// Returns success if an object was found otherwise failure
public override LocomotionStatus OnUpdate()
{
if (targetObjects != null && targetObjects.Count > 0)
{
// If there are objects in the group list then search for the object within that list
GameObject objectFound = null;
for (int i = 0; i < targetObjects.Count; ++i)
{
float audibility = 0;
GameObject obj;
if (Vector3.Distance(targetObjects[i].transform.position, agent.position) < hearingRadius)
{
if ((obj = LocomotionUtility.WithinHearingRange(agent, offset, audibilityThreshold,
targetObjects[i], ref audibility)) != null)
{
objectFound = obj;
}
}
}
returnedObject = objectFound;
}
else if (targetObject == null)
{
// If the target object is null then determine if there are any objects within hearing range based on the layer mask
if (usePhysics2D)
{
if (overlap2DColliders == null)
{
overlap2DColliders = new Collider2D[maxCollisionCount];
}
returnedObject = LocomotionUtility.WithinHearingRange2D(agent, offset, audibilityThreshold,
hearingRadius, overlap2DColliders, objectLayerMask);
}
else
{
if (overlapColliders == null)
{
overlapColliders = new Collider[maxCollisionCount];
}
returnedObject = LocomotionUtility.WithinHearingRange(agent, offset, audibilityThreshold,
hearingRadius, overlapColliders, objectLayerMask);
}
}
else
{
GameObject target;
if (!string.IsNullOrEmpty(targetTag))
{
target = GameObject.FindGameObjectWithTag(targetTag);
}
else
{
target = targetObject;
}
if (Vector3.Distance(target.transform.position, agent.position) < hearingRadius)
{
returnedObject = LocomotionUtility.WithinHearingRange(agent, offset, audibilityThreshold, targetObject);
}
}
if (returnedObject != null)
{
// returnedObject success if an object was heard
return(LocomotionStatus.SUCCESS);
}
// An object is not within heard so return failure
return(LocomotionStatus.FAILURE);
}
// returns success if any object is within distance of the current object. Otherwise it will return failure
public override LocomotionStatus OnUpdate()
{
if (agent == null || _objects == null)
{
return(LocomotionStatus.FAILURE);
}
if (_overlapCast)
{
_objects.Clear();
if (usePhysics2D)
{
var colliders = Physics.OverlapSphere(agent.position, magnitude,
objectLayerMask.value);
for (int i = 0; i < colliders.Length; ++i)
{
_objects.Add(colliders[i].gameObject);
}
}
else
{
var colliders = Physics2D.OverlapCircleAll(agent.position, magnitude,
objectLayerMask.value);
for (int i = 0; i < colliders.Length; ++i)
{
_objects.Add(colliders[i].gameObject);
}
}
}
Vector3 direction;
// check each object. All it takes is one object to be able to return success
for (int i = 0; i < _objects.Count; ++i)
{
if (_objects[i] == null)
{
continue;
}
direction = _objects[i].transform.position - (agent.position + offset);
// check to see if the square magnitude is less than what is specified
if (Vector3.SqrMagnitude(direction) < _sqrMagnitude)
{
// the magnitude is less. If lineOfSight is true do one more check
if (lineOfSight)
{
if (LocomotionUtility.LineOfSight(agent, offset, _objects[i], targetOffset, usePhysics2D, ignoreLayerMask.value))
{
// the object has a magnitude less than the specified magnitude and is within sight. Set the object and return success
returnedObject = _objects[i];
return(LocomotionStatus.SUCCESS);
}
}
else
{
// the object has a magnitude less than the specified magnitude. Set the object and return success
returnedObject = _objects[i];
return(LocomotionStatus.SUCCESS);
}
}
}
// no objects are within distance. Return failure
return(LocomotionStatus.FAILURE);
}
// Keep searching until an object is seen or heard (if senseAudio is enabled)
public override LocomotionStatus OnUpdate()
{
if (HasArrived())
{
// The agent should pause at the destination only if the max pause duration is greater than 0
if (maxPauseDuration > 0)
{
if (_destinationReachTime == -1)
{
_destinationReachTime = Time.time;
_pauseTime = Random.Range(minPauseDuration, maxPauseDuration);
if (onRest != null)
{
onRest.Invoke();
}
}
if (_destinationReachTime + _pauseTime <= Time.time)
{
SetTarget();
}
}
else
{
SetTarget();
}
}
// Detect if any objects are within sight
if (_overlapColliders == null)
{
_overlapColliders = new Collider[maxCollisionCount];
}
if (senseSight)
{
returnedObject = LocomotionUtility.WithinSight(agent, positionOffset, fieldOfViewAngle, viewDistance, _overlapColliders,
objectLayerMask, targetOffset, ignoreLayerMask, useTargetBone, targetBone);
// If an object was seen then return success
if (returnedObject != null)
{
return(LocomotionStatus.SUCCESS);
}
}
// Detect if any object are within audio range (if enabled)
if (senseAudio)
{
returnedObject = LocomotionUtility.WithinHearingRange(agent, positionOffset, audibilityThreshold, hearingRadius,
_overlapColliders, objectLayerMask);
// If an object was heard then return success
if (returnedObject != null)
{
return(LocomotionStatus.SUCCESS);
}
}
UpdateNavMeshObstacle();
// No object has been seen or heard so keep searching
return(LocomotionStatus.RUNNING);
}
public override void OnDrawGizmosSelected()
{
LocomotionUtility.DrawViewOfSight(agent, positionOffset, fieldOfViewAngle, 0, viewDistance, false);
}
// Returns success if an object was found otherwise failure
public override LocomotionStatus OnUpdate()
{
// The collider layers on the agent can be set to ignore raycast to prevent them from interferring with the raycast checks.
