/// <summary>
/// Checks if the next waypoint is positioned on the ground and can thus be walked on
/// </summary>
/// <param name="terrainLayers"></param>
/// <returns></returns>
public bool IsWaypointOnGround(LayerMask terrainLayers)
{
bool isOnGround;
isOnGround = Physics2D.Raycast(path.vectorPath[currentWaypoint], Vector3.down, 1.5f, terrainLayers).collider != null;
if (ai.showDetectors)
{
DebugDrawPhysics.DebugDrawCircle(path.vectorPath[currentWaypoint], 0.25f, isOnGround ? Color.green : Color.red, 1f / ai.checksPerSecond);
}
return(isOnGround);
}
protected bool CheckForGround(bool debug)
{
Vector2 cStart = (Vector2)feet.transform.position + 0.5f * Vector2.up;
Vector2 cDirection = Vector2.down;
float cRadius = feet.GetWidth() / 2;
float cDistance = 0.5f + (transform.position - feet.transform.position).magnitude + feet.GetWidth() / 2f;
// Using circle cast because we don't want the characters jumping on tiny inconsistencies in colliders
RaycastHit2D hit = Physics2D.CircleCast(cStart, cRadius, cDirection, cDistance, groundLayer);
var didHit = hit.collider != null;
// Visual for the colliders
if (debug)
{
DebugDrawPhysics.DebugDrawCircleCast(cStart, cRadius, cDirection, cDistance,
didHit ? Color.red : Color.green);
}
return(didHit);
}
public bool IsWaypointOnGround(LayerMask terrainLayers)
{
bool isOnGround;
if (is2D)
{
isOnGround = Physics2D.Raycast(path.vectorPath[currentWaypoint], Vector3.down, 1.5f, terrainLayers).collider != null;
}
else
{
isOnGround = Physics.Raycast(path.vectorPath[currentWaypoint], Vector3.down, 1.5f, terrainLayers);
}
if (ai.verboseDebug)
{
DebugDrawPhysics.DebugDrawCircle(path.vectorPath[currentWaypoint], 0.25f, isOnGround ? Color.green : Color.red, 1f / ai.thinkPerSecond);
}
return(isOnGround);
}
/// <summary>
/// Follows a path by running and jumping
///
/// returns true if reached end of path
/// </summary>
bool FollowPath()
{
if (!pathfinding.IsOnPath())
{
pathfinding.SetPathUnvalid();
if (verboseDebug)
{
Debug.Log(name + ": " + state + ": I was no longer on my path so requested a new one");
}
return(false);
}
//Find next waypoint that is on the ground. If the last one is in the air then we should jump to it
pathfinding.FindNextVisibleGroundedWaypoint(terrainLayers);
//Direction to the next waypoint
Vector3 dist = (pathfinding.GetCurrentWaypoint() - position);
Vector3 dir = dist.normalized;
//If verbose is on then we can draw some helper symbols to see what the character is currently trying to do
if (verboseDebug)
{
DebugDrawPhysics.DebugDrawCircle(pathfinding.GetCurrentWaypoint(), 1, Color.yellow);
}
//If there's a hole in the ground and the waypoint is not below us then jump
doJump = DetectHolesInGround() && dir.y >= 0;
//---Run---
if (dir.x > 0)
{
run = 1;
//Jump if we need to move up, double jumps will occur when we reach the max of the parabola and thus the upwards velocity is zero
if (dist.y > 1 && //The next waypoint is at least one meter up
Vector3.Angle(Vector3.right, dir) > angleToJump &&
velocity.y <= 0) //A velocity zero we reached the top of the jump parabola
{
doJump = true;
}
}
else
{
run = -1;
//Jump if we need to move up
if (dist.y > 1 &&
Vector3.Angle(Vector3.left, dir) > angleToJump &&
velocity.y <= 0)
{
doJump = true;
}
}
//If we have a low obstacle then we should try jumping
//Note that we will jump regardless of whether we detect an upper obstacle or not
