/// <summary>
/// Handles planning when position feedback is required. (Replaces normal planning.)
/// </summary>
/// <returns>False on a critical failure.</returns>
private bool HandlePositionFeedback()
{
// Important: Should only call this method once the desired position and planner goal
// have been successfully constrained to the navigation mesh.
// Make sure the path is still valid. Replan if needed.
if (agent.PlanPath(agent.data.desiredPosition, agent.data.plannerGoal) <= 0)
{
// A critical failure.
Debug.LogError(string.Format(
"{0}: Path planning failed on position feedback. Position: {1}, Goal: {2}"
, agent.transform.name
, agent.data.desiredPosition.ToString()
, agent.data.plannerGoal.ToString()));
return(false);
}
agent.RemoveFromCrowd();
agent.AddToCrowd(agent.data.desiredPosition.point);
// Next assignment will usually force crowd target replanning.
mTarget = agent.data.desiredPosition;
// Since the path is known to be good, setting the local
// target should never fail.
return(SetLocalTarget());
}
/// <summary>
/// Starts up the planner.
/// </summary>
/// <returns>True on success.</returns>
public bool Enter()
{
// Note: Will never return false.
mSpeed = Mathf.Sqrt(agent.data.desiredSpeedSq);
agent.RemoveFromCrowd();
agent.SetCorridorAssets(false);
agent.SetPathAssets(true);
return(true);
}
/// <summary>
/// Starts up the planner.
/// </summary>
/// <returns>True on success.</returns>
public bool Enter()
{
if (agent.navGroup.query == null)
{
return(false);
}
NavmeshPoint pos = agent.GetPointSearch(agent.data.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format(
"{0}: Could not constrain position to navigation mesh. {1}"
, agent.transform.name, pos.ToString()));
return(false);
}
NavmeshPoint goal = agent.GetPointSearch(agent.data.goal);
if (goal.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain goal to navigation mesh. {1}"
, agent.transform.name, goal.ToString()));
return(false);
}
agent.RemoveFromCrowd();
agent.SetCorridorAssets(true);
agent.SetPathAssets(false);
if (agent.PlanCorridor(pos, goal) <= 0)
{
Debug.LogError(string.Format("{0}: Could not plan corridor on enter."
, agent.transform.name));
agent.data.flags &= ~NavFlag.CorridorInUse;
return(false);
}
agent.data.desiredPosition = agent.corridor.Position;
agent.data.plannerGoal = agent.corridor.Target;
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
mSpeed = Mathf.Sqrt(agent.data.desiredSpeedSq);
mOptimizationTimer = OptimizationFrequency;
return(true);
}
private void Suspend()
{
mPlanner.Exit();
mPlanner = NullState.Instance;
agent.RemoveFromCrowd();
agent.SetCorridorAssets(false);
agent.SetPathAssets(false);
// Note: The desired position is purposely left alone since it may be the cause of the
// problem. Don't want to wipe out that bit of information.
// agent.data.desiredPosition = agent.data.position;
agent.data.desiredVelocity = Vector3.zero;
agent.data.desiredSpeedSq = 0;
agent.data.flags &= ~NavFlag.PlannerFailed;
}
/// <summary>
/// Starts up the planner.
/// </summary>
/// <returns>True if successful.</returns>
public bool Enter()
{
if (agent == null || agent.navGroup.query == null || agent.navGroup.crowd == null)
{
return(false);
}
NavmeshPoint pos = agent.GetPointSearch(agent.data.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format(
"{0}: Could not constrain position to navigation mesh. {1}"
, agent.transform.name, pos.ToString()));
return(false);
}
agent.RemoveFromCrowd();
CrowdAgentParams config = agent.crowdConfig;
config.maxSpeed = 0;
agent.crowdAgent =
agent.navGroup.crowd.AddAgent(agent.data.plannerGoal.point, config);
if (agent.crowdAgent == null)
{
Debug.LogError(string.Format("{0}: Could not add agent to the crowd."
, agent.transform.name));
return(false);
}
agent.data.flags &= ~NavFlag.CrowdConfigUpdated;
agent.data.desiredPosition = agent.data.position;
agent.data.desiredSpeedSq = 0;
agent.data.desiredVelocity = Vector3.zero;
agent.SetCorridorAssets(false);
agent.SetPathAssets(false);
return(true);
}
