protected void Update()
{
if (NavMsh == null)
{
return;
}
CurNode = NavMsh.findNode(Trnsfrm.position, CurNode);
if (Target != null)
{
TargetP = Target.Trnsfrm.position;
TargetNode = Target.CurNode;
}
Vector2 tPos = TargetP, cPos = Trnsfrm.position;
//Debug.DrawLine(tPos, cPos);
// if target moved much - need to recalculate path
if (Path != null && LastPath - Time.frameCount < -10)
{
// Debug.Log(" LastPath -Time.frameCount " + (LastPath - Time.frameCount) );
if ((Path.Smooth[0].P - tPos).sqrMagnitude > 0.25f || LastPath - Time.frameCount < -180)
{
Path = null;
}
}
if (Path == null)
{
Path = NavMsh.getPath(cPos, tPos, TargetNode);
if (Path != null)
{
LastPath = Time.frameCount;
CurNodeI = Path.Smooth.Count - 2;
ValidPos = Trnsfrm.position;
// Debug.Log("pc " + Path.Smooth.Count + " cn " + CurNode);
}
else
{
CurNodeI = -1;
// Debug.Log("path fail");
}
}
///funnel!
// basicly recursivlely look at edge we must travers to get to next node until we find a corner in our way - then move thataway
// no corner in the way means just go towards target
Vector2 vec, cnrA, cnrB;
if (Path != null)
{
for (; CurNodeI > 0; CurNodeI--) //path is backwards - because .... reasons
// tPos = Path.Smooth[CurNode].P;
///
{
if (Util.sign(Path.Smooth[CurNodeI].E2, cPos, Path.Smooth[CurNodeI].E1) < 0)
{
// if so then we passed through an edge - advance our place along the path
// -done awkard way because fo how things were refactored - not neatening because it won't be more efficent - and might somehow implode
//CurNode = Path.Smooth[CurNodeI].;///todo
continue;
}
// the arc defined between cnrA < cPos > cnrB is the range of current valid directions
cnrA = smoothHelper(Path.Smooth[CurNodeI].E1, cPos, true);
cnrB = smoothHelper(Path.Smooth[CurNodeI].E2, cPos, false);
float sgn = -1;
// int msi = MaxSmoothIter;
for (int ci = CurNodeI - 1; ; ci--)
{
if (ci <= 0)
{
break; //reached end of path
}
// only one of these will be different from current corners -- this would be an obvious place to optimise (todo)
Vector2 nCnrA = smoothHelper(Path.Smooth[ci].E1, cPos, true);
Vector2 nCnrB = smoothHelper(Path.Smooth[ci].E2, cPos, false);
//new corner may refine our current valid arc
// it may refine it so far that the angle of the arc becomes 0 - ie a direction - cnrA . cnrB would be exactly the same direction - if so then we are done here
if ((nCnrA - cnrA).sqrMagnitude > (nCnrB - cnrB).sqrMagnitude)
{
//Debug.DrawLine(cPos, fnlA2, Color.black);
sgn = Util.sign(nCnrA, cPos, cnrA);
if (Util.sign(nCnrA, cPos, cnrA) > 0)
{
if (Util.sign(cnrB, cPos, nCnrA) < 0)
{
tPos = cnrB;
// Debug.Log("breakb");
break;
}
cnrA = nCnrA;
}
}
else
{
//Debug.DrawLine(cPos, fnlB2, Color.black);
sgn = Util.sign(cnrB, cPos, nCnrB);
if (Util.sign(cnrB, cPos, nCnrB) > 0)
{
if (Util.sign(cnrB, cPos, nCnrA) < 0)
{
tPos = cnrA;
// Debug.Log("breaka");
break;
}
cnrB = nCnrB;
}
}
// if( msi-- == 0 ) break;
}
if (Util.sign(cnrB, cPos, tPos) < 0)
{
tPos = cnrB;
}
if (Util.sign(tPos, cPos, cnrA) < 0)
{
tPos = cnrA;
}
/*// Debug.Log("sgn " + sgn);
* Debug.DrawLine(cPos, fnlA, Color.green);
* Debug.DrawLine(cPos, fnlB, Color.red);
* Debug.DrawLine(cPos, tPos, Color.white); */
break;
}
}
else
{
if (NavMsh.findNode(cPos) != TargetNode) //fallen off map somehow ... used to happen when colliders dind match map and also current node wasn't clamped -- try and move back to last valid position
{
tPos = ValidPos;
}
}
vec = tPos - cPos;
DesVec = vec;
if (isInvincible)
{
if ((invincibleTimer -= Time.deltaTime) <= 0)
{
isInvincible = false;
invincibleTimer = invincibleTimerInit;
}
}
}
protected void Update()
{
if( NavMsh == null ) return;
CurNode = NavMsh.findNode(Trnsfrm.position, CurNode);
if(Target != null) {
TargetP = Target.Trnsfrm.position;
TargetNode = Target.CurNode;
}
Vector2 tPos = TargetP, cPos = Trnsfrm.position;
//Debug.DrawLine(tPos, cPos);
// if target moved much - need to recalculate path
if(Path != null && LastPath -Time.frameCount < -10 ) {
// Debug.Log(" LastPath -Time.frameCount " + (LastPath - Time.frameCount) );
if((Path.Smooth[0].P - tPos).sqrMagnitude > 0.25f || LastPath - Time.frameCount < -180 ) Path = null;
}
if(Path == null) {
Path = NavMsh.getPath(cPos, tPos, TargetNode);
if(Path != null) {
LastPath = Time.frameCount;
CurNodeI = Path.Smooth.Count - 2;
ValidPos = Trnsfrm.position;
// Debug.Log("pc " + Path.Smooth.Count + " cn " + CurNode);
} else {
CurNodeI = -1;
// Debug.Log("path fail");
}
}
///funnel!
// basicly recursivlely look at edge we must travers to get to next node until we find a corner in our way - then move thataway
// no corner in the way means just go towards target
Vector2 vec, cnrA, cnrB;
if(Path != null) {
for(; CurNodeI > 0; CurNodeI--) { //path is backwards - because .... reasons
// tPos = Path.Smooth[CurNode].P;
///
if(Util.sign(Path.Smooth[CurNodeI].E2, cPos, Path.Smooth[CurNodeI].E1) < 0) {
// if so then we passed through an edge - advance our place along the path
// -done awkard way because fo how things were refactored - not neatening because it won't be more efficent - and might somehow implode
//CurNode = Path.Smooth[CurNodeI].;///todo
continue;
}
// the arc defined between cnrA < cPos > cnrB is the range of current valid directions
cnrA = smoothHelper(Path.Smooth[CurNodeI].E1, cPos, true);
cnrB = smoothHelper(Path.Smooth[CurNodeI].E2, cPos, false);
float sgn = -1;
// int msi = MaxSmoothIter;
for(int ci = CurNodeI - 1; ; ci--) {
if(ci <= 0) break; //reached end of path
// only one of these will be different from current corners -- this would be an obvious place to optimise (todo)
Vector2 nCnrA = smoothHelper(Path.Smooth[ci].E1, cPos, true);
Vector2 nCnrB = smoothHelper(Path.Smooth[ci].E2, cPos, false);
//new corner may refine our current valid arc
// it may refine it so far that the angle of the arc becomes 0 - ie a direction - cnrA . cnrB would be exactly the same direction - if so then we are done here
if((nCnrA - cnrA).sqrMagnitude > (nCnrB - cnrB).sqrMagnitude) {
//Debug.DrawLine(cPos, fnlA2, Color.black);
sgn = Util.sign(nCnrA, cPos, cