public void Update()
{
if (Time.time >= nextRepath && canSearchAgain)
{
RecalculatePath();
}
Vector3 pos = transform.position;
if (vectorPath != null && vectorPath.Count != 0)
{
while ((controller.To2D(pos - vectorPath[wp]).sqrMagnitude < moveNextDist * moveNextDist && wp != vectorPath.Count - 1) || wp == 0)
{
wp++;
}
// Current path segment goes from vectorPath[wp-1] to vectorPath[wp]
// We want to find the point on that segment that is 'moveNextDist' from our current position.
// This can be visualized as finding the intersection of a circle with radius 'moveNextDist'
// centered at our current position with that segment.
var p1 = vectorPath[wp - 1];
var p2 = vectorPath[wp];
// Calculate the intersection with the circle. This involves some math.
var t = VectorMath.LineCircleIntersectionFactor(controller.To2D(transform.position), controller.To2D(p1), controller.To2D(p2), moveNextDist);
// Clamp to a point on the segment
t = Mathf.Clamp01(t);
Vector3 waypoint = Vector3.Lerp(p1, p2, t);
// Calculate distance to the end of the path
float remainingDistance = controller.To2D(waypoint - pos).magnitude + controller.To2D(waypoint - p2).magnitude;
for (int i = wp; i < vectorPath.Count - 1; i++)
{
remainingDistance += controller.To2D(vectorPath[i + 1] - vectorPath[i]).magnitude;
}
// Set the target to a point in the direction of the current waypoint at a distance
// equal to the remaining distance along the path. Since the rvo agent assumes that
// it should stop when it reaches the target point, this will produce good avoidance
// behavior near the end of the path. When not close to the end point it will act just
// as being commanded to move in a particular direction, not toward a particular point
var rvoTarget = (waypoint - pos).normalized * remainingDistance + pos;
// When within [slowdownDistance] units from the target, use a progressively lower speed
var desiredSpeed = Mathf.Clamp01(remainingDistance / slowdownDistance) * maxSpeed;
Debug.DrawLine(transform.position, waypoint, Color.red);
controller.SetTarget(rvoTarget, desiredSpeed, maxSpeed);
}
else
{
// Stand still
controller.SetTarget(pos, maxSpeed, maxSpeed);
}
// Get a processed movement delta from the rvo controller and move the character.
// This is based on information from earlier frames.
var movementDelta = controller.CalculateMovementDelta(Time.deltaTime);
pos += movementDelta;
// Rotate the character if the velocity is not extremely small
if (Time.deltaTime > 0 && movementDelta.magnitude / Time.deltaTime > 0.01f)
{
var rot = transform.rotation;
var targetRot = Quaternion.LookRotation(movementDelta, controller.To3D(Vector2.zero, 1));
const float RotationSpeed = 5;
if (controller.movementPlane == MovementPlane.XY)
{
targetRot = targetRot * Quaternion.Euler(-90, 180, 0);
}
transform.rotation = Quaternion.Slerp(rot, targetRot, Time.deltaTime * RotationSpeed);
}
if (controller.movementPlane == MovementPlane.XZ)
{
RaycastHit hit;
if (Physics.Raycast(pos + Vector3.up, Vector3.down, out hit, 2, groundMask))
{
pos.y = hit.point.y;
}
}
transform.position = pos;
}
/// <summary>
/// 僵尸变聪明
/// </summary>
public void BeAutoPath()
{
m_AutomaticPath = true;
// 如果不笨则增加寻路算法
if (m_AiPath == null)
{
// 获取碰撞体
m_collider = GetComponent <CircleCollider2D>();
// 增加RVO网格控制
m_rvoController = gameObject.AddComponent <RVOController>();
