: 8572 RVA: 0x0018E4A4 File Offset: 0x0018C6A4
private void TraverseFunnel(RichFunnel fn, float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
{
Vector3 vector = this.UpdateTarget(fn);
float elevation;
Vector2 vector2 = this.movementPlane.ToPlane(vector, out elevation);
if (Time.frameCount % 5 == 0 && this.wallForce > 0f && this.wallDist > 0f)
{
this.wallBuffer.Clear();
fn.FindWalls(this.wallBuffer, this.wallDist);
}
this.steeringTarget = this.nextCorners[0];
Vector2 vector3 = this.movementPlane.ToPlane(this.steeringTarget);
Vector2 vector4 = vector3 - vector2;
Vector2 vector5 = VectorMath.Normalize(vector4, out this.distanceToSteeringTarget);
Vector2 a = this.CalculateWallForce(vector2, elevation, vector5);
Vector2 targetVelocity;
if (this.approachingPartEndpoint)
{
targetVelocity = ((this.slowdownTime > 0f) ? Vector2.zero : (vector5 * this.maxSpeed));
a *= Math.Min(this.distanceToSteeringTarget / 0.5f, 1f);
if (this.distanceToSteeringTarget <= this.endReachedDistance)
{
this.NextPart();
}
}
else
{
targetVelocity = (((this.nextCorners.Count > 1) ? this.movementPlane.ToPlane(this.nextCorners[1]) : (vector2 + 2f * vector4)) - vector3).normalized * this.maxSpeed;
}
Vector2 forwardsVector = this.movementPlane.ToPlane(this.simulatedRotation * (this.rotationIn2D ? Vector3.up : Vector3.forward));
Vector2 a2 = MovementUtilities.CalculateAccelerationToReachPoint(vector3 - vector2, targetVelocity, this.velocity2D, this.acceleration, this.rotationSpeed, this.maxSpeed, forwardsVector);
this.velocity2D += (a2 + a * this.wallForce) * deltaTime;
float num = this.distanceToSteeringTarget + Vector3.Distance(this.steeringTarget, fn.exactEnd);
float slowdownFactor = (num < this.maxSpeed * this.slowdownTime) ? Mathf.Sqrt(num / (this.maxSpeed * this.slowdownTime)) : 1f;
this.FinalMovement(vector, deltaTime, num, slowdownFactor, out nextPosition, out nextRotation);
}
protected virtual void Update()
{
RichAI.deltaTime = Mathf.Min(Time.smoothDeltaTime * 2f, Time.deltaTime);
if (this.rp != null)
{
RichPathPart currentPart = this.rp.GetCurrentPart();
RichFunnel richFunnel = currentPart as RichFunnel;
if (richFunnel != null)
{
Vector3 vector = this.UpdateTarget(richFunnel);
if (Time.frameCount % 5 == 0)
{
this.wallBuffer.Clear();
richFunnel.FindWalls(this.wallBuffer, this.wallDist);
}
int num = 0;
Vector3 vector2 = this.buffer[num];
Vector3 vector3 = vector2 - vector;
vector3.y = 0f;
bool flag = Vector3.Dot(vector3, this.currentTargetDirection) < 0f;
if (flag && this.buffer.Count - num > 1)
{
num++;
vector2 = this.buffer[num];
}
if (vector2 != this.lastTargetPoint)
{
this.currentTargetDirection = vector2 - vector;
this.currentTargetDirection.y = 0f;
this.currentTargetDirection.Normalize();
this.lastTargetPoint = vector2;
}
vector3 = vector2 - vector;
vector3.y = 0f;
float magnitude = vector3.magnitude;
this.distanceToWaypoint = magnitude;
vector3 = ((magnitude != 0f) ? (vector3 / magnitude) : Vector3.zero);
Vector3 vector4 = vector3;
Vector3 vector5 = Vector3.zero;
if (this.wallForce > 0f && this.wallDist > 0f)
{
float num2 = 0f;
float num3 = 0f;
for (int i = 0; i < this.wallBuffer.Count; i += 2)
{
Vector3 vector6 = AstarMath.NearestPointStrict(this.wallBuffer[i], this.wallBuffer[i + 1], this.tr.position);
float sqrMagnitude = (vector6 - vector).sqrMagnitude;
