public float GetDistanceByMapPoint(Vector2 point, out bool isOutOfPath, out Vector2 segmentNomal)
{
float pathDistance = 0, segmentLengthTotal = 0;
float minDistSqr = float.MaxValue;
Vector2 mapPoint;
segmentNomal = Vector2.zero;
for (int i = 1; i < m_path.Count; i++)
{
float projectionLength = 0;
float distSqr = SteerManager.GetPointToSegmentDistanceSqr(point, m_path[i - 1], m_path[i], m_normals[i], m_lengths[i], out mapPoint, out projectionLength);
if (distSqr < minDistSqr)
{
minDistSqr = distSqr;
segmentNomal = m_normals[i];
pathDistance = segmentLengthTotal + projectionLength;
}
segmentLengthTotal += m_lengths[i];
}
isOutOfPath = minDistSqr > m_radiusSqr;
return(pathDistance);
}
public void LogicUpdate()
{
Obstacle collider;
Vector2 obstacleAvoidSteer = SteerManager.GetObstacleAvoidSteer(this, SteerManager.Instance.Obstacles, out collider);
if (collider != null && Random.Range(0, 100) > SteerManager.Instance.IgnoreCollisionProbability)
{
float hardRadiusSum = collider.HardRadius + Radius;
float distanceSqr = (Position - collider.Position).sqrMagnitude;
if (distanceSqr <= hardRadiusSum * hardRadiusSum)
{
Forward = (Forward + obstacleAvoidSteer).normalized;
Direction = (Forward + obstacleAvoidSteer).normalized;
}
else
{
float nextPositionDistanceSqr = (NextPosition - collider.Position).sqrMagnitude;
if (nextPositionDistanceSqr <= hardRadiusSum * hardRadiusSum)
{
Forward = (Forward + obstacleAvoidSteer).normalized;
stuckFrames++;
if (stuckFrames > 2)
{
Forward = SteerManager.GetStuckSolveSteer(this, SteerManager.Instance.Obstacles);
Direction = Forward;
}
else
{
return;
}
}
}
}
else
{
Boid collideNeighbor;
Vector2 seprationSteer = SteerManager.GetSeprationSteer(this, Neighbors, out collideNeighbor);
if (collideNeighbor != null && Random.Range(0, 100) > SteerManager.Instance.IgnoreCollisionProbability)
{
Direction = (Forward + seprationSteer).normalized;
}
else
{
seprationSteer *= SteerManager.Instance.SeprationWeight;
Vector2 pathfollowSteer = SteerManager.GetPathFollowSteer(this, Path) * SteerManager.Instance.PathFollowWeight;
Vector2 alignmentSteer = SteerManager.GetAlignmentSteer(this) * SteerManager.Instance.AlignmentWeight;
Vector2 cohesionSteer = SteerManager.GetCohesionSteer(this) * SteerManager.Instance.CohesionWeight;
if (SteerManager.Instance.PathFollowWeight != 0)
{
Direction = (Forward + pathfollowSteer + seprationSteer).normalized;
}
else
{
Direction = (Forward + pathfollowSteer + seprationSteer + alignmentSteer + cohesionSteer).normalized;
}
}
}
Forward = Direction;
Position = NextPosition;
stuckFrames = 0;
}
private void Awake()
{
Instance = this;
}