m_rvoController.agentTimeHorizon = 0.4f; // 检测代理碰撞的时间间隔
m_rvoController.obstacleTimeHorizon = 0.6f; // 检测其他障碍碰撞的时间间隔
//m_rvoController.collidesWith = (RVOLayer)(-1);
m_rvoController.collidesWith = RVOLayer.DefaultAgent;
m_rvoController.maxNeighbours = 2;
m_rvoController.locked = false;
// 寻路插件
m_AiPath = gameObject.AddComponent <AIPath>();
m_AiPath.radius = GetComponent <CircleCollider2D>().radius;
m_AiPath.height = 1;
m_AiPath.slowdownDistance = 0; // 无需减速
m_AiPath.enableRotation = true;
m_AiPath.orientation = OrientationMode.YAxisForward;
m_AiPath.slowWhenNotFacingTarget = false;
m_AiPath.whenCloseToDestination = CloseToDestinationMode.ContinueToExactDestination;
m_AiPath.rotationSpeed = 240 * (m_BaseSpeed / 2.5f);
m_AiPath.pickNextWaypointDist = 1;
// 增加平滑曲线
m_simpleSmooth = gameObject.AddComponent <SimpleSmoothModifier>();
m_simpleSmooth.maxSegmentLength = 1f;
m_simpleSmooth.iterations = 5;
RaycastModifier m_raycast = gameObject.AddComponent <RaycastModifier>();
m_raycast.quality = RaycastModifier.Quality.Low;
//m_raycast.use2DPhysics = false;
m_raycast.useRaycasting = false;
m_raycast.useGraphRaycasting = true;
m_seeker = GetComponent <Seeker>();
m_seeker.drawGizmos = false;
m_seeker.pathCallback += pathCall; // 路径完成后的回调
Transform targetTsf = GetTargetNode();
//transform.localEulerAngles = new Vector3(0, 0, EZMath.SignedAngleBetween(m_Player.transform.position - transform.position, Vector3.up));
m_seeker.StartPath(transform.position, targetTsf.position);
// 设置初始速度
m_rvoController.velocity = (targetTsf.position - transform.position).normalized * m_BaseSpeed * m_HitSpeedScale; // 直接设置初始速度
m_rvoController.SetTarget(targetTsf.position, m_rvoController.velocity.magnitude, m_rvoController.velocity.magnitude);
m_AiPath.velocity2D = m_rvoController.velocity;
PathInit.curPathNum++;
}
else
{
EnablePath();
}
}
/** Update is called once per frame */
protected virtual void Update()
{
deltaTime = Mathf.Min(Time.smoothDeltaTime * 2, Time.deltaTime);
if (rp != null)
{
RichPathPart currentPart = rp.GetCurrentPart();
var fn = currentPart as RichFunnel;
if (fn != null)
{
// Clamp the current position to the navmesh
// and update the list of upcoming corners in the path
// and store that in the 'nextCorners' variable
Vector3 position = UpdateTarget(fn);
// Only get walls every 5th frame to save on performance
if (Time.frameCount % 5 == 0 && wallForce > 0 && wallDist > 0)
{
wallBuffer.Clear();
fn.FindWalls(wallBuffer, wallDist);
}
// Target point
int tgIndex = 0;
Vector3 targetPoint = nextCorners[tgIndex];
Vector3 dir = targetPoint - position;
dir.y = 0;
bool passedTarget = Vector3.Dot(dir, currentTargetDirection) < 0;
// Check if passed target in another way
if (passedTarget && nextCorners.Count - tgIndex > 1)
{
tgIndex++;
targetPoint = nextCorners[tgIndex];
}
// Check if the target point changed compared to last frame
if (targetPoint != lastTargetPoint)
{
currentTargetDirection = targetPoint - position;
currentTargetDirection.y = 0;
currentTargetDirection.Normalize();
lastTargetPoint = targetPoint;
}
// Direction to target
dir = targetPoint - position;
dir.y = 0;
// Normalized direction
Vector3 normdir = VectorMath.Normalize(dir, out distanceToWaypoint);
// Is the endpoint of the path (part) the current target point
bool targetIsEndPoint = lastCorner && nextCorners.Count - tgIndex == 1;
