void Search()
{
// ターゲット消失時
if (target == null)
{
if (DrowningPersonList.Count == 0)
{
torpedoState = TorpedoState.FAILED;
return;
}
else
{
for (int i = 0; i < DrowningPersonList.Count; i++)
{
if (DrowningPersonList[i] == null)
{
continue;
}
target = DrowningPersonList[i];
return;
}
torpedoState = TorpedoState.FAILED;
return;
}
}
if (SuccessFlg)
{
if ((target.transform.position - (transform.position + transform.up)).magnitude < 1f)
{
if (target.tag == "DrowingPerson")
{
torpedoState = TorpedoState.RESCUE;
target.GetComponent <DrowningPersonBehavior>().Rescued();
StageData.IncreaseRescuePersonCnt();
}
else
{
torpedoState = TorpedoState.FAILED;
}
}
else if ((target.transform.position - (transform.position + transform.up)).magnitude < 10f && timeElapsed >= timeOut2)
{
if (TorpedoSpeed > TorpedoMinSpeed)
{
decel();
}
timeElapsed = 0.0f;
}
else if ((target.transform.position - (transform.position + transform.up)).magnitude < 30f && timeElapsed >= timeOut)
{
if (TorpedoSpeed > TorpedoMaxSpeed / 2f)
{
decel();
}
else if (TorpedoSpeed < TorpedoMaxSpeed / 2f)
{
accel();
}
timeElapsed = 0.0f;
// ボート出現
GetComponent <boatmove>().StartAnimation();
}
else if ((target.transform.position - (transform.position + transform.up)).magnitude > 30f)
{
accel();
}
}
else
{
if ((new Vector3(target.transform.position.x, target.transform.position.y - 5f, target.transform.position.z) - (transform.position + transform.up)).magnitude < 1f)
{
if (target.tag == "DrowingPerson")
{
torpedoState = TorpedoState.RESCUE;
target.GetComponent <DrowningPersonBehavior>().Rescued();
StageData.IncreaseRescuePersonCnt();
}
else
{
torpedoState = TorpedoState.FAILED;
}
}
else if ((new Vector3(target.transform.position.x, target.transform.position.y - 5f, target.transform.position.z) - (transform.position + transform.up)).magnitude < 10f && timeElapsed >= timeOut2)
{
if (TorpedoSpeed > TorpedoMinSpeed)
{
decel();
}
timeElapsed = 0.0f;
}
else if ((new Vector3(target.transform.position.x, target.transform.position.y - 5f, target.transform.position.z) - (transform.position + transform.up)).magnitude < 30f && timeElapsed >= timeOut)
{
if (TorpedoSpeed > TorpedoMaxSpeed / 2f)
{
decel();
}
else if (TorpedoSpeed < TorpedoMaxSpeed / 2f)
{
accel();
}
timeElapsed = 0.0f;
}
else if ((new Vector3(target.transform.position.x, target.transform.position.y - 5f, target.transform.position.z) - (transform.position + transform.up)).magnitude > 30f)
{
accel();
}
}
if (transform.position.y > -4.5f || transform.position.x > 100f || transform.position.x < -100f || transform.position.z > 50f ||
transform.position.z < -50f)
{
torpedoState = TorpedoState.FAILED;
}
// --------------- 移動 -----------------
transform.position += transform.forward * TorpedoSpeed * Time.deltaTime;
// --------- 障害物感知 ---------
HitCheck();
// 障害物なし
if (!hitplace[(int)CheckPlace.Down] && !hitplace[(int)CheckPlace.Left] && !hitplace[(int)CheckPlace.UP] && !hitplace[(int)CheckPlace.Right])
{
Vector3 vec;
if (SuccessFlg)
{
vec = (target.transform.position - (transform.position + transform.up)).normalized;
}
else
{
vec = (new Vector3(target.transform.position.x, target.transform.position.y - 5f, target.transform.position.z) - (transform.position + transform.up)).normalized;
}
// 救出者が右にいる
if (Vector3.Dot(vec, transform.right) <= 1f && Vector3.Dot(vec, transform.right) > 0.1f)
{
MoveRight();
}
// 救出者が左にいる
else if (Vector3.Dot(vec, transform.right) >= -1f && Vector3.Dot(vec, transform.right) < -0.1f)
{
MoveLeft();
}
// 救出者が上にいる
if (Vector3.Dot(vec, transform.up) <= 1f && Vector3.Dot(vec, transform.up) > 0.1f /* && (new Vector3(target.transform.position.x, target.transform.position.y - 5f, target.transform.position.z) - (transform.position + transform.up)).magnitude < 10f*/)
{
MoveUp();
}
// 救出者が下にいる
else if (Vector3.Dot(vec, transform.up) >= -1f && Vector3.Dot(vec, transform.up) < -0.1f)
{
MoveDown();
}
}
// 障害物あり
else
{
// --------- 回避 ---------
Avoidance();
}
// --------- 前進速度制限 -----------
// 最大
if (TorpedoSpeed > TorpedoMaxSpeed)
{
TorpedoSpeed = TorpedoMaxSpeed;
}
// 最小
if (TorpedoSpeed < TorpedoMinSpeed)
{
TorpedoSpeed = TorpedoMinSpeed;
}
}
// ===================== Update =======================
void Update()
{
if (stageState.GetComponent <StageState>().GetStageState() == StageState.STAGE_STATE.SHOOT)
{
return;
}
if (stageState.GetComponent <StageState>().GetStageState() == StageState.STAGE_STATE.PRODUCTION)
{
if (ProductionDist >= 0f)
{
transform.position -= new Vector3(0f, Time.deltaTime * 2f, 0f);
ProductionDist -= Time.deltaTime * 2f;
}
return;
}
// 加速・減速間隔計算用
timeElapsed += Time.deltaTime;
switch (torpedoState)
{
case TorpedoState.SEARCH:
Search();
break;
case TorpedoState.RESCUE:
Rescue();
break;
case TorpedoState.FAILED:
Failed();
break;
case TorpedoState.EMERGENCY:
decel();
if (!SearchDirection[(int)CheckPlace.UP])
{
turn(CheckPlace.UP);
}
else if (!SearchDirection[(int)CheckPlace.Left])