if (disableAgentColliderLayer)
{
if (_agentColliderGameObjects == null)
{
if (usePhysics2D)
{
var colliders = agent.GetComponentsInChildren <Collider2D>();
_agentColliderGameObjects = new GameObject[colliders.Length];
for (int i = 0; i < _agentColliderGameObjects.Length; ++i)
{
_agentColliderGameObjects[i] = colliders[i].gameObject;
}
}
else
{
var colliders = agent.GetComponentsInChildren <Collider>();
_agentColliderGameObjects = new GameObject[colliders.Length];
for (int i = 0; i < _agentColliderGameObjects.Length; ++i)
{
_agentColliderGameObjects[i] = colliders[i].gameObject;
}
}
_originalColliderLayer = new int[_agentColliderGameObjects.Length];
}
// Change the layer. Remember the previous layer so it can be reset after the check has completed.
for (int i = 0; i < _agentColliderGameObjects.Length; ++i)
{
_originalColliderLayer[i] = _agentColliderGameObjects[i].layer;
_agentColliderGameObjects[i].layer = _ignoreRaycastLayer;
}
}
if (usePhysics2D)
{
if (targetObjects != null && targetObjects.Count > 0)
{
// If there are objects in the group list then search for the object within that list
GameObject objectFound = null;
float minAngle = Mathf.Infinity;
for (int i = 0; i < targetObjects.Count; ++i)
{
float angle;
GameObject obj;
if ((obj = LocomotionUtility.WithinSight(agent, positionOffset, fieldOfViewAngle,
viewDistance, targetObjects[i].gameObject, targetOffset, true, angleOffset2D,
out angle, ignoreLayerMask, useTargetBone, targetBone)) != null)
{
// This object is within sight. Set it to the objectFound GameObject if the angle is less than any of the other objects
if (angle < minAngle)
{
minAngle = angle;
objectFound = obj;
}
}
}
returnedObject = objectFound;
}
else if (targetObject != null)
{
// If the target is not null then determine if that object is within sight
returnedObject = LocomotionUtility.WithinSight2D(agent, positionOffset, fieldOfViewAngle,
viewDistance, targetObject.gameObject, targetOffset, angleOffset2D, ignoreLayerMask,
useTargetBone, targetBone);
}
else if (!string.IsNullOrEmpty(targetTag))
{
// If the target tag is not null then determine if there are any objects within sight based on the tag
returnedObject = LocomotionUtility.WithinSight2D(agent, positionOffset, fieldOfViewAngle,
viewDistance, GameObject.FindGameObjectWithTag(targetTag), targetOffset,
angleOffset2D, ignoreLayerMask, useTargetBone, targetBone);
}
else
{
// If the target object is null and there is no tag then determine if there are any objects within sight based on the layer mask
if (_overlap2DColliders == null)
{
_overlap2DColliders = new Collider2D[maxCollisionCount];
}
returnedObject = LocomotionUtility.WithinSight2D(agent, positionOffset, fieldOfViewAngle,
viewDistance, _overlap2DColliders, objectLayerMask, targetOffset, angleOffset2D, ignoreLayerMask);
}
}
else
{
if (targetObjects != null && targetObjects.Count > 0)
{
// 指定对象列表是否在视野
// If there are objects in the group list then search for the object within that list
GameObject objectFound = null;
float minAngle = Mathf.Infinity;
for (int i = 0; i < targetObjects.Count; ++i)
{
float angle;
GameObject obj;
if ((obj = LocomotionUtility.WithinSight(agent, positionOffset, fieldOfViewAngle, viewDistance,
targetObjects[i].gameObject, targetOffset, false, angleOffset2D, out angle, ignoreLayerMask,
useTargetBone, targetBone)) != null)
{
// This object is within sight. Set it to the objectFound GameObject if the angle is less than any of the other objects
if (angle < minAngle)
{
minAngle = angle;
objectFound = obj;
}
}
}
returnedObject = objectFound;
}
else if (targetObject != null)
{
// 指定对象是否在视野
// If the target is not null then determine if that object is within sight
returnedObject = LocomotionUtility.WithinSight(agent, positionOffset, fieldOfViewAngle,
viewDistance, targetObject.gameObject, targetOffset, ignoreLayerMask, useTargetBone, targetBone);
}
else if (!string.IsNullOrEmpty(targetTag))
{
// 指定tag的对象是否在视野
// If the target tag is not null then determine if there are any objects within sight based on the tag
returnedObject = LocomotionUtility.WithinSight(agent, positionOffset, fieldOfViewAngle,
viewDistance, GameObject.FindGameObjectWithTag(targetTag), targetOffset, ignoreLayerMask,
useTargetBone, targetBone);
}
else
{
// 通过碰撞检测是否有target在视野
// If the target object is null and there is no tag then determine if there are any objects within sight based on the layer mask
if (_overlapColliders == null)
{
_overlapColliders = new Collider[maxCollisionCount];
}
returnedObject = LocomotionUtility.WithinSight(agent, positionOffset, fieldOfViewAngle,
viewDistance, _overlapColliders, objectLayerMask, targetOffset, ignoreLayerMask, useTargetBone, targetBone);
}
}
if (disableAgentColliderLayer)
{
for (int i = 0; i < _agentColliderGameObjects.Length; ++i)
{
_agentColliderGameObjects[i].layer = _originalColliderLayer[i];
}
}
if (returnedObject != null)
{
// Return success if an object was found
return(LocomotionStatus.SUCCESS);
}
// An object is not within sight so return failure
return(LocomotionStatus.FAILURE);
}
public override void OnDrawGizmosSelected()
{
LocomotionUtility.DrawViewOfSight(agent, positionOffset, fieldOfViewAngle, angleOffset2D, viewDistance, usePhysics2D);
}