// When very close to the target point, move directly towards the target
// instead of using accelerations as they tend to be a bit jittery in this case
if (targetIsEndPoint && distanceToWaypoint < 0.01f * maxSpeed)
{
// Velocity will be at most 1 times max speed, it will be further clamped below
velocity = (targetPoint - position) * 100;
}
else
{
// Calculate force from walls
Vector3 wallForceVector = CalculateWallForce(position, normdir);
Vector2 accelerationVector;
if (targetIsEndPoint)
{
accelerationVector = CalculateAccelerationToReachPoint(To2D(targetPoint - position), Vector2.zero, To2D(velocity));
//accelerationVector = Vector3.ClampMagnitude(accelerationVector, acceleration);
// Reduce the wall avoidance force as we get closer to our target
wallForceVector *= System.Math.Min(distanceToWaypoint / 0.5f, 1);
if (distanceToWaypoint < endReachedDistance)
{
// END REACHED
NextPart();
}
}
else
{
var nextNextCorner = tgIndex < nextCorners.Count - 1 ? nextCorners[tgIndex + 1] : (targetPoint - position) * 2 + position;
var targetVelocity = (nextNextCorner - targetPoint).normalized * maxSpeed;
accelerationVector = CalculateAccelerationToReachPoint(To2D(targetPoint - position), To2D(targetVelocity), To2D(velocity));
}
// Update the velocity using the acceleration
velocity += (new Vector3(accelerationVector.x, 0, accelerationVector.y) + wallForceVector * wallForce) * deltaTime;
}
var currentNode = fn.CurrentNode;
Vector3 closestOnNode;
if (currentNode != null)
{
closestOnNode = currentNode.ClosestPointOnNode(position);
}
else
{
closestOnNode = position;
}
// Distance to the end of the path (as the crow flies)
var distToEndOfPath = (fn.exactEnd - closestOnNode).magnitude;
// Max speed to use for this frame
var currentMaxSpeed = maxSpeed;
currentMaxSpeed *= Mathf.Sqrt(Mathf.Min(1, distToEndOfPath / (maxSpeed * slowdownTime)));
// Check if the agent should slow down in case it is not facing the direction it wants to move in
if (slowWhenNotFacingTarget)
{
// 1 when normdir is in the same direction as tr.forward
// 0.2 when they point in the opposite directions
float directionSpeedFactor = Mathf.Max((Vector3.Dot(normdir, tr.forward) + 0.5f) / 1.5f, 0.2f);
currentMaxSpeed *= directionSpeedFactor;
float currentSpeed = VectorMath.MagnitudeXZ(velocity);
float prevy = velocity.y;
velocity.y = 0;
currentSpeed = Mathf.Min(currentSpeed, currentMaxSpeed);
// Make sure the agent always moves in the forward direction
// except when getting close to the end of the path in which case
// the velocity can be in any direction
velocity = Vector3.Lerp(velocity.normalized * currentSpeed, tr.forward * currentSpeed, Mathf.Clamp(targetIsEndPoint ? distanceToWaypoint * 2 : 1, 0.0f, 0.5f));
velocity.y = prevy;
}
else
{
velocity = VectorMath.ClampMagnitudeXZ(velocity, currentMaxSpeed);
}
// Apply gravity
velocity += deltaTime * gravity;
if (rvoController != null && rvoController.enabled)
{
// Send a message to the RVOController that we want to move
// with this velocity. In the next simulation step, this velocity
// will be processed and it will be fed back the rvo controller
// and finally it will be used by this script when calling the
// CalculateMovementDelta method below
// Make sure that we don't move further than to the end point of the path
// If the RVO simulation FPS is low and we did not do this, the agent
// might overshoot the target a lot.
