public IEnumerator Navigate(Vector3 destination)
{
var remainingDistance = Mathf.Infinity;
// if destination is too little we rotate towards target first
if (Vector3.Distance(transform.position, destination) < MinimumDistancetoTurn)
{
yield return(StartCoroutine(AffineUtility.RotateTowards(transform, destination)));
}
// set the new destination and resume the navigation
if (!SetDestination(destination))
{
yield break;
}
// now wait till we reach the destination
while (!DestinationReached)
{
// sometimes, due to the animation we may pass the target instead of reaching it
// as a result agent then spins around the final target
// therefore we turn agent towards target in case it passes it
if (remainingDistance < DistanceToTarget)
{
// turn towards object
Pause();
yield return(StartCoroutine(AffineUtility.RotateTowards(transform, destination)));
Resume();
}
remainingDistance = DistanceToTarget;
yield return(null);
}
yield break;
}
IEnumerator RotateTowardsTarget(Vector3 target, bool finish = false)
{
rotatingTowardsTarget = true;
// Debug.Log("Rotating towrds target");
yield return(StartCoroutine(AffineUtility.RotateTowards(agent.transform, target, 1f)));
// Debug.Log("Resume");
navAgent.Resume();
// after rotation we may finish
if (finish)
{
Debug.Log("Shall finish");
if (Success())
{
EndAction(true);
}
}
rotatingTowardsTarget = false;
}
Vector3 GetPosition(Vector3 offset)
{
var p = transform.position + offset;
return(AffineUtility.RotateAroundPoint(p, transform.position, transform.rotation));
}