private void ComputeAStarForSteering()
{
Node npcNode = NavigationGraph.GetClosestNode(NpcManager.transform.position);
Node playerNode = NavigationGraph.GetClosestNode(_playerData.LastSeenPosition);
List <Node> path = Pathfinding.Astar(npcNode, playerNode);
if (path == null || path.Count < 1)
{
Debug.Log(npcNode);
return;
}
_currentTargetLocation = path[NpcGlobalVariables.NextElementInPath].position;
}
private void Update()
{
if (_agents.Count < 1)
{
return;
}
if (_agentReachedNode || !Node.CanSeeNode(NavigationGraph.GetClosestNode(_currentTargetLocation),
GetPositionOfClosestAgent()))
{
ComputeAStarForFlock();
_agentReachedNode = false;
}
MoveAgents();
}
private void ComputeAStarForFlock()
{
Node npcNode = NavigationGraph.GetClosestNode(GetPositionOfClosestAgent());
Node playerNode = NavigationGraph.GetClosestNode(_playerData.LastSeenPosition);
List <Node> path = Pathfinding.Astar(npcNode, playerNode);
pathTest = path;
if (path == null)
{
Debug.Log($"The A* path is null. Last seen player position is {_playerData.LastSeenPosition}");
}
if (path.Count < 2)
{
_currentTargetLocation = _playerData.LastSeenPosition;
}
else
{
_currentTargetLocation = path[NpcGlobalVariables.NextElementInPath].position;
}
}
private void FindNewTarget()
{
Vector3 npcPosition = NpcManager.transform.position;
Vector3 npcVelocity = NpcManager.Rigidbody.velocity;
Vector3 circlePosition = npcPosition +
Vector3.Normalize(npcVelocity) * NpcGlobalVariables.WanderCircleDistance;
Vector3 target = circlePosition + Random.insideUnitSphere * NpcGlobalVariables.WanderCircleRadius;
target.y = 0;
Node currentNode = NavigationGraph.GetClosestNode(npcPosition);
Node targetNode = NavigationGraph.GetClosestNode(target);
try
{
_pathToTarget = new Queue <Node>(Pathfinding.Astar(currentNode, targetNode));
}
catch (Exception)
{
Debug.Log(NpcManager.name + " tried to go on a separated graph. Will stay Idle.");
NpcManager.GetComponent <NPCStateMachine>().StartIdle();
}
if (_pathToTarget == null || _pathToTarget.Count < 1)
{
NpcManager.GetComponent <NPCStateMachine>().StartIdle();
return;
}
_currentTargetNode = _pathToTarget.Dequeue().position;
_currentTargetNode.y = 0;
_reachedTarget = false;
}
// Check for new links inside the cluster
public bool CheckNewLinks(List <Node> cluster, bool canCreateNew = true)
{
bool addedNewNodes = false;
foreach (var node in cluster.ToArray())
{
// The ToArray is to iterate over a copy of the list, and so we can add new items while iterating
Vector3 tmp_dir = (node.position - position);
float dist = tmp_dir.magnitude;
if (CanSeeNode(node, dist, tmp_dir))
{
// If we can see the node, link the 2 nodes together
// // Uncoment theses 2 lines to keep the graph simple with big links.
// // Will generate faster, but will be less precise for AI movement
// AddLink(node, dist);
// continue;
// if dist > nodesMaxDistance, add in between nodes
if (dist > NavigationGraph.maxLinkLength && dist < NavigationGraph.nodesMaxDistance && canCreateNew && false) // Disable this for now
{
int nb = (int)(dist / NavigationGraph.maxLinkLength); // compute nb of nodes to add
Vector3 dir = (node.position - position).normalized;
float intermediateDist = dist / (nb + 1); // distance between nodes
Node prev = this; // Keep track of the previous node to add in between links
while (nb > 0)
{
Vector3 pos = prev.position + dir * intermediateDist;
Node tmp = NavigationGraph.CreateNode(pos, cluster);
if (tmp == null)
{
// If we fail creating an intermediate node, try to use the closest one
Node close = NavigationGraph.GetClosestNode(pos);
if (close != null && (close.position - pos).magnitude < NavigationGraph.wallOffset)
{
tmp = close;
}
else
{
// if we can't have a close node, just keep a long link and don't bother more
prev.AddLink(node);
break;
}
}
addedNewNodes = true;
// No need to raycast to check the link : we already did one before on a longest distance
// (we already know that the fartest nodes can see each other)
tmp.AddLink(prev);
prev = tmp;
nb--;
}
prev.AddLink(node); // don't forget to link the last node
}
else if (dist < NavigationGraph.nodesMaxDistance)
{
AddLink(node, dist);
}
}
}
return(addedNewNodes);
}