// Update is called once per frame
void Update()
{
if (isMoving)
{
// How long has it been since we last updated our position
float distanceIncrement = this.moveRate * Time.deltaTime;
// find out how far we should move
// convert to T value 0...1
this.currentDistanceAlongDubinPath += distanceIncrement;
if (currentDistanceAlongDubinPath >= finalDistanceAlongDubinPath)
{
distanceIncrement = currentDistanceAlongDubinPath - finalDistanceAlongDubinPath;
currentDistanceAlongDubinPath = finalDistanceAlongDubinPath;
isMoving = false;
}
else
{
this.CurrentMoveDistance -= distanceIncrement;
}
this.CurrentMoveDistance = Mathf.Max(0.0f, CurrentMoveDistance);
DubinCSC currentDubin = CurrentPath.path[this.currentDubinIdx];
float relativeDistance = currentDistanceAlongDubinPath - runningDubinDistanceTotal;
if (relativeDistance > currentDubin.totalLength)
{
this.runningDubinDistanceTotal += currentDubin.totalLength;
relativeDistance -= currentDubin.totalLength;
currentDubinIdx++;
currentDubin = this.currentPath.path[currentDubinIdx];
}
Vector3 nextPos;
Vector3 nextDir;
currentDubin.GetPositionAndHeadingFromDistance(relativeDistance, this.currentPath.turnRadius, out nextPos, out nextDir);
// move to that spot.
this.transform.position = nextPos;
this.transform.forward = this.CurrentPath.isReverse ? -nextDir : nextDir;
gameEventSystem.RaiseEvent(GameEventType.ObjectPropertyChanged, this.gameObject, this.gameObject);
// TODO:
// Do something with tile grid?
// Do we care for in motion stuff, or just the end position?
if (!isMoving)
{
////TODO: Do we really want to clear the entire, or just from the last point?
//// in which case, we'd need to clip the dubin, basicaly....or repath
//this.CurrentPath.path.Clear();
this.CurrentPath.Clip(currentDistanceAlongDubinPath);
gameEventSystem.RaiseEvent(GameEventType.PathChanged, this.gameObject, CurrentPath);
gameEventSystem.RaiseEvent(GameEventType.MoveEnded, this.gameObject, CurrentPath);
}
}
}
public List <HeadingPositionPair> AsPointsList(LineRenderArgs args, float distInc)
{
Vector3 nextPos = Vector3.zero;
Vector3 nextDir;
int dubinIndex = path.Count - 1;
float totalLength = this.CalculateTotalDistance();
float pathDistance = 0.0f;
DubinCSC currentDubin = path[path.Count - 1];
// Figure out which Dubin in the list we should start on
for (int i = 0; i < path.Count; ++i)
{
pathDistance += path[i].totalLength;
if (args.StartDistance <= pathDistance)
{
currentDubin = path[i];
dubinIndex = i;
pathDistance -= path[i].totalLength;
break; //Found our dubin
}
}
// const int numSegmentsPerDubin = 100;
// int totalNumSegments = numSegmentsPerDubin * (path.Count - dubinIndex);
//float distInc = Mathf.Ceil(currentDubin.totalLength / numSegmentsPerDubin);
int numPairs = (int)(totalLength / distInc);
List <HeadingPositionPair> pathLines = new List <HeadingPositionPair>(numPairs);
for (float distance = args.StartDistance; distance < args.EndDistance;)
{
float relativeDistanceStart = distance - pathDistance;
float relativeDistanceEnd = Mathf.Min(currentDubin.totalLength, args.EndDistance - pathDistance);
//float distInc = Mathf.Ceil(currentDubin.totalLength / numSegmentsPerDubin);
for (float relativeDistance = relativeDistanceStart;
relativeDistance <= relativeDistanceEnd;
relativeDistance += distInc)
{
currentDubin.GetPositionAndHeadingFromDistance(relativeDistance, turnRadius, out nextPos, out nextDir);
pathLines.Add(new HeadingPositionPair(nextPos, nextDir));
}
// ensure that the last spot is included
currentDubin.GetPositionAndHeadingFromDistance(relativeDistanceEnd, turnRadius, out nextPos, out nextDir);
pathLines.Add(new HeadingPositionPair(nextPos, nextDir));
distance += currentDubin.totalLength;
pathDistance += currentDubin.totalLength;
dubinIndex++;
if (dubinIndex >= path.Count)
{
break;
}
currentDubin = path[dubinIndex];
}
return(pathLines);
}
public void DrawDubin(AccessibleLineRenderer lineRenderer, LineRenderArgs args)
{
if (path == null || path.Count == 0)
{
//TEMP
lineRenderer.enabled = false;
return;
}
lineRenderer.UnderlyingLineRenderer.SetWidth(args.LineWidth, args.LineWidth);
//TEMP
if (lineRenderer.enabled == false)
{
lineRenderer.enabled = true;
}
Vector3 nextPos = Vector3.zero;
Vector3 nextDir;
int dubinIndex = path.Count - 1;
float totalLength = this.CalculateTotalDistance();
float pathDistance = 0.0f;
DubinCSC currentDubin = path[path.Count - 1];
// Figure out which Dubin in the list we should start on
for (int i = 0; i < path.Count; ++i)
{
pathDistance += path[i].totalLength;
if (args.StartDistance <= pathDistance)
{
currentDubin = path[i];
dubinIndex = i;
pathDistance -= path[i].totalLength;
break; //Found our dubin
}
}
const int numSegmentsPerDubin = 100;
int totalNumSegments = numSegmentsPerDubin * (path.Count - dubinIndex);
lineRenderer.SetVertexCount(totalNumSegments); //hackery
int idx = totalNumSegments - 1;
for (float distance = args.StartDistance; distance < args.EndDistance;)
{
float relativeDistanceStart = distance - pathDistance;
float relativeDistanceEnd = Mathf.Min(currentDubin.totalLength, args.EndDistance - pathDistance);
float distInc = Mathf.Ceil(currentDubin.totalLength / numSegmentsPerDubin);
for (float relativeDistance = relativeDistanceStart;
relativeDistance <= relativeDistanceEnd;
relativeDistance += distInc)
{
currentDubin.GetPositionAndHeadingFromDistance(relativeDistance, turnRadius, out nextPos, out nextDir);
nextPos.y += 1.0f;
lineRenderer.SetPosition(idx--, nextPos);
}
// ensure that the last spot is included
currentDubin.GetPositionAndHeadingFromDistance(relativeDistanceEnd, turnRadius, out nextPos, out nextDir);
nextPos.y += 1.0f;
lineRenderer.SetPosition(idx, nextPos);
distance += currentDubin.totalLength;
pathDistance += currentDubin.totalLength;
dubinIndex++;
if (dubinIndex >= path.Count)
{
break;
}
currentDubin = path[dubinIndex];
}
int badMath = 0;
//for (int i = idx; i < totalNumSegments; i++)
for (int i = idx; i >= 0; --i)
{
badMath++;
lineRenderer.SetPosition(i, nextPos);
}
// Debug.Log("BadMath: " + badMath);
}