protected override Status Execute()
{
if (m_agent == null || m_sought == null)
{
return(StateToStatusHelper.ConditionToStatus(m_dataValid, Status.Error, Status.Failure));
}
Vector3 agentPosition = m_agent.transform.position;
Vector3 soughtPosition = m_sought.position;
Vector3 soughtToAgent = agentPosition - soughtPosition;
if (soughtToAgent.sqrMagnitude < m_reachDistanceSqr)
{
return(Status.Success);
}
if (m_agent.pathPending || m_agent.hasPath)
{
if ((m_agent.destination - soughtPosition).sqrMagnitude < m_recalculateToleranceSqr)
{
return(Status.Running);
}
}
bool found = m_agent.SetDestination(soughtPosition);
return(StateToStatusHelper.FailedToStatus(!found));
}
public static void FailedToStatusTest()
{
Assert.AreEqual(Status.Failure, StateToStatusHelper.FailedToStatus(true));
Assert.AreEqual(Status.Running, StateToStatusHelper.FailedToStatus(false));
Assert.AreEqual(Status.Failure, StateToStatusHelper.FailedToStatus(true, true));
Assert.AreEqual(Status.Running, StateToStatusHelper.FailedToStatus(false, true));
Assert.AreEqual(Status.Error, StateToStatusHelper.FailedToStatus(true, false));
Assert.AreEqual(Status.Error, StateToStatusHelper.FailedToStatus(false, false));
}
protected override Status Execute()
{
if (m_agent == null || m_avoided == null)
{
return(StateToStatusHelper.ConditionToStatus(m_dataValid, Status.Error, Status.Failure));
}
Vector3 agentPosition = m_agent.transform.position;
Vector3 avoidedPosition = m_avoided.position;
Vector3 avoidedToAgent = agentPosition - avoidedPosition;
if (!blackboard.TryGetStructValue(m_minDistanceToAvoidedPropertyName, out float minDistanceToAvoidedSqr))
{
return(Status.Error);
}
minDistanceToAvoidedSqr *= minDistanceToAvoidedSqr;
if (avoidedToAgent.sqrMagnitude > minDistanceToAvoidedSqr)
{
return(Status.Success);
}
if (m_agent.pathPending || m_agent.hasPath)
{
Vector3 destination = m_agent.destination;
Vector3 avoidedToDestination = destination - avoidedPosition;
if (!blackboard.TryGetStructValue(m_minDotToAvoidedPropertyName, out float minDotToAvoided))
{
return(Status.Error);
}
if (avoidedToDestination.sqrMagnitude > minDistanceToAvoidedSqr &&
Vector3.Dot((destination - agentPosition).normalized, avoidedToDestination.normalized) >
minDotToAvoided)
{
return(Status.Running);
}
}
if (!blackboard.TryGetStructValue(m_avoidDistancePropertyName, out float avoidDistance))
{
return(Status.Error);
}
Vector3 hidePosition = agentPosition + avoidedToAgent.normalized * avoidDistance;
bool found = NavMesh.SamplePosition(hidePosition, out NavMeshHit hit, avoidDistance, m_agent.areaMask) &&
(hit.position - avoidedPosition).sqrMagnitude > minDistanceToAvoidedSqr &&
m_agent.SetDestination(hit.position);
return(StateToStatusHelper.FailedToStatus(!found));
}
protected override Status Execute()
{
if (m_agent == null || m_followed == null)
{
return(StateToStatusHelper.ConditionToStatus(m_dataValid, Status.Error, Status.Failure));
}
Vector3 agentPosition = m_agent.transform.position;
Vector3 followedPosition = m_followed.position;
Vector3 followedToAgent = agentPosition - followedPosition;
if (!blackboard.TryGetStructValue(m_reachDistancePropertyName, out float reachDistance))
{
return(Status.Error);
}
if (followedToAgent.sqrMagnitude < reachDistance * reachDistance)
{
m_agent.ResetPath();
return(Status.Running);
}
if (m_agent.pathPending || m_agent.hasPath)
{
if (!blackboard.TryGetStructValue(m_recalculateTolerancePropertyName, out float recalculateTolerance))
{
return(Status.Error);
}
if ((m_agent.destination - followedPosition).sqrMagnitude < recalculateTolerance * recalculateTolerance)
{
return(Status.Running);
}
}
bool found = m_agent.SetDestination(followedPosition);
return(StateToStatusHelper.FailedToStatus(!found));
}
