bool DoPathFind()
{
Dynamic targetObj = null;
{
RTSUnitAI ai = Intellect as RTSUnitAI;
if (ai != null)
{
targetObj = ai.CurrentTask.Entity;
}
}
//remove this unit from the pathfinding grid
GetNavigationSystem().RemoveObjectFromMotionMap(this);
float radius = Type.Radius;
Rect targetRect = new Rect(
MovePosition.ToVec2() - new Vec2(radius, radius),
MovePosition.ToVec2() + new Vec2(radius, radius));
//remove target unit from the pathfinding grid
if (targetObj != null && targetObj != this)
{
GetNavigationSystem().RemoveObjectFromMotionMap(targetObj);
}
//TO DO: really need this call?
GetNavigationSystem().AddTempClearMotionMap(targetRect);
const int maxFieldsDistance = 1000;
const int maxFieldsToCheck = 100000;
bool found = GetNavigationSystem().FindPath(
Type.Radius * 2 * 1.1f,
Position.ToVec2(),
MovePosition.ToVec2(),
maxFieldsDistance,
maxFieldsToCheck,
true,
false,
path);
GetNavigationSystem().DeleteAllTempClearedMotionMap();
//add target unit to the pathfinding grid
if (targetObj != null && targetObj != this)
{
GetNavigationSystem().AddObjectToMotionMap(targetObj);
}
//add this unit the the pathfinding grid
GetNavigationSystem().AddObjectToMotionMap(this);
return(found);
}
bool DoPathFind()
{
Dynamic targetObj = null;
{
//not true because use Intellect
RTSUnitAI ai = Intellect as RTSUnitAI;
if (ai != null)
{
targetObj = ai.CurrentTask.Entity;
}
}
GridPathFindSystem.Instance.RemoveObjectFromMotionMap(this);
Bounds bounds = PhysicsModel.GetGlobalBounds();
float radius = Type.Radius;
Rect targetRect = new Rect(MovePosition.ToVec2() - new Vec2(radius, radius),
MovePosition.ToVec2() + new Vec2(radius, radius));
if (targetObj != null && targetObj != this)
{
GridPathFindSystem.Instance.RemoveObjectFromMotionMap(targetObj);
}
GridPathFindSystem.Instance.DoTempClearMotionMap(targetRect);
const int maxFieldsDistance = 1000;
const int maxFieldsToCheck = 100000;
bool found = GridPathFindSystem.Instance.DoFind(Type.Radius * 2 * 1.1f, Position.ToVec2(),
MovePosition.ToVec2(), maxFieldsDistance, maxFieldsToCheck, true, false, path);
GridPathFindSystem.Instance.RestoreAllTempClearedMotionMap();
if (targetObj != null && targetObj != this)
{
GridPathFindSystem.Instance.AddObjectToMotionMap(targetObj);
}
GridPathFindSystem.Instance.AddObjectToMotionMap(this);
return(found);
}
void TickMove()
{
//path find control
{
if (pathFindWaitTime != 0)
{
pathFindWaitTime -= TickDelta;
if (pathFindWaitTime < 0)
{
pathFindWaitTime = 0;
}
}
if (pathFoundedToPosition != MovePosition.ToVec2() && pathFindWaitTime == 0)
{
path.Clear();
}
if (path.Count == 0)
{
if (pathFindWaitTime == 0)
{
if (DoPathFind())
{
pathFoundedToPosition = MovePosition.ToVec2();
pathFindWaitTime = .5f;
}
else
{
pathFindWaitTime = 1.0f;
}
}
}
}
if (path.Count == 0)
{
return;
}
//line movement to path[ 0 ]
{
Vec2 destPoint = path[0];
Vec2 diff = destPoint - Position.ToVec2();
if (diff == Vec2.Zero)
{
path.RemoveAt(0);
return;
}
Radian dir = MathFunctions.ATan16(diff.Y, diff.X);
float halfAngle = dir * 0.5f;
Quat rot = new Quat(new Vec3(0, 0, MathFunctions.Sin16(halfAngle)),
MathFunctions.Cos16(halfAngle));
Rotation = rot;
Vec2 dirVector = diff.GetNormalizeFast();
Vec2 dirStep = dirVector * (Type.MaxVelocity * TickDelta);
Vec2 newPos = Position.ToVec2() + dirStep;
if (Math.Abs(diff.X) <= Math.Abs(dirStep.X) && Math.Abs(diff.Y) <= Math.Abs(dirStep.Y))
{
//unit at point
newPos = path[0];
path.RemoveAt(0);
}
GridPathFindSystem.Instance.RemoveObjectFromMotionMap(this);
bool free;
{
float radius = Type.Radius;
Rect targetRect = new Rect(newPos - new Vec2(radius, radius), newPos + new Vec2(radius, radius));
free = GridPathFindSystem.Instance.IsFreeInMapMotion(targetRect);
}
GridPathFindSystem.Instance.AddObjectToMotionMap(this);
if (free)
{
float newZ = GridPathFindSystem.Instance.GetMotionMapHeight(newPos) + Type.Height * .5f;
Position = new Vec3(newPos.X, newPos.Y, newZ);
}
else
{
path.Clear();
}
}
}