var rvoTarget = position + VectorMath.ClampMagnitudeXZ(velocity, distToEndOfPath);
rvoController.SetTarget(rvoTarget, VectorMath.MagnitudeXZ(velocity), maxSpeed);
}
// Direction and distance to move during this frame
Vector3 deltaPosition;
if (rvoController != null && rvoController.enabled)
{
// Use RVOController to get a processed delta position
// such that collisions will be avoided if possible
deltaPosition = rvoController.CalculateMovementDelta(position, deltaTime);
// The RVOController does not know about gravity
// so we copy it from the normal velocity calculation
deltaPosition.y = velocity.y * deltaTime;
}
else
{
deltaPosition = velocity * deltaTime;
}
if (targetIsEndPoint)
{
// Rotate towards the direction that the agent was in
// when the target point was seen for the first time
// TODO: Some magic constants here, should probably compute them from other variables
// or expose them as separate variables
Vector3 trotdir = Vector3.Lerp(deltaPosition.normalized, currentTargetDirection, System.Math.Max(1 - distanceToWaypoint * 2, 0));
RotateTowards(trotdir);
}
else
{
// Rotate towards the direction we are moving in
RotateTowards(deltaPosition);
}
if (controller != null && controller.enabled)
{
// Use CharacterController
tr.position = position;
controller.Move(deltaPosition);
// Grab the position after the movement to be able to take physics into account
position = tr.position;
}
else
{
// Use Transform
float lastY = position.y;
position += deltaPosition;
// Position the character on the ground
position = RaycastPosition(position, lastY);
}
// Clamp the position to the navmesh after movement is done
var clampedPosition = fn.ClampToNavmesh(position);
if (position != clampedPosition)
{
// The agent was outside the navmesh. Remove that component of the velocity
// so that the velocity only goes along the direction of the wall, not into it
var difference = clampedPosition - position;
velocity -= difference * Vector3.Dot(difference, velocity) / difference.sqrMagnitude;
// Make sure the RVO system knows that there was a collision here
// Otherwise other agents may think this agent continued to move forwards
// and avoidance quality may suffer
if (rvoController != null && rvoController.enabled)
{
rvoController.SetCollisionNormal(difference);
}
}
tr.position = clampedPosition;
}
else
{
if (rvoController != null && rvoController.enabled)
{
//Use RVOController
rvoController.Move(Vector3.zero);
}
}
if (currentPart is RichSpecial)
{
// The current path part is a special part, for example a link
// Movement during this part of the path is handled by the TraverseSpecial coroutine
if (!traversingSpecialPath)
{
StartCoroutine(TraverseSpecial(currentPart as RichSpecial));
}
}
}
else
{
if (rvoController != null && rvoController.enabled)
{
// Use RVOController
rvoController.Move(Vector3.zero);
}
else
if (controller != null && controller.enabled)
{
}
else
{
tr.position = RaycastPosition(tr.position, tr.position.y);
}
}
}
public void Update()
{
if (Time.time >= nextRepath && canSearchAgain)
{
RecalculatePath();
}
Vector3 pos = transform.position;
if (vectorPath != null && vectorPath.Count != 0)
{
//Good Game
//while ((controller.To2D(pos - vectorPath[wp]).sqrMagnitude < moveNextDist*moveNextDist && wp != vectorPath.Count-1) || wp == 0)
//while ((controller.To2D((VInt3)pos - vectorPath[wp]).sqrMagnitude < moveNextDist*moveNextDist && wp != vectorPath.Count-1) || wp == 0)
//Debug.Log($"--waypoint--{gameObject.name}--{(controller.To2D((VInt3)pos - vectorPath[wp])).sqrMagnitude / 1000000f}--{moveNextDist * moveNextDist}");
while ((((Vector2)controller.To2D((VInt3)pos - vectorPath[wp])).sqrMagnitude < moveNextDist * moveNextDist && wp != vectorPath.Count - 1) || wp == 0)
{
wp++;
//Debug.Log($"--agent{transform.GetSiblingIndex()}--wp--{wp}");
}
// Current path segment goes from vectorPath[wp-1] to vectorPath[wp]
// We want to find the point on that segment that is 'moveNextDist' from our current position.
// This can be visualized as finding the intersection of a circle with radius 'moveNextDist'
// centered at our current position with that segment.
var p1 = vectorPath[wp - 1];
var p2 = vectorPath[wp];
// Calculate the intersection with the circle. This involves some math.