{
turn(CheckPlace.Left);
}
else if (!SearchDirection[(int)CheckPlace.Down])
{
turn(CheckPlace.Down);
}
else if (!SearchDirection[(int)CheckPlace.Right])
{
turn(CheckPlace.Right);
}
if (TorpedoSpeed < TorpedoMinSpeed && timeElapsed >= timeOut2)
{
torpedoState = TorpedoState.SEARCH;
if (TorpedoRotUD >= TorpedoMaxRot)
{
SearchDirection[(int)CheckPlace.UP] = true;
}
else if (TorpedoRotLR <= -TorpedoMaxRot)
{
SearchDirection[(int)CheckPlace.Left] = true;
}
else if (TorpedoRotUD <= -TorpedoMaxRot)
{
SearchDirection[(int)CheckPlace.Down] = true;
}
else if (TorpedoRotLR >= TorpedoMaxRot)
{
SearchDirection[(int)CheckPlace.Right] = true;
}
timeElapsed += Time.deltaTime;
}
break;
case TorpedoState.RETURN:
break;
default:
break;
}
if (destflg)
{
Destroy(this.gameObject);
}
}
// 回避
void Avoidance()
{
bool up, left, down, right;
up = hitplace[(int)CheckPlace.UP];
left = hitplace[(int)CheckPlace.Left];
down = hitplace[(int)CheckPlace.Down];
right = hitplace[(int)CheckPlace.Right];
if ((!up && !left && down && right) || (!up && !left && !down && right) || (up && !left && !down && right) ||
(up && !left && down && !right) || (up && !left && down && right))
{
// 左に回避
MoveLeft();
}
else if ((!up && left && down && !right) || (!up && left && !down && !right) || (up && left && !down && !right) ||
(up && left && down && !right))
{
// 右に回避
MoveRight();
}
else if ((!up && left && down && right) || (!up && !left && down && !right) || (!up && left && !down && right))
{
// 上に回避
MoveUp();
}
else if ((up && !left && !down && !right) || (up && left && !down && right))
{
// 下に回避
MoveDown();
}
// 全部当たっている
else if (up && left && down && right)
{
// 左チェック
Vector3 vec = (transform.forward + -transform.right).normalized;
vec = (transform.forward + vec).normalized;
vec = (transform.forward + vec).normalized;
ray = new Ray(transform.position + transform.up * 0.5f + transform.right * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray.origin, ray.origin + ray.direction * distance, Color.green);
Vector3 vec1 = (transform.up + transform.right).normalized;
ray1 = new Ray(transform.position + transform.up * 0.5f + vec1 * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray1.origin, ray1.origin + ray1.direction * distance, Color.green);
Vector3 vec2 = (-transform.up + transform.right).normalized;
ray2 = new Ray(transform.position + transform.up * 0.5f + vec2 * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray2.origin, ray2.origin + ray2.direction * distance, Color.green);
if ((Physics.Raycast(ray, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island")) || (Physics.Raycast(ray1, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island")) ||
(Physics.Raycast(ray2, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island")))
{
// 右チェック
vec = (transform.forward + transform.right).normalized;
vec = (transform.forward + vec).normalized;
vec = (transform.forward + vec).normalized;
ray = new Ray(transform.position + transform.up * 0.5f - transform.right * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray.origin, ray.origin + ray.direction * distance, Color.green);
vec1 = (transform.up + -transform.right).normalized;
ray1 = new Ray(transform.position + transform.up * 0.5f + vec1 * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray1.origin, ray1.origin + ray1.direction * distance, Color.green);
vec2 = (-transform.up + -transform.right).normalized;
ray2 = new Ray(transform.position + transform.up * 0.5f + vec2 * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray2.origin, ray2.origin + ray2.direction * distance, Color.green);
if ((Physics.Raycast(ray, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island")) || (Physics.Raycast(ray1, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island")) ||
(Physics.Raycast(ray2, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island")))
{
// 上チェック
vec = (transform.forward + transform.up).normalized;
vec = (transform.forward + vec).normalized;
vec = (transform.forward + vec).normalized;
ray = new Ray(transform.position + transform.up * 0.5f - transform.up * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray.origin, ray.origin + ray.direction * distance, Color.green);
if (Physics.Raycast(ray, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island"))
{
// 下チェック
vec = (transform.forward - transform.up).normalized;
vec = (transform.forward + vec).normalized;
vec = (transform.forward + vec).normalized;
ray = new Ray(transform.position + transform.up * 0.5f + transform.up * range, vec);
//Rayの可視化 ↓Rayの原点 ↓Rayの方向 ↓Rayの色
Debug.DrawLine(ray.origin, ray.origin + ray.direction * distance, Color.green);
if (Physics.Raycast(ray, out hit, distance) && (hit.collider.tag == "Obstacle" || hit.collider.tag == "Island"))
{
torpedoState = TorpedoState.EMERGENCY;
}
else
{
MoveDown();
}
}
else
{
MoveUp();
}
}
else
{
MoveRight();
}
}
else
{
MoveLeft();
}
}
}
