public override Pose Calculate() { Col.Calculate(); Prev.Calculate(); Enabled.Calculate(); if (!Enabled.value.value_b) { return(Prev.value); } YPRScale.Calculate(); YPROmega.Calculate(); YPRPhi.Calculate(); OffsetScale.Calculate(); OffsetOmega.Calculate(); OffsetPhi.Calculate(); Tick.Calculate(); Duration.Calculate(); Falloff.Calculate(); if (controller != null && controller.executor != null) { Pose pose = Prev.value; float t = Tick.value.value_f; float d = Mathf.Max(0.001f, Duration.value.value_f); float f = Mathf.Max(0.001f, Falloff.value.value_f); if (t < d && t >= 0) { float scale = Mathf.Pow(1f - t / d, f); pose.yaw += Mathf.Sin((YPROmega.value.value_v.x * t + YPRPhi.value.value_v.x) * 2.0f * Mathf.PI) * YPRScale.value.value_v.x * scale; pose.pitch += Mathf.Sin((YPROmega.value.value_v.y * t + YPRPhi.value.value_v.y) * 2.0f * Mathf.PI) * YPRScale.value.value_v.y * scale; pose.roll += Mathf.Sin((YPROmega.value.value_v.z * t + YPRPhi.value.value_v.z) * 2.0f * Mathf.PI) * YPRScale.value.value_v.z * scale; Vector3 right = pose.rotation * Vector3.right; Vector3 up = pose.rotation * Vector3.up; Vector3 forward = pose.rotation * Vector3.forward; Vector3 ofs = Vector3.zero; ofs += right * Mathf.Sin((OffsetOmega.value.value_v.x * t + OffsetPhi.value.value_v.x) * 2.0f * Mathf.PI) * OffsetScale.value.value_v.x * scale; ofs += up * Mathf.Sin((OffsetOmega.value.value_v.y * t + OffsetPhi.value.value_v.y) * 2.0f * Mathf.PI) * OffsetScale.value.value_v.y * scale; ofs += forward * Mathf.Sin((OffsetOmega.value.value_v.z * t + OffsetPhi.value.value_v.z) * 2.0f * Mathf.PI) * OffsetScale.value.value_v.z * scale; pose.position += ofs; return(pose); } else { return(pose); } } return(Pose.Default); }
public override Pose Calculate() { Col.Calculate(); Prev.Calculate(); Enabled.Calculate(); if (!Enabled.value.value_b) { return(Prev.value); } if (controller != null && controller.executor != null) { float noControlTime = controller.executor.GetVar("No Rotate Time").value_f; if (noControlTime < 0.3f) { return(Prev.value); } float dist = controller.executor.GetVar("Dist").value_f; //float distWanted = controller.executor.GetVar("DistWanted").value_f; LayerMask layermask = controller.executor.GetVar("Obstacle LayerMask").value_i; Pose pose = Prev.value; Vector3 forward = pose.rotation * Vector3.forward; //Vector3 right = pose.rotation * Vector3.right; //Vector3 up = pose.rotation * Vector3.up; Vector3 target = pose.position + dist * forward; Vector3 backward = pose.position - target; float curr_yaw = controller.executor.GetVar("Yaw").value_f; float curr_pitch = controller.executor.GetVar("Pitch").value_f; float yaw = curr_yaw; float pitch = curr_pitch; float NCR = controller.executor.GetVar("NCR").value_f; if (NCR < 0.01f) { NCR = 0.01f; } float cast_dist = backward.magnitude - NCR; if (cast_dist < 0) { return(pose); } if (Physics.SphereCast(new Ray(target, backward.normalized), NCR - 0.01f, cast_dist, layermask, QueryTriggerInteraction.Ignore)) { hideTime += 0.02f; if (hideTime > 0.2f) { for (float d = 5f; d < 90.01f; d += 5f) { for (float theta = 0; theta < 180.01f; theta += 45f) { yaw = d * Mathf.Cos(theta * Mathf.Deg2Rad) + curr_yaw; pitch = curr_pitch - 0.8f * d * Mathf.Sin(theta * Mathf.Deg2Rad); if (pitch < -70) { continue; } Vector3 dir = Quaternion.Euler(-pitch, yaw, 0) * Vector3.back; if (!Physics.SphereCast(new Ray(target, dir), NCR - 0.01f, cast_dist, layermask, QueryTriggerInteraction.Ignore)) { Vector2 nxtyp = Vector2.SmoothDamp(new Vector2(curr_yaw, curr_pitch), new Vector2(yaw, pitch), ref vyp, 0.25f); controller.executor.SetFloat("YawWanted", nxtyp.x); controller.executor.SetFloat("PitchWanted", nxtyp.y); return(pose); } } } } } else { hideTime = 0; } return(pose); } return(Pose.Default); }