/// <summary>
/// Gets the desired steering output.
/// </summary>
/// <param name="input">The steering input containing relevant information to use when calculating the steering output.</param>
/// <param name="output">The steering output to be populated.</param>
public override void GetDesiredSteering(SteeringInput input, SteeringOutput output)
{
_lastContainVector = Vector3.zero;
if (input.grid == null)
{
// if off-grid, exit early
return;
}
_unitData = input.unit;
if (!_unitData.isGrounded)
{
// while in the air, exit early
return;
}
// prepare local variables
Vector3 selfPos = _unitData.position;
Vector3 containVector = Vector3.zero;
float selfHeight = _unitData.basePosition.y;
// generate positions to the left and right
Vector3 rightPos = selfPos + (Vector3.right * bufferDistance);
Vector3 leftPos = selfPos + (Vector3.left * bufferDistance);
float rightHeight, leftHeight;
// sample left and right
bool rightContain = _heightSampler.TrySampleHeight(rightPos, out rightHeight);
bool leftContain = _heightSampler.TrySampleHeight(leftPos, out leftHeight);
// if cell is missing or drop is more than allowed drop height or climb is more than allowed climb height, then compute an axis-aligned containment vector
if (!rightContain || (selfHeight - rightHeight > _heightCaps.maxDropHeight) || (rightHeight - selfHeight > _heightCaps.maxClimbHeight))
{
containVector = Vector3.left;
}
else if (!leftContain || (selfHeight - leftHeight > _heightCaps.maxDropHeight) || (leftHeight - selfHeight > _heightCaps.maxClimbHeight))
{
containVector = Vector3.right;
}
// generate positions forward and backwards
Vector3 forwardPos = selfPos + (Vector3.forward * bufferDistance);
Vector3 backwardPos = selfPos + (Vector3.back * bufferDistance);
float forwardHeight, backHeight;
// sample forward and backwards
bool forwardContain = _heightSampler.TrySampleHeight(forwardPos, out forwardHeight);
bool backContain = _heightSampler.TrySampleHeight(backwardPos, out backHeight);
// if cell is missing or drop is more than allowed drop height or climb is more than allowed climb height, then compute an axis-aligned containment vector
if (!forwardContain || (selfHeight - forwardHeight > _heightCaps.maxDropHeight) || (forwardHeight - selfHeight > _heightCaps.maxClimbHeight))
{
// we need to check whether containVector has a value beforehand, in which case we need to normalize
containVector = containVector.sqrMagnitude != 0f ? (containVector + Vector3.back).normalized : Vector3.back;
}
else if (!backContain || (selfHeight - backHeight > _heightCaps.maxDropHeight) || (backHeight - selfHeight > _heightCaps.maxClimbHeight))
{
// we need to check whether containVector has a value beforehand, in which case we need to normalize
containVector = containVector.sqrMagnitude != 0f ? (containVector + Vector3.forward).normalized : Vector3.forward;
}
if (containVector.sqrMagnitude == 0f)
{
// no contain vectors to worry about - no containment necessary
return;
}
// Containment vectors are always "full strength"
Vector3 steeringVector = containVector * input.maxAcceleration;
_lastContainVector = steeringVector;
output.desiredAcceleration = steeringVector;
}
