IEnumerator FlyAroundPointSafety()
{
Vector3 startPos = transform.position;
float condTime = 0.0f;
float angle = Vec3Mathf.GetAngle(transform.position, agent.destination);
//Debug.Log(angle);
agent.SetDestination(destination = Vec3Mathf.GetCirclePoint(startPos, angle, rad));
while (true)
{
safetyWalkTime += 0.01f;
condTime += 0.01f;//Time.deltaTime;
if (agent.remainingDistance < remDist)
{
angle += anglePlus;
destination = Vec3Mathf.GetCirclePoint(startPos, angle, rad);
agent.SetDestination(destination);
//Debug.Log("Добавляю угол:" + anglePlus);
}
if (condTime >= 5.0f)
{
ChangeCondition(Condition.Safety, "FlyAroundPointSafety", "Safety");
}
if (fow.visibleTargets.Count > 0)
{
isEnemySpotted = true;
visibleTarget = fow.visibleTargets[0];
ChangeCondition(Condition.Alarm, "FlyAroundPointSafety", "Alarm");
}
//if(safetyWalkTime > 15.0f)
//{
// ChangeCondition(Condition.Secure, "FlyAroundPointSafety", "GoBackToTheSpot");
//}
Debug.DrawLine(startPos, agent.destination, Color.red);
yield return(new WaitForSeconds(0.01f));
}
}
public void Run(Vector3 start, Vector3 target)
{
startPos = start;
targPos = target;
graphLength = (Vector3.Distance(startPos, targPos) / rad) - limit;
//Debug.Log(graphLength);
if (graphLength >= 1)
{
vec3points = new Vector3[(int)graphLength];
}
else
{
vec3points = new Vector3[1];
}
angle = Vec3Mathf.GetAngle(start, target);
//Debug.Log(angle);
//Debug.Log("start: "+start +"angle: "+ target);
CalcGraph();
if (graphLength < 5)
{
rar = 1;
}
}