public override Vector3 MoveToTargetLateralPos(Transform xform, Vector3 target, Vector3 eTarget, FlyingDroneScript scr)
{
if (mvState == MoveState.turn)
{
// Calculate the new rotation.
float dot = GeometryClass.DotToTarget2D(xform, target);
if (dot < scr.dotTolerance)
{
// Calculate the new rotation.
Vector3 angles = xform.localEulerAngles;
float yAngle = angles.y;
Transform tempXform = xform;
tempXform.LookAt(target);
float yAngleTarget = tempXform.localEulerAngles.y;
scr.journeyFracRotate += scr.journeyDeltaRotate;
float yAngleChanged = Mathf.LerpAngle(yAngle, yAngleTarget, GeometryClass.MapToCurve(scr.journeyFracRotate));
angles.y = yAngleChanged;
xform.localEulerAngles = angles;
}
else
{
mvState = MoveState.move;
scr.ResetJourney();
}
} else { // mvState == MoveState.move
// Calculate new position only if rotation is already correct.
scr.journeyFracHoriz += scr.journeyDeltaHoriz;
Vector3 newPos = Vector3.Lerp(xform.transform.position, eTarget, GeometryClass.MapToCurve(scr.journeyFracHoriz));
xform.position = newPos;
}
return xform.position;
}
public override Vector3 MoveToTargetLateralPos(Transform xform, Vector3 target, Vector3 eTarget, FlyingDroneScript scr)
{
// Calculate the new position.
Vector3 newPos = Vector3.SmoothDamp(xform.position, eTarget, ref scr.smoothVelocity, scr.smoothTime, scr.smoothMaxSpeed);
xform.position = newPos;
// Calculate the new rotation.
Vector3 angles = xform.localEulerAngles;
float yAngle = angles.y;
Transform tempXform = xform;
tempXform.LookAt(target);
float yAngleTarget = tempXform.localEulerAngles.y;
float yAngleChanged = Mathf.SmoothDampAngle(yAngle, yAngleTarget, ref scr.smoothVelocityf, scr.smoothTimeRotate, scr.smoothMaxSpeedRotate);
angles.y = yAngleChanged;
xform.localEulerAngles = angles;
return xform.position;
}
public override Vector3 MoveToTargetLateralPos(Transform xform, Vector3 target, Vector3 eTarget, FlyingDroneScript scr)
{
// Calculate the new position.
scr.journeyFracHoriz += scr.journeyDeltaHoriz;
Vector3 newPos = Vector3.Lerp(xform.position, eTarget, GeometryClass.MapToCurve(scr.journeyFracHoriz));
xform.position = newPos;
// Calculate the new rotation.
Vector3 angles = xform.localEulerAngles;
float yAngle = angles.y;
Transform tempXform = xform;
tempXform.LookAt(target);
float yAngleTarget = tempXform.localEulerAngles.y;
scr.journeyFracRotate += scr.journeyDeltaRotate;
float yAngleChanged = Mathf.LerpAngle(yAngle, yAngleTarget, GeometryClass.MapToCurve(scr.journeyFracRotate));
angles.y = yAngleChanged;
xform.localEulerAngles = angles;
return xform.position;
}
public override void BeginLateralJourney(FlyingDroneScript scr)
{
mvState = MoveState.turn;
scr.ResetJourney();
}
public override void BeginLateralJourney(FlyingDroneScript scr)
{
scr.ResetJourney();
}
public override void AdvanceWaypoints(GameObject waypointReached, Vector3 target, FlyingDroneScript scr)
{
scr.prevWaypoint = waypointReached;
DroneWaypointScript wpScr = scr.prevWaypoint.GetComponent<DroneWaypointScript>();
scr.nextWaypoint = wpScr.NearestConstrainedNeighborToPoint(target);
}
public override Vector3 GetEffectiveTarget(Transform xform, Vector3 target, FlyingDroneScript scr)
{
Vector3 eTarget = scr.nextWaypoint.transform.position;
eTarget.y += scr.heightAboveWaypoint;
return eTarget;
}
public override void AdvanceWaypoints(GameObject waypointReached, Vector3 target, FlyingDroneScript scr)
{
scr.RandomNextWaypoint();
}
public abstract void BeginLateralJourney(FlyingDroneScript scr);
void Start()
{
drScript = theDrone.GetComponent<FlyingDroneScript>();
}
// Return the "effective target" based on the actual target. When motion is constrained, the
// effective target may be different.
public abstract Vector3 GetEffectiveTarget(Transform xform, Vector3 target, FlyingDroneScript scr);
// Any initialization that may be required for effective target calculations. public abstract void DroneTargetInit(FlyingDroneScript scr);
// Advance waypoints for patrolling or constrained following. public abstract void AdvanceWaypoints(GameObject waypointReaached, Vector3 target, FlyingDroneScript scr);
public override void BeginLateralJourney(FlyingDroneScript scr)
{
// No special setup needed.