if (sqrMagnitude <= this.wallDist * this.wallDist)
{
Vector3 normalized = (this.wallBuffer[i + 1] - this.wallBuffer[i]).normalized;
float num4 = Vector3.Dot(vector3, normalized) * (1f - Math.Max(0f, 2f * (sqrMagnitude / (this.wallDist * this.wallDist)) - 1f));
if (num4 > 0f)
{
num3 = Math.Max(num3, num4);
}
else
{
num2 = Math.Max(num2, -num4);
}
}
}
Vector3 vector7 = Vector3.Cross(Vector3.up, vector3);
vector5 = vector7 * (num3 - num2);
}
bool flag2 = this.lastCorner && this.buffer.Count - num == 1;
if (flag2)
{
if (this.slowdownTime < 0.001f)
{
this.slowdownTime = 0.001f;
}
Vector3 vector8 = vector2 - vector;
vector8.y = 0f;
if (this.preciseSlowdown)
{
vector3 = (6f * vector8 - 4f * this.slowdownTime * this.velocity) / (this.slowdownTime * this.slowdownTime);
}
else
{
vector3 = 2f * (vector8 - this.slowdownTime * this.velocity) / (this.slowdownTime * this.slowdownTime);
}
vector3 = Vector3.ClampMagnitude(vector3, this.acceleration);
vector5 *= Math.Min(magnitude / 0.5f, 1f);
if (magnitude < this.endReachedDistance)
{
this.NextPart();
}
}
else
{
vector3 *= this.acceleration;
}
this.velocity += (vector3 + vector5 * this.wallForce) * RichAI.deltaTime;
if (this.slowWhenNotFacingTarget)
{
float num5 = (Vector3.Dot(vector4, this.tr.forward) + 0.5f) * 0.6666667f;
float num6 = Mathf.Sqrt(this.velocity.x * this.velocity.x + this.velocity.z * this.velocity.z);
float y = this.velocity.y;
this.velocity.y = 0f;
float num7 = Mathf.Min(num6, this.maxSpeed * Mathf.Max(num5, 0.2f));
this.velocity = Vector3.Lerp(this.tr.forward * num7, this.velocity.normalized * num7, Mathf.Clamp((!flag2) ? 0f : (magnitude * 2f), 0.5f, 1f));
this.velocity.y = y;
}
else
{
float num8 = Mathf.Sqrt(this.velocity.x * this.velocity.x + this.velocity.z * this.velocity.z);
num8 = this.maxSpeed / num8;
if (num8 < 1f)
{
this.velocity.x = this.velocity.x * num8;
this.velocity.z = this.velocity.z * num8;
}
}
if (flag2)
{
Vector3 trotdir = Vector3.Lerp(this.velocity, this.currentTargetDirection, Math.Max(1f - magnitude * 2f, 0f));
this.RotateTowards(trotdir);
}
else
{
this.RotateTowards(this.velocity);
}
this.velocity += RichAI.deltaTime * this.gravity;
if (this.rvoController != null && this.rvoController.enabled)
{
this.tr.position = vector;
this.rvoController.Move(this.velocity);
}
else if (this.controller != null && this.controller.enabled)
{
this.tr.position = vector;
this.controller.Move(this.velocity * RichAI.deltaTime);
}
else
{
float y2 = vector.y;
vector += this.velocity * RichAI.deltaTime;
vector = this.RaycastPosition(vector, y2);
this.tr.position = vector;
}
}
else if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.Move(Vector3.zero);
}
if (currentPart is RichSpecial)
{
RichSpecial rs = currentPart as RichSpecial;
if (!this.traversingSpecialPath)
{
base.StartCoroutine(this.TraverseSpecial(rs));
}
}
}
else if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.Move(Vector3.zero);
}
else if (!(this.controller != null) || !this.controller.enabled)
{
this.tr.position = this.RaycastPosition(this.tr.position, this.tr.position.y);
}
}
/** Update is called once per frame */
protected virtual void Update()
{
deltaTime = Mathf.Min(Time.smoothDeltaTime * 2, Time.deltaTime);
if (rp != null)
{
//System.Diagnostics.Stopwatch w = new System.Diagnostics.Stopwatch();
//w.Start();
RichPathPart pt = rp.GetCurrentPart();
