public void Update(float dt)
{
AgentState newState = currentState;
switch (status)
{
case AgentStatus.WaitingForRoute:
{
if (solverJob.CurrentState.HasFlag(AgentJobStatus.Running))
{
return; // still waiting, agent is done for this cyclus
}
if (solverJob.CurrentState.HasFlag(AgentJobStatus.Completed))
{
var path = new Sequence <PathDescription>(solverJob.PathSequence.Select(t => new PathDescription(t, 0, 1)).ToList());
updateApproachRoute(path);
updateDepartRoute(path);
throw new InvalidOperationException("Something goes wrong here, approach and end routes should be somewhere halfway the segments they are attached to");
this.pathSequence = path;
currentState = createInitialState(0);
status = AgentStatus.GoingToRoute;
goto case AgentStatus.GoingToRoute;
}
if (solverJob.CurrentState.HasFlag(AgentJobStatus.Error))
{
status = AgentStatus.NoRouteFound;
goto case AgentStatus.NoRouteFound;
}
}
break;
case AgentStatus.GoingToRoute:
{
var result = currentState.Update(this, dt, getSpeed, pathSequence, out newState);
if (result.HasFlag(AgentStateResult.ChangedPath))
{
status = AgentStatus.FollowingRoute;
}
if (result.HasFlag(AgentStateResult.Moved))
{
isLastKnownTransformValid = false;
}
}
break;
case AgentStatus.FollowingRoute:
{
var result = currentState.Update(this, dt, getSpeed, pathSequence, out newState);
if (result.HasFlag(AgentStateResult.ChangedPath))
{
if (newState.PathIndex == pathSequence.Count - 1)
{
status = AgentStatus.GoingToDestination;
}
}
if (result.HasFlag(AgentStateResult.Moved))
{
isLastKnownTransformValid = false;
}
}
break;
case AgentStatus.GoingToDestination:
{
var result = currentState.Update(this, dt, getSpeed, pathSequence, out newState);
if (result.HasFlag(AgentStateResult.ChangedPath))
{
DestinationReached();
}
if (result.HasFlag(AgentStateResult.Moved))
{
isLastKnownTransformValid = false;
}
}
break;
case AgentStatus.NoRouteFound:
{
// agent is lost! find a way to get out of this situation.
}
break;
}
previousState = currentState;
currentState = newState;
}
private IAIPath getPath(AgentState state) => state.PathIndex >= 0 && state.PathIndex < pathSequence.Count ? pathSequence[state.PathIndex].Path : null;
private float getSpeed(AgentState state) => getSpeed(state, MaxSpeed);
public static AgentStateResult Update(this AgentState currentState, IAgent agent, float dt, GetSpeedDelegate getSpeed, IList <PathDescription> paths, out AgentState newState)
{
var result = AgentStateResult.None;
var speed = getSpeed(currentState);
var progress = currentState.Progress;
var increment = speed * dt;
progress += increment;
if (Mathf.Abs(increment) > 0.000001)
{
result |= AgentStateResult.Moved;
}
var currentIndex = currentState.PathIndex;
var currentPath = paths[currentIndex];
var length = currentPath.Path.GetLength() * currentPath.End;
var pointer = currentState.Pointer;
if (progress >= length)
{
do
{
progress -= length;
result |= AgentStateResult.ChangedPath;
currentIndex++;
if (currentIndex >= paths.Count)
{
newState = new AgentState(currentIndex, progress, null);
return(result | AgentStateResult.ReachedEnd);
}
currentPath = paths[currentIndex];
progress += currentPath.Start * currentPath.Path.GetLength(); // move to path start according to description
length = currentPath.Path.GetLength() * currentPath.End;
currentState.Pointer?.Disconnect();
}while (progress >= length);
pointer = (currentPath.Path as IAgentChainAIPath)?.Connect(agent);
}
newState = new AgentState(currentIndex, progress, pointer);
return(result);
}