void FixedUpdate()
{
Vector2 nextPoint = wayPoints[nextWayPointIndex];
arrivalBehaviour.setTarget(nextPoint);
if ((nextPoint - (Vector2)transform.position).sqrMagnitude < 0.1f)
{
nextWayPointIndex = (nextWayPointIndex + 1) % wayPoints.Count;
}
}
public void followPath(Steering steering, Seek seekBehaviour, Arrival arrivalBehaviour, Brake brakeBehaviour)
{
Vector2 next = nextPoint();
float nextRadius = (points.Count == 1) ? destRadius : steering.getSize();
bool arrivedAtPoint = (next - steering.getPosition()).sqrMagnitude < nextRadius * nextRadius;
arrived = arrivedAtPoint && points.Count == 1;
if (arrivedAtPoint && points.Count > 1)
{
points.RemoveAt(0);
// accelerate toward the next node
followPath(steering, seekBehaviour, arrivalBehaviour, brakeBehaviour);
}
else
{
if (Pathing.raycastGameCoordinates(steering.getPosition(), steering.getSize(), next, LayerMask.GetMask("Walls")))
{
// A wall is in the way. Check if the raycast would be fine from the center of the current tile.
Vector2 currentTileCenter = Pathing.map.mapToGame(Pathing.map.gameToMap(steering.getPosition()));
if (Pathing.raycastGameCoordinates(currentTileCenter, steering.getSize(), next, LayerMask.GetMask("Walls")))
{
// The unit must have detoured and there are now walls in the way, calculate a new path.
points = Pathing.findPath(steering.getPosition(), goal, destRadius, steering.getSize()).points;
}
else
{
// The unit is stuck because they are a little bit off-center.
points.Insert(0, currentTileCenter);
}
}
// Stop after arriving.
steering.updateWeight(brakeBehaviour, arrived ? 1f : 0f);
// Arrival for the last point, seek for every other point
arrivalBehaviour.setTarget(next);
seekBehaviour.setTarget(next);
steering.updateWeight(arrivalBehaviour, points.Count == 1 ? 1f : 0f);
steering.updateWeight(seekBehaviour, points.Count > 1 ? 1f : 0f);
}
}