RichFunnel fn = pt as RichFunnel;
if (fn != null)
{
//Clear buffers for reuse
Vector3 position = UpdateTarget(fn);
//tr.position = ps;
//Only get walls every 5th frame to save on performance
if (Time.frameCount % 5 == 0)
{
wallBuffer.Clear();
fn.FindWalls(wallBuffer, wallDist);
}
/*for (int i=0;i<wallBuffer.Count;i+=2) {
* Debug.DrawLine (wallBuffer[i],wallBuffer[i+1],Color.magenta);
* }*/
//Pick next waypoint if current is reached
int tgIndex = 0;
/*if (buffer.Count > 1) {
* if ((buffer[tgIndex]-tr.position).sqrMagnitude < pickNextWaypointDist*pickNextWaypointDist) {
* tgIndex++;
* }
* }*/
//Target point
Vector3 tg = buffer[tgIndex];
Vector3 dir = tg - position;
dir.y = 0;
bool passedTarget = Vector3.Dot(dir, currentTargetDirection) < 0;
//Check if passed target in another way
if (passedTarget && buffer.Count - tgIndex > 1)
{
tgIndex++;
tg = buffer[tgIndex];
}
if (tg != lastTargetPoint)
{
currentTargetDirection = (tg - position);
currentTargetDirection.y = 0;
currentTargetDirection.Normalize();
lastTargetPoint = tg;
//Debug.DrawRay (tr.position, Vector3.down*2,Color.blue,0.2f);
}
//Direction to target
dir = (tg - position);
dir.y = 0;
float magn = dir.magnitude;
//Write out for other scripts to read
distanceToWaypoint = magn;
//Normalize
dir = magn == 0 ? Vector3.zero : dir / magn;
Vector3 normdir = dir;
Vector3 force = Vector3.zero;
if (wallForce > 0 && wallDist > 0)
{
float wLeft = 0;
float wRight = 0;
for (int i = 0; i < wallBuffer.Count; i += 2)
{
Vector3 closest = AstarMath.NearestPointStrict(wallBuffer[i], wallBuffer[i + 1], tr.position);
float dist = (closest - position).sqrMagnitude;
if (dist > wallDist * wallDist)
{
continue;
}
Vector3 tang = (wallBuffer[i + 1] - wallBuffer[i]).normalized;
//Using the fact that all walls are laid out clockwise (seeing from inside)
//Then left and right (ish) can be figured out like this
float dot = Vector3.Dot(dir, tang) * (1 - System.Math.Max(0, (2 * (dist / (wallDist * wallDist)) - 1)));
if (dot > 0)
{
wRight = System.Math.Max(wRight, dot);
}
else
{
wLeft = System.Math.Max(wLeft, -dot);
}
}
Vector3 norm = Vector3.Cross(Vector3.up, dir);
force = norm * (wRight - wLeft);
//Debug.DrawRay (tr.position, force, Color.cyan);
}
//Is the endpoint of the path (part) the current target point
bool endPointIsTarget = lastCorner && buffer.Count - tgIndex == 1;
if (endPointIsTarget)
{
//Use 2nd or 3rd degree motion equation to figure out acceleration to reach target in "exact" [slowdownTime] seconds
//Clamp to avoid divide by zero
if (slowdownTime < 0.001f)
{
slowdownTime = 0.001f;
}
Vector3 diff = tg - position;
diff.y = 0;
if (preciseSlowdown)
{
//{ t = slowdownTime
//{ diff = vt + at^2/2 + qt^3/6
//{ 0 = at + qt^2/2
//{ solve for a
dir = (6 * diff - 4 * slowdownTime * velocity) / (slowdownTime * slowdownTime);
}
else
{
dir = 2 * (diff - slowdownTime * velocity) / (slowdownTime * slowdownTime);
}
dir = Vector3.ClampMagnitude(dir, acceleration);
force *= System.Math.Min(magn / 0.5f, 1);
if (magn < endReachedDistance)
{
//END REACHED
NextPart();
}
}
else
{
dir *= acceleration;
}
//Debug.DrawRay (tr.position+Vector3.up, dir*3, Color.blue);
velocity += (dir + force * wallForce) * deltaTime;
if (slowWhenNotFacingTarget)
{
float dot = (Vector3.Dot(normdir, tr.forward) + 0.5f) * (1.0f / 1.5f);