}
public abstract Vector3 MoveToTargetLateralPos(Transform xform, Vector3 target, Vector3 eTarget, FlyingDroneScript scr);
public override Vector3 GetEffectiveTarget(Transform xform, Vector3 target, FlyingDroneScript scr)
{
return target;
}
public override Vector3 GetEffectiveTarget(Transform xform, Vector3 target, FlyingDroneScript scr)
{
Vector3 closePnt, closePntNext, closePntPrev, result;
float delta = 1.0f; // small distance for comparisons.
/*
* Get the line from prev to next waypoint.
* Find the closest point of the target to that line.
* If that closest point is one of the endpoints of the line,
* that is the effective target.
* Otherwise check the current line and each adjacent line
* and determine which line is closest to target.
* If it is one of the other lines, the effective target is the common waypoint (next or prev).
* Otherwise, if the closest line is the current line, the effective target is the
* closest point on that line.
*/
GameObject nextWP = scr.nextWaypoint;
GameObject prevWP = scr.prevWaypoint;
Vector3 Pnext = nextWP.transform.position;
Vector3 Pprev = prevWP.transform.position;
DroneWaypointScript nextWPscr = nextWP.GetComponent<DroneWaypointScript>();
DroneWaypointScript prevWPscr = prevWP.GetComponent<DroneWaypointScript>();
// Is Pprev the effective target? If so, return it.
closePnt = GeometryClass.ClosestPointOnLine(Pprev, Pnext, target, true);
if (Vector3.Distance(Pprev, target) < delta)
result = Pprev;
// Is Pnext the effective target? If so, return it.
else if (Vector3.Distance(Pnext, target) < delta)
result = Pnext;
else
{
// Get the distance of the target point to the current line.
float distCurLine = Vector3.Distance(closePnt, target);
// Get the line connected to the next WP that is closest to the target.
GameObject closestWPtoNextWP = nextWPscr.NearestConstrainedNeighborToPoint(target);
// Get the closest point on that line.
closePntNext = GeometryClass.ClosestPointOnLine(Pnext, closestWPtoNextWP.transform.position, target, true);
// Get the distance from that point to the target.
float distNextLines = Vector3.Distance(closePntNext, target);
// Get the line connected to the prev WP that is closest to the target.
GameObject closestWPtoPrevWP = prevWPscr.NearestConstrainedNeighborToPoint(target);
// Get the closest point on that line.
closePntPrev = GeometryClass.ClosestPointOnLine(Pprev, closestWPtoPrevWP.transform.position, target, true);
// Get the distance from that point to the target.
float distPrevLines = Vector3.Distance(closePntPrev, target);
// If the target is closer to a line adjecent to the next waypoint than to a line joining prev and
// next waypoints and to a line adjacent to the prev waypoint,
// return the next waypoint.
if (distNextLines < distCurLine && distNextLines < distPrevLines)
result = Pnext;
// If the target is closer to a line adjecent to the prev waypoint than to a line joining prev and
// next waypoints and to a line adjacent to the next waypoint,
// return the prev waypoint.
else if (distPrevLines < distCurLine && distPrevLines < distNextLines)
result = Pprev;
// If we have gotten this far, return the closest point on the line joining prev and next waypoints.
else
result = closePnt;
}
// Adjust result by heightAboveWaypoint.
result.Set(result.x, result.y+scr.heightAboveWaypoint, result.z);
return result;
}
public override void DroneTargetInit(FlyingDroneScript scr)
{
}
public override void DroneTargetInit(FlyingDroneScript scr)
{
scr.UpdateClosestWaypoints();
}
/*
* Functions that implement the Unity callbacks Start() and FixedUpdate().
*/
void Start()
{
// Get the specific script for this drone.
thisScript = gameObject.GetComponent<FlyingDroneScript>();
droneScr = gameObject.GetComponent<FlyingDroneSpecificScript>();
InitializeModes();
// Force initial state to be what user has selected in the Inspector.
SetUserTravelAndMotion(true);
SetUserMode(true);
// Start the Finite State Machine (FSM).
//EnterStartState();
SetHoverMode();
InvokeRepeating("CheckFolloweeMoved", 0.5f, 1.0f);
}
// Advance waypoints for patrolling or constrained following. public abstract void AdvanceWaypoints(GameObject waypointReaached, Vector3 target, FlyingDroneScript scr);