//We will only jump when we do not have upwards velocity so that we do not waste any double jumps
if (isDetectingLowObstacle && velocity.y <= 0)
{
doJump = true;
}
//Check if we are close enough to the next waypoint
//If we are, proceed to follow the next waypoint
return(pathfinding.SelectNextWaypointIfCloseEnough());
}
public void DetectObstacles(float angle = 0)
{
//if (run == 0) return;
Vector2 direction;
if (run > 0)
{
direction = Vector2.right;
upperFeelerPos.x = Mathf.Abs(upperFeelerPos.x);
lowerFeelerPos.x = Mathf.Abs(lowerFeelerPos.x);
}
else
{
direction = Vector2.left;
upperFeelerPos.x = -Mathf.Abs(upperFeelerPos.x);
lowerFeelerPos.x = -Mathf.Abs(lowerFeelerPos.x);
}
if (is2D)
{
RaycastHit2D hit = Physics2D.BoxCast(position + upperFeelerPos, upperFeelerSize, angle, direction, 0, feelerDetectMask);
if (hit.collider != null)
{
isDetectingHighObstacle = true;
DebugDrawPhysics.DebugDrawBoxCast(position + upperFeelerPos, upperFeelerSize, angle, direction, 0, Color.red);
}
else
{
DebugDrawPhysics.DebugDrawBoxCast(position + upperFeelerPos, upperFeelerSize, angle, direction, 0, Color.green);
isDetectingHighObstacle = false;
}
hit = Physics2D.BoxCast(position + lowerFeelerPos, lowerFeelerSize, angle, direction, 0, feelerDetectMask);
if (hit.collider != null)
{
DebugDrawPhysics.DebugDrawBoxCast(position + lowerFeelerPos, lowerFeelerSize, angle, direction, 0, Color.red);
isDetectingLowObstacle = true;
}
else
{
DebugDrawPhysics.DebugDrawBoxCast(position + lowerFeelerPos, lowerFeelerSize, angle, direction, 0, Color.green);
isDetectingLowObstacle = false;
}
}
else
{
//There's a difference between how 2D and 3D handles boxcast. In3D the boxcast cannot initially touch the object or it will return false
//while in 2D it will return true if there's an object present in the cast. Therefore we must set the initial box inside the character
//where we are sure to not hit any terrain
RaycastHit hit;
Vector3 upperfeelerSize3D = upperFeelerSize;
Vector3 upperfeelerPos3D = upperFeelerPos;
upperfeelerSize3D.z = 1;
Vector3 lowerfeelerSize3D = lowerFeelerSize;
Vector3 lowerfeelerPos3D = lowerFeelerPos;
lowerfeelerSize3D.z = 1;
//Upper box
float distance = Mathf.Abs(upperfeelerPos3D.x);
upperfeelerPos3D.x = 0;
Physics.BoxCast(transform.position + upperfeelerPos3D, upperfeelerSize3D / 2, direction, out hit, Quaternion.Euler(0, 0, angle), distance, feelerDetectMask);
if (hit.collider != null)
{
isDetectingHighObstacle = true;
DebugDrawPhysics.DebugDrawBoxCast(transform.position + upperfeelerPos3D, upperFeelerSize, angle, direction, distance, Color.red);
}
else
{
DebugDrawPhysics.DebugDrawBoxCast(transform.position + upperfeelerPos3D, upperFeelerSize, angle, direction, distance, Color.green);
isDetectingHighObstacle = false;
}
//Lower box
distance = Mathf.Abs(lowerfeelerPos3D.x);
lowerfeelerPos3D.x = 0;
Physics.BoxCast(transform.position + lowerfeelerPos3D, lowerFeelerSize / 2, direction, out hit, Quaternion.Euler(0, 0, angle), distance, feelerDetectMask);
if (hit.collider != null)
{
DebugDrawPhysics.DebugDrawBoxCast(transform.position + lowerfeelerPos3D, lowerFeelerSize, angle, direction, distance, Color.red);
isDetectingLowObstacle = true;
}
else
{
DebugDrawPhysics.DebugDrawBoxCast(transform.position + lowerfeelerPos3D, lowerFeelerSize, angle, direction, distance, Color.green);
isDetectingLowObstacle = false;
}
}
}