//velocity = Vector3.ClampMagnitude (velocity, maxSpeed * Mathf.Max (dot, 0.2f) );
float xzmagn = Mathf.Sqrt(velocity.x * velocity.x + velocity.z * velocity.z);
float prevy = velocity.y;
velocity.y = 0;
float mg = Mathf.Min(xzmagn, maxSpeed * Mathf.Max(dot, 0.2f));
velocity = Vector3.Lerp(tr.forward * mg, velocity.normalized * mg, Mathf.Clamp(endPointIsTarget ? (magn * 2) : 0, 0.5f, 1.0f));
velocity.y = prevy;
}
else
{
// Clamp magnitude on the XZ axes
float xzmagn = Mathf.Sqrt(velocity.x * velocity.x + velocity.z * velocity.z);
xzmagn = maxSpeed / xzmagn;
if (xzmagn < 1)
{
velocity.x *= xzmagn;
velocity.z *= xzmagn;
//Vector3.ClampMagnitude (velocity, maxSpeed);
}
}
//Debug.DrawLine (tr.position, tg, lastCorner ? Color.red : Color.green);
if (endPointIsTarget)
{
Vector3 trotdir = Vector3.Lerp(velocity, currentTargetDirection, System.Math.Max(1 - magn * 2, 0));
RotateTowards(trotdir);
}
else
{
RotateTowards(velocity);
}
//Applied after rotation to enable proper checks on if velocity is zero
velocity += deltaTime * gravity;
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
tr.position = position;
rvoController.Move(velocity);
}
else
if (controller != null && controller.enabled)
{
//Use CharacterController
tr.position = position;
controller.Move(velocity * deltaTime);
}
else
{
//Use Transform
float lasty = position.y;
position += velocity * deltaTime;
position = RaycastPosition(position, lasty);
tr.position = position;
}
}
else
{
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
rvoController.Move(Vector3.zero);
}
}
if (pt is RichSpecial)
{
RichSpecial rs = pt as RichSpecial;
if (!traversingSpecialPath)
{
StartCoroutine(TraverseSpecial(rs));
}
}
//w.Stop();
//Debug.Log ((w.Elapsed.TotalMilliseconds*1000));
}
else
{
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
rvoController.Move(Vector3.zero);
}
else
if (controller != null && controller.enabled)
{
}
else
{
tr.position = RaycastPosition(tr.position, tr.position.y);
}
}
}
protected virtual void Update()
{
RichAI.deltaTime = Mathf.Min(Time.smoothDeltaTime * 2f, Time.deltaTime);
if (this.rp != null)
{
RichPathPart currentPart = this.rp.GetCurrentPart();
RichFunnel richFunnel = currentPart as RichFunnel;
if (richFunnel != null)
{
Vector3 vector = this.UpdateTarget(richFunnel);
if (Time.frameCount % 5 == 0 && this.wallForce > 0f && this.wallDist > 0f)
{
this.wallBuffer.Clear();
richFunnel.FindWalls(this.wallBuffer, this.wallDist);
}
int num = 0;
Vector3 vector2 = this.nextCorners[num];
Vector3 vector3 = vector2 - vector;
vector3.y = 0f;
bool flag = Vector3.Dot(vector3, this.currentTargetDirection) < 0f;
if (flag && this.nextCorners.Count - num > 1)
{
num++;
vector2 = this.nextCorners[num];
}
if (vector2 != this.lastTargetPoint)
{
this.currentTargetDirection = vector2 - vector;
this.currentTargetDirection.y = 0f;
this.currentTargetDirection.Normalize();
this.lastTargetPoint = vector2;
}
vector3 = vector2 - vector;
vector3.y = 0f;
Vector3 vector4 = VectorMath.Normalize(vector3, out this.distanceToWaypoint);
bool flag2 = this.lastCorner && this.nextCorners.Count - num == 1;
if (flag2 && this.distanceToWaypoint < 0.01f * this.maxSpeed)
{
this.velocity = (vector2 - vector) * 100f;
}
else
{
Vector3 a = this.CalculateWallForce(vector, vector4);
Vector2 vector5;
if (flag2)
{
vector5 = this.CalculateAccelerationToReachPoint(RichAI.To2D(vector2 - vector), Vector2.zero, RichAI.To2D(this.velocity));
