/// <summary>
/// Check if the destination can be reached
/// </summary>
/// <param name="_position">destination to reach</param>
/// <returns>if the destination can be reached</returns>
public bool CheckDestination(Vector3 _position)
{
if (CustomNavMeshManager.Triangles == null || CustomNavMeshManager.Triangles.Count == 0)
{
Debug.LogWarning("Triangles Not found. Must build the navmesh for the scene");
return(false);
}
if (isMoving)
{
StopAllCoroutines();
}
pathState = CalculatingState.Calculating;
bool _canBeReached = PathCalculator.CalculatePath(OffsetPosition, _position, currentPath, CustomNavMeshManager.Triangles);
if (_canBeReached)
{
pathState = CalculatingState.Ready;
StopAllCoroutines();
StartCoroutine(FollowPath());
}
else
{
pathState = CalculatingState.Waiting;
}
return(_canBeReached);
}
/// <summary>
/// Stop the agent
/// Stop the coroutine and reset all settings
/// </summary>
public void StopAgent()
{
StopCoroutine(FollowPath());
currentPath.PathPoints.Clear();
isMoving = false;
pathState = CalculatingState.Waiting;
OnAgentStopped?.Invoke();
}
/// <summary>
/// Calculate a path until reaching a destination
/// </summary>
/// <param name="_position">destination to reach</param>
public void SetDestination(Vector3 _position)
{
currentPath.ClearPath();
pathState = CalculatingState.Calculating;
if (TDS_NavMeshManager.Instance.CalculatePath(transform.position, _position, currentPath))
{
pathState = CalculatingState.Ready;
}
}
/// <summary>
/// Calculate a path until reaching a destination
/// </summary>
/// <param name="_position">destination to reach</param>
public void SetDestination(Vector3 _position)
{
if (CustomNavMeshManager.Triangles == null || CustomNavMeshManager.Triangles.Count == 0)
{
Debug.LogWarning("Triangles Not found. Must build the navmesh for the scene");
//Destroy(this);
return;
}
if (isMoving)
{
StopAllCoroutines();
}
pathState = CalculatingState.Calculating;
if (PathCalculator.CalculatePath(OffsetPosition, _position, currentPath, CustomNavMeshManager.Triangles))
{
pathState = CalculatingState.Ready;
StartCoroutine(FollowPath());
}
}
/// <summary>
/// Make the agent follows the path
/// </summary>
/// <param name="_speed">speed</param>
/// <returns></returns>
public IEnumerator FollowPath(float _speed)
{
isMoving = true;
TDS_CustomNavPath _pathToFollow = CurrentPath;
int _index = 1;
while (Vector3.Distance(transform.position, _pathToFollow.NavigationPoints.Last().Position) > .5f)
{
if (Vector3.Distance(transform.position, _pathToFollow.NavigationPoints[_index].Position) <= .5f)
{
_index = _index + 1;
}
transform.position = Vector3.MoveTowards(transform.position, _pathToFollow.NavigationPoints[_index].Position, Time.deltaTime * _speed);
yield return(new WaitForEndOfFrame());
}
yield return(new WaitForEndOfFrame());
pathState = CalculatingState.Waiting;
isMoving = false;
CurrentPath.ClearPath();
OnDestinationReached?.Invoke();
yield break;
}
