public override Goal Suggest(LineSegmentPath path, KinematicData character, Goal goal)
{
// procurar ponto do segmento mais próximo ao centro da esfera
Vector3 closest = path.GetPosition(MathHelper.closestParamInLineSegmentToPoint(path.StartPosition, path.EndPosition, center));
// 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.right));
newPt = center + newdirn * radius * margin;
}
else
{
// Otherwise project the point out beyond the radius
newPt = center + (closest - center) * radius * margin / closest.sqrMagnitude;
}
// Set up the goal and return
goal.position = newPt;
return(goal);
}
public override Goal Suggest(LineSegmentPath path, KinematicData character, Goal 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 MovementOutput GetMovement()
{
Goal g = new Goal();
foreach (Targeter t in Targeters)
{
g.UpdateChannels(t.GetGoal(Character));
}
foreach (Decomposer d in Decomposers)
{
g = d.Decompose(Character, g);
}
// bool ValidPath = false; TO DO esta parte ta uma bequita meh
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 Boolean WillViolate(LineSegmentPath path)
{
//maybe not right func TO DO
if (MathHelper.closestParamInLineSegmentToPoint(path.StartPosition, path.EndPosition, center) < radius)
{
return(true);
}
return(false);
}
public override LineSegmentPath GetPath()
{
LineSegmentPath segment;
if (goal.hasPosition) {
segment = new LineSegmentPath(this.Character.position, goal.position);
}
else{
segment = new LineSegmentPath(this.Character.position, this.Character.position);
}
return segment;
}
public override Boolean WillViolate(LineSegmentPath path)
{
Vector3 impactPoint = path.GetPosition(MathHelper.closestParamInLineSegmentToPoint(path.StartPosition, path.EndPosition, Troll.KinematicData.position));
Vector3 direction = Troll.KinematicData.position - impactPoint;
float distance = Vector3.Magnitude(direction);
if (distance < TrollRadius)
{
// Debug.Log("VIOLATE!");
return(true);
}
// Debug.Log("NO VIOLATE!");
return(false);
}
public override Boolean WillViolate(LineSegmentPath path)
{
/* List<NavigationGraphNode> nodes = (List<NavigationGraphNode>)Utils.Reflection.GetInstanceField(typeof(RAINNavigationGraph), path, "_pathNodes");
*
* foreach (NavigationGraphNode nvn in nodes) {
* if (nvn.Position.Equals((chars.KinematicData.position + chars.KinematicData.velocity * 0.8f)))
* {
* return false;
* }
* }
* return true;*/
if (navMeshP.IsPointOnGraph((chars.KinematicData.position + chars.KinematicData.velocity * 0.5f)))
{
return(false);
}
else
{
return(true);
}
}
public abstract Goal Suggest(LineSegmentPath path, KinematicData character, Goal goal);
public abstract Boolean WillViolate(LineSegmentPath path);