a *= Math.Min(this.distanceToWaypoint / 0.5f, 1f);
if (this.distanceToWaypoint < this.endReachedDistance)
{
this.NextPart();
}
}
else
{
Vector3 a2 = (num >= this.nextCorners.Count - 1) ? ((vector2 - vector) * 2f + vector) : this.nextCorners[num + 1];
Vector3 v = (a2 - vector2).normalized * this.maxSpeed;
vector5 = this.CalculateAccelerationToReachPoint(RichAI.To2D(vector2 - vector), RichAI.To2D(v), RichAI.To2D(this.velocity));
}
this.velocity += (new Vector3(vector5.x, 0f, vector5.y) + a * this.wallForce) * RichAI.deltaTime;
}
TriangleMeshNode currentNode = richFunnel.CurrentNode;
Vector3 b;
if (currentNode != null)
{
b = currentNode.ClosestPointOnNode(vector);
}
else
{
b = vector;
}
float magnitude = (richFunnel.exactEnd - b).magnitude;
float num2 = this.maxSpeed;
num2 *= Mathf.Sqrt(Mathf.Min(1f, magnitude / (this.maxSpeed * this.slowdownTime)));
if (this.slowWhenNotFacingTarget)
{
float num3 = Mathf.Max((Vector3.Dot(vector4, this.tr.forward) + 0.5f) / 1.5f, 0.2f);
num2 *= num3;
float num4 = VectorMath.MagnitudeXZ(this.velocity);
float y = this.velocity.y;
this.velocity.y = 0f;
num4 = Mathf.Min(num4, num2);
this.velocity = Vector3.Lerp(this.velocity.normalized * num4, this.tr.forward * num4, Mathf.Clamp((!flag2) ? 1f : (this.distanceToWaypoint * 2f), 0f, 0.5f));
this.velocity.y = y;
}
else
{
this.velocity = VectorMath.ClampMagnitudeXZ(this.velocity, num2);
}
this.velocity += RichAI.deltaTime * this.gravity;
if (this.rvoController != null && this.rvoController.enabled)
{
Vector3 pos = vector + VectorMath.ClampMagnitudeXZ(this.velocity, magnitude);
this.rvoController.SetTarget(pos, VectorMath.MagnitudeXZ(this.velocity), this.maxSpeed);
}
Vector3 vector6;
if (this.rvoController != null && this.rvoController.enabled)
{
vector6 = this.rvoController.CalculateMovementDelta(vector, RichAI.deltaTime);
vector6.y = this.velocity.y * RichAI.deltaTime;
}
else
{
vector6 = this.velocity * RichAI.deltaTime;
}
if (flag2)
{
Vector3 trotdir = Vector3.Lerp(vector6.normalized, this.currentTargetDirection, Math.Max(1f - this.distanceToWaypoint * 2f, 0f));
this.RotateTowards(trotdir);
}
else
{
this.RotateTowards(vector6);
}
if (this.controller != null && this.controller.enabled)
{
this.tr.position = vector;
this.controller.Move(vector6);
vector = this.tr.position;
}
else
{
float y2 = vector.y;
vector += vector6;
vector = this.RaycastPosition(vector, y2);
}
Vector3 vector7 = richFunnel.ClampToNavmesh(vector);
if (vector != vector7)
{
Vector3 vector8 = vector7 - vector;
this.velocity -= vector8 * Vector3.Dot(vector8, this.velocity) / vector8.sqrMagnitude;
if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.SetCollisionNormal(vector8);
}
}
this.tr.position = vector7;
}
else if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.Move(Vector3.zero);
}
if (currentPart is RichSpecial && !this.traversingSpecialPath)
{
base.StartCoroutine(this.TraverseSpecial(currentPart as RichSpecial));
}
}
else if (this.rvoController != null && this.rvoController.enabled)
{
this.rvoController.Move(Vector3.zero);
}
else if (!(this.controller != null) || !this.controller.enabled)
{
this.tr.position = this.RaycastPosition(this.tr.position, this.tr.position.y);
}
}
void TraverseFunnel(RichFunnel fn, float deltaTime)
{
// Clamp the current position to the navmesh
