public void TriggerDataInterrupt()
{
if (dataEn.Value)
{
if (int3Data.Value)
{
Int3.Set(false);
Int3.Set(true);
Int3.Set(false);
this.Log(LogLevel.Noisy, "Data interrupt triggered on pin 3!");
}
if (int4Data.Value)
{
Int4.Set(false);
Int4.Set(true);
Int4.Set(false);
this.Log(LogLevel.Noisy, "Data interrupt triggered on pin 4!");
}
}
}
public override bool LineCastForMoving(ref HitInfo hit, MoveType mov)
{
Int3 from = hit.from;
Int3 to = hit.to;
int halfAgentHeightStep = Math.Max(1, navGraphData.buildConfig.agentHeightStep / 2);
Int3 blockPoint = from;
int stepLen = navGraphData.buildConfig.cellSize / 5;
bool blocked = false;
// y = a*x + b
Fix64 a_xz = (Fix64)0;
int dx = to.x - from.x;
int dz = to.z - from.z;
if (Math.Abs(dx) > Math.Abs(dz))
{
a_xz = (Fix64)dz / (Fix64)dx;
int step = to.x - from.x > 0 ? stepLen : -stepLen;
int lastY = from.y;
for (int x = from.x + step; step > 0 ? x <to.x + step : x> to.x - step; x += step)
{
x = step > 0 ? System.Math.Min(x, to.x) : System.Math.Max(x, to.x);
Fix64 z = (Fix64)from.z + a_xz * (Fix64)(x - from.x);
int y = lastY;
// stairs
bool passable = false;
for (int iy = halfAgentHeightStep; iy >= -halfAgentHeightStep; iy--)
{
int tmpy = y + iy * navGraphData.buildConfig.cellSize;
Int3 pt3d = FixVector3ToInt3(new Int3(x, tmpy, (int)z));
var node = GetNodeAt(pt3d.x, pt3d.y, pt3d.z);
if (IsNodePassable(pt3d.x, pt3d.y, pt3d.z))
{
y = node.worldPosition.y;
lastY = y;
passable = true;
break;
}
}
if (!passable)
{
blocked = true;
break;
}
/*if (!IsPassable(new FixVector3(x, (long)y, (long)z)))
* {
* blocked = true;
* break;
* }*/
blockPoint.Set(x, (int)y, (int)z);
}
}
else
{
a_xz = (Fix64)dx / (Fix64)dz;
int step = to.z - from.z > 0 ? stepLen : -stepLen;
int lastY = from.y;
for (int z = from.z + step; step > 0 ? z <to.z + step : z> to.z - step; z += step)
{
z = step > 0 ? System.Math.Min(z, to.z) : System.Math.Max(z, to.z);
Fix64 x = (Fix64)from.x + a_xz * (Fix64)(z - from.z);
int y = lastY;
// stairs
bool passable = false;
for (int iy = halfAgentHeightStep; iy >= -halfAgentHeightStep; iy--)
{
int tmpy = y + iy * navGraphData.buildConfig.cellSize;
Int3 pt3d = FixVector3ToInt3(new Int3((int)x, tmpy, z));
var node = GetNodeAt(pt3d.x, pt3d.y, pt3d.z);
if (IsNodePassable(pt3d.x, pt3d.y, pt3d.z))
{
y = node.worldPosition.y;
lastY = y;
passable = true;
break;
}
}
if (!passable)
{
blocked = true;
break;
}
/*if (!IsPassable(new FixVector3((long)x, (long)y, z)))
* {
* blocked = true;
* break;
* }*/
blockPoint.Set((int)x, (int)y, z);
}
}
if (blockPoint != from || blocked)
{
hit.hitPosition = blockPoint;
return(true);
}
else
{
hit.hitPosition = to;
hit.hitPosition.y = GetGroundHeight3D(hit.hitPosition);
return(false);
}
}
public static long DistanceSqr2D(Int3 p1, Int3 p2)
{
p1.Set(p1.x, 0, p1.z);
p2.Set(p2.x, 0, p2.z);
return(DistanceSqr(p1, p2));
}
// 射线碰撞，计算起点到终点间的最远可到达点
public override bool LineCastForMoving(ref HitInfo hit, MoveType mov)
{
Int3 from = hit.from;
Int3 to = hit.to;
Int3 blockPoint = from;
int stepLen = Math.Min(200, navData.GridSize);
bool blocked = false;
// y = a*x + b
Fix64 a = (Fix64)0;
int dx = to.x - from.x;
int dz = to.z - from.z;
if (Math.Abs(dx) > Math.Abs(dz))
{
a = (Fix64)dz / (Fix64)dx;
int step = to.x - from.x > 0 ? stepLen : -stepLen;
for (int x = from.x + step; step > 0 ? x <to.x + step : x> to.x - step; x += step)
{
x = step > 0 ? Math.Min(x, to.x) : Math.Max(x, to.x);
Fix64 z = (Fix64)from.z + a * (Fix64)(x - from.x);
var tmpPos = new Int3(x, 0, (int)z);
if (!IsWalkable(tmpPos))
{
if (!SpecialTerrainPassable(tmpPos, mov))
{
blocked = true;
break;
}
}
blockPoint.Set(x, from.y, (int)z);
}
}
else
{
a = (Fix64)dx / (Fix64)dz;
int step = to.z - from.z > 0 ? stepLen : -stepLen;
for (int z = from.z + step; step > 0 ? z <to.z + step : z> to.z - step; z += step)
{
z = step > 0 ? Math.Min(z, to.z) : Math.Max(z, to.z);
Fix64 x = (Fix64)from.x + a * (Fix64)(z - from.z);
var tmpPos = new Int3((int)x, 0, z);
if (!IsWalkable(tmpPos))
{
if (!SpecialTerrainPassable(tmpPos, mov))
{
blocked = true;
break;
}
}
blockPoint.Set((int)x, from.y, z);
}
}
if (blockPoint != from)
{
hit.hitPosition = blockPoint;
}
else
{
hit.hitPosition = to;
}
return(blocked);
}