| public static NearestPoint ( Vector3 lineStart, Vector3 lineEnd, Vector3 point ) : Vector3 | ||
| lineStart | Vector3 | |
| lineEnd | Vector3 | |
| point | Vector3 | |
| return | Vector3 | |
public Vector3 Raycast(Vector3 origin, out RaycastHit hit, out bool walkable)
{
walkable = true;
if (!this.heightCheck || this.use2D)
{
hit = default(RaycastHit);
return(origin - this.up * this.fromHeight);
}
if (this.thickRaycast)
{
Ray ray = new Ray(origin, -this.up);
if (Physics.SphereCast(ray, this.finalRaycastRadius, out hit, this.fromHeight + 0.005f, this.heightMask))
{
return(AstarMath.NearestPoint(ray.origin, ray.origin + ray.direction, hit.point));
}
walkable &= !this.unwalkableWhenNoGround;
}
else
{
if (Physics.Raycast(origin, -this.up, out hit, this.fromHeight + 0.005f, this.heightMask))
{
return(hit.point);
}
walkable &= !this.unwalkableWhenNoGround;
}
return(origin - this.up * this.fromHeight);
}
/** Same as #CheckHeight, except that the raycast will always start exactly at \a origin.
* \a walkable will be set to false if nothing was hit.
* The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid */
public Vector3 Raycast(Vector3 origin, out RaycastHit hit, out bool walkable)
{
walkable = true;
if (!heightCheck || use2D)
{
hit = new RaycastHit();
return(origin - up * fromHeight);
}
if (thickRaycast)
{
var ray = new Ray(origin, -up);
if (Physics.SphereCast(ray, finalRaycastRadius, out hit, fromHeight + 0.005F, heightMask))
{
return(AstarMath.NearestPoint(ray.origin, ray.origin + ray.direction, hit.point));
}
walkable &= unwalkableWhenNoGround;
}
else
{
if (Physics.Raycast(origin, -up, out hit, fromHeight + 0.005F, heightMask))
{
return(hit.point);
}
walkable &= unwalkableWhenNoGround;
}
return(origin - up * fromHeight);
}
/** Returns the position with the correct height.
* If #heightCheck is false, this will return \a position.\n
* \a walkable will be set to false if nothing was hit.
* The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid */
public Vector3 CheckHeight(Vector3 position, out RaycastHit hit, out bool walkable)
{
walkable = true;
if (!heightCheck || use2D)
{
hit = new RaycastHit();
return(position);
}
if (thickRaycast)
{
var ray = new Ray(position + up * fromHeight, -up);
if (Physics.SphereCast(ray, finalRaycastRadius, out hit, fromHeight + 0.005F, heightMask))
{
return(AstarMath.NearestPoint(ray.origin, ray.origin + ray.direction, hit.point));
}
walkable &= unwalkableWhenNoGround;
}
else
{
// Cast a ray from above downwards to try to find the ground
if (Physics.Raycast(position + up * fromHeight, -up, out hit, fromHeight + 0.005F, heightMask))
{
return(hit.point);
}
walkable &= unwalkableWhenNoGround;
}
return(position);
}
public Vector3 CheckHeight(Vector3 position, out RaycastHit hit, out bool walkable)
{
walkable = true;
if (!this.heightCheck || this.use2D)
{
hit = default(RaycastHit);
return(position);
}
if (this.thickRaycast)
{
Ray ray;
ray..ctor(position + this.up * this.fromHeight, -this.up);
if (Physics.SphereCast(ray, this.finalRaycastRadius, ref hit, this.fromHeight + 0.005f, this.heightMask))
{
return(AstarMath.NearestPoint(ray.origin, ray.origin + ray.direction, hit.point));
}
if (this.unwalkableWhenNoGround)
{
walkable = false;
}
}
else
{
if (Physics.Raycast(position + this.up * this.fromHeight, -this.up, ref hit, this.fromHeight + 0.005f, this.heightMask))
{
return(hit.point);
}
if (this.unwalkableWhenNoGround)
{
walkable = false;
}
}
return(position);
}
// Update is called once per frame
void LateUpdate()
{
if (prevNode == null)
{
NNInfo nninfo = AstarPath.active.GetNearest(transform.position);
prevNode = nninfo.node;
prevPos = transform.position;
}
if (prevNode == null)
{
return;
}
if (prevNode != null)
{
IRaycastableGraph graph = AstarData.GetGraph(prevNode) as IRaycastableGraph;
if (graph != null)
{
GraphHitInfo hit;
if (graph.Linecast(prevPos, transform.position, prevNode, out hit))
{
hit.point.y = transform.position.y;
Vector3 closest = AstarMath.NearestPoint(hit.tangentOrigin, hit.tangentOrigin + hit.tangent, transform.position);
Vector3 ohit = hit.point;
ohit = ohit + Vector3.ClampMagnitude((Vector3)hit.node.position - ohit, 0.008f);
if (graph.Linecast(ohit, closest, hit.node, out hit))
{
hit.point.y = transform.position.y;
transform.position = hit.point;
}
else
{
closest.y = transform.position.y;
transform.position = closest;
}
}
prevNode = hit.node;
}
}
prevPos = transform.position;
}
/** Returns the position with the correct height. If #heightCheck is false, this will return \a position.\n
* \a walkable will be set to false if nothing was hit. The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid */
public Vector3 CheckHeight(Vector3 position, out RaycastHit hit, out bool walkable)
{
walkable = true;
if (!heightCheck || use2D)
{
hit = new RaycastHit();
return(position);
}
if (thickRaycast)
{
var ray = new Ray(position + up * fromHeight, -up);
if (Physics.SphereCast(ray, finalRaycastRadius, out hit, fromHeight + 0.005F, heightMask))
{
return(AstarMath.NearestPoint(ray.origin, ray.origin + ray.direction, hit.point));
//position+up*(fromHeight-hit.distance);
}
else
{
if (unwalkableWhenNoGround)
{
walkable = false;
}
}
}
else
{
if (Physics.Raycast(position + up * fromHeight, -up, out hit, fromHeight + 0.005F, heightMask))
{
return(hit.point);
}
else
{
if (unwalkableWhenNoGround)
{
walkable = false;
}
}
}
return(position);
}
private void LateUpdate()
{
if (this.prevNode == null)
{
this.prevNode = AstarPath.active.GetNearest(base.transform.position).node;
this.prevPos = base.transform.position;
}
if (this.prevNode == null)
{
return;
}
if (this.prevNode != null)
{
IRaycastableGraph raycastableGraph = AstarData.GetGraph(this.prevNode) as IRaycastableGraph;
if (raycastableGraph != null)
{
GraphHitInfo graphHitInfo;
if (raycastableGraph.Linecast(this.prevPos, base.transform.position, this.prevNode, out graphHitInfo))
{
graphHitInfo.point.y = base.transform.position.y;
Vector3 vector = AstarMath.NearestPoint(graphHitInfo.tangentOrigin, graphHitInfo.tangentOrigin + graphHitInfo.tangent, base.transform.position);
Vector3 vector2 = graphHitInfo.point;
vector2 += Vector3.ClampMagnitude((Vector3)graphHitInfo.node.position - vector2, 0.008f);
if (raycastableGraph.Linecast(vector2, vector, graphHitInfo.node, out graphHitInfo))
{
graphHitInfo.point.y = base.transform.position.y;
base.transform.position = graphHitInfo.point;
}
else
{
vector.y = base.transform.position.y;
base.transform.position = vector;
}
}
this.prevNode = graphHitInfo.node;
}
}
this.prevPos = base.transform.position;
}