// and update the list of upcoming corners in the path
// and store that in the 'nextCorners' variable
float elevation;
Vector2 position = movementPlane.ToPlane(UpdateTarget(fn), out elevation);
// Only find nearby walls every 5th frame to improve performance
if (Time.frameCount % 5 == 0 && wallForce > 0 && wallDist > 0)
{
wallBuffer.Clear();
fn.FindWalls(wallBuffer, wallDist);
}
// Target point
Vector2 targetPoint = waypoint = movementPlane.ToPlane(nextCorners[0]);
// Direction to target
Vector2 dir = targetPoint - position;
// Is the endpoint of the path (part) the current target point
bool targetIsEndPoint = lastCorner && nextCorners.Count == 1;
// Normalized direction to the target
Vector2 normdir = VectorMath.Normalize(dir, out distanceToWaypoint);
// Calculate force from walls
Vector2 wallForceVector = CalculateWallForce(position, elevation, normdir);
Vector2 targetVelocity;
if (targetIsEndPoint)
{
targetVelocity = slowdownTime > 0 ? Vector2.zero : normdir * maxSpeed;
// Reduce the wall avoidance force as we get closer to our target
wallForceVector *= System.Math.Min(distanceToWaypoint / 0.5f, 1);
if (distanceToWaypoint <= endReachedDistance)
{
// END REACHED
NextPart();
}
}
else
{
var nextNextCorner = nextCorners.Count > 1 ? movementPlane.ToPlane(nextCorners[1]) : position + 2 * dir;
targetVelocity = (nextNextCorner - targetPoint).normalized * maxSpeed;
}
Vector2 accel = MovementUtilities.CalculateAccelerationToReachPoint(targetPoint - position, targetVelocity, velocity2D, acceleration, maxSpeed);
// Update the velocity using the acceleration
velocity2D += (accel + wallForceVector * wallForce) * deltaTime;
// Distance to the end of the path (as the crow flies)
var distToEndOfPath = fn.DistanceToEndOfPath;
var slowdownFactor = slowdownTime > 0 ? distToEndOfPath / (maxSpeed * slowdownTime) : 1;
velocity2D = MovementUtilities.ClampVelocity(velocity2D, maxSpeed, slowdownFactor, slowWhenNotFacingTarget, movementPlane.ToPlane(tr.forward));
ApplyGravity(deltaTime);
if (rvoController != null && rvoController.enabled)
{
// Send a message to the RVOController that we want to move
// with this velocity. In the next simulation step, this
// velocity will be processed and it will be fed back to the
// rvo controller and finally it will be used by this script
// when calling the CalculateMovementDelta method below
// Make sure that we don't move further than to the end point
// of the path. If the RVO simulation FPS is low and we did
// not do this, the agent might overshoot the target a lot.
var rvoTarget = movementPlane.ToWorld(position + Vector2.ClampMagnitude(velocity2D, distToEndOfPath), elevation);
rvoController.SetTarget(rvoTarget, velocity2D.magnitude, maxSpeed);
}
// Direction and distance to move during this frame
var deltaPosition = CalculateDeltaToMoveThisFrame(position, distToEndOfPath, deltaTime);
// Rotate towards the direction we are moving in
// Slow down the rotation of the character very close to the endpoint of the path to prevent oscillations
var rotationSpeedFactor = targetIsEndPoint ? Mathf.Clamp01(1.1f * slowdownFactor - 0.1f) : 1f;
RotateTowards(deltaPosition, rotationSpeed * rotationSpeedFactor * deltaTime);
Move(movementPlane.ToWorld(position, elevation), movementPlane.ToWorld(deltaPosition, verticalVelocity * deltaTime));
}