//Good Game
//var t = VectorMath.LineCircleIntersectionFactor(controller.To2D(transform.position), controller.To2D(p1), controller.To2D(p2), moveNextDist);
var t = VectorMath.LineCircleIntersectionFactor((Vector2)controller.To2D((VInt3)transform.position), (Vector2)controller.To2D(p1), (Vector2)controller.To2D(p2), moveNextDist);
// Clamp to a point on the segment
t = Mathf.Clamp01(t);
//Good Game
//Vector3 waypoint = Vector3.Lerp(p1, p2, t);
VInt3 waypoint = VInt3.Lerp(p1, p2, t);
// Calculate distance to the end of the path
//Good Game
/*float remainingDistance = controller.To2D(waypoint - pos).magnitude + controller.To2D(waypoint - p2).magnitude;
* for (int i = wp; i < vectorPath.Count - 1; i++)
* remainingDistance += controller.To2D(vectorPath[i+1] - vectorPath[i]).magnitude;*/
float remainingDistance = controller.To2D(waypoint - (VInt3)pos).magnitude + controller.To2D(waypoint - p2).magnitude;
for (int i = wp; i < vectorPath.Count - 1; i++)
{
remainingDistance += controller.To2D(vectorPath[i + 1] - vectorPath[i]).magnitude;
}
// Set the target to a point in the direction of the current waypoint at a distance
// equal to the remaining distance along the path. Since the rvo agent assumes that
// it should stop when it reaches the target point, this will produce good avoidance
// behavior near the end of the path. When not close to the end point it will act just
// as being commanded to move in a particular direction, not toward a particular point
//GG
remainingDistance /= 1000000;
//Debug.Log("--remian--" + remainingDistance.ToString("f2"));
//var rvoTarget = (waypoint - pos).normalized * remainingDistance + pos;
var rvoTarget = ((Vector3)waypoint - pos).normalized * remainingDistance + pos;
// When within [slowdownDistance] units from the target, use a progressively lower speed
var desiredSpeed = Mathf.Clamp01(remainingDistance / slowdownDistance) * maxSpeed;
Debug.DrawLine(transform.position, waypoint, Color.red);
//GG
//controller.SetTarget(rvoTarget, desiredSpeed, maxSpeed);
//Debug.Log($"--target--{rvoTarget}--de speed--{desiredSpeed}--maxSpeed--{maxSpeed}");
controller.SetTarget((VInt3)rvoTarget, (int)(desiredSpeed * 1000), (int)(maxSpeed * 1000));
//controller.SetTarget((VInt3)rvoTarget, 50, (int)(maxSpeed* 1000));
}
else
{
// Stand still
//GG
//controller.SetTarget(pos, maxSpeed, maxSpeed);
controller.SetTarget((VInt3)pos, (int)(maxSpeed * 1000), (int)(maxSpeed * 1000));
}
// Get a processed movement delta from the rvo controller and move the character.
// This is based on information from earlier frames.
//GG
//var movementDelta = controller.CalculateMovementDelta(Time.deltaTime);
//var movementDelta = controller.CalculateMovementDelta((int)(Time.deltaTime * 1000));
var movementDelta = controller.CalculateMovementDelta(50);
//GG
//pos += movementDelta;
pos += (Vector3)movementDelta;
//Debug.Log("--" + movementDelta.ToString());
//Rotate the character if the velocity is not extremely small
//GG
//if (Time.deltaTime > 0 && movementDelta.magnitude / Time.deltaTime > 0.01f)
if (Time.deltaTime > 0 && ((Vector3)movementDelta).magnitude / Time.deltaTime > 0.01f)
{
var rot = transform.rotation;
//GG
//var targetRot = Quaternion.LookRotation((Vector3)movementDelta, (Vector3)controller.To3D(Vector2.zero, 1));
var targetRot = Quaternion.LookRotation((Vector3)movementDelta, (Vector3)controller.To3D(VInt2.zero, 1000));
const float RotationSpeed = 5;
if (controller.movementPlane == MovementPlane.XY)
{
targetRot = targetRot * Quaternion.Euler(-90, 180, 0);
}
transform.rotation = Quaternion.Slerp(rot, targetRot, Time.deltaTime * RotationSpeed);
}
if (controller.movementPlane == MovementPlane.XZ)
{
RaycastHit hit;
if (Physics.Raycast(pos + Vector3.up, Vector3.down, out hit, 2, groundMask))
{
pos.y = hit.point.y;
}
}
transform.position = pos;
//Good Game
/*if(pos.x > 200 || pos.y > 200 || pos.z > 200 || pos.x > -200 || pos.z < -200)
* Debug.LogError("--" + gameObject.name + "--" + pos);*/
}
private void MovementUpdateInternal(float deltaTime)
{
// a = v/t, should probably expose as a variable
var acceleration = MaxSpeed / 0.4f;
// Get our current position. We read from transform.position as few times as possible as it is relatively slow
// (at least compared to a local variable)
var currentPosition = Tr.position;
// Update which point we are moving towards
_interpolator.MoveToCircleIntersection2D(currentPosition, _pickNextWaypointDist, _movementPlane);
var dir = _movementPlane.ToPlane(SteeringTargetV3 - currentPosition);
// Calculate the distance to the end of the path
var distanceToEnd = dir.magnitude + MathEx.Max(0, _interpolator.remainingDistance);
// Check if we have reached the target
var prevTargetReached = TargetReached;
TargetReached = distanceToEnd <= _endReachedDistance && _interpolator.valid;
if (!prevTargetReached && TargetReached)
{
MovementCompleted();
}
// Check if we have a valid path to follow and some other script has not stopped the character
float slowdown = 1;
if (_interpolator.valid)
{
// How fast to move depending on the distance to the destination.
// Move slower as the character gets closer to the destination.
// This is always a value between 0 and 1.
if (distanceToEnd < _slowdownDistance)
{
slowdown = Mathf.Sqrt(distanceToEnd / _slowdownDistance);
_slowLerp.Enabled = false;
}
else
{
if (_interpolator.ShouldSlow())
{
if (!_slowLerp.Enabled)
{
_slowLerp.RestartLerp(1, 0, _slowdownTime);
}
slowdown = _slowLerp.GetLerpValue();
}
else
{
_slowLerp.Enabled = false;
}
}
if (TargetReached && _goToExactEndPoint)
{
// Slow down as quickly as possible
_velocity2D -= Vector2.ClampMagnitude(_velocity2D, acceleration * deltaTime);
}
else
{
// Normalized direction of where the agent is looking
var forwards = _movementPlane.ToPlane(Tr.rotation * Vector3.forward);
_velocity2D += MovementUtilities.CalculateAccelerationToReachPoint(dir, dir.normalized * MaxSpeed, _velocity2D, acceleration, _rotationSpeed, MaxSpeed, forwards) * deltaTime;
}
}
else
{
slowdown = 1;
// Slow down as quickly as possible
_velocity2D -= Vector2.ClampMagnitude(_velocity2D, acceleration * deltaTime);
}
_velocity2D = MovementUtilities.ClampVelocity(
_velocity2D, MaxSpeed, slowdown, _slowWhenNotFacingTarget,
_movementPlane.ToPlane(Tr.forward));
ApplyGravity(deltaTime);
if (_rvoController != null && _rvoController.enabled)
{
// Send a message to the RVOController that we want to move
// with this velocity. In the next simulation step, this
// velocity will be processed and it will be fed back to the
// rvo controller and finally it will be used by this script
// when calling the CalculateMovementDelta method below
// Make sure that we don't move further than to the end point
// of the path. If the RVO simulation FPS is low and we did
// not do this, the agent might overshoot the target a lot.
var rvoTarget = currentPosition + _movementPlane.ToWorld(Vector2.ClampMagnitude(_velocity2D, distanceToEnd), 0f);
_rvoController.SetTarget(rvoTarget, _velocity2D.magnitude, MaxSpeed);
}
Vector2 desiredRotationDirection;
if (_rvoController != null && _rvoController.enabled)
{
// When using local avoidance, use the actual velocity we are moving with (delta2D/deltaTime) if that velocity
// is high enough, otherwise fall back to the velocity that we want to move with (velocity2D).
// The local avoidance velocity can be very jittery when the character is close to standing still
// as it constantly makes small corrections. We do not want the rotation of the character to be jittery.
//var actualVelocity = delta2D / deltaTime;
var actualVelocity = _lastDeltaPosition / _lastDeltaTime;
desiredRotationDirection = Vector2.Lerp(_velocity2D, actualVelocity, 4 * actualVelocity.magnitude / (MaxSpeed + 0.0001f));
}
else
{
desiredRotationDirection = _velocity2D;
}
var delta2D = _lastDeltaPosition = CalculateDeltaToMoveThisFrame(_movementPlane.ToPlane(currentPosition), distanceToEnd, deltaTime);
// Rotate towards the direction we are moving in
var currentRotationSpeed = _rotationSpeed * MathEx.Max(0, (slowdown - 0.3f) / 0.7f);
RotateTowards(desiredRotationDirection, currentRotationSpeed * deltaTime);
var deltaPosition = _movementPlane.ToWorld(delta2D, _verticalVelocity * deltaTime);
Move(currentPosition, deltaPosition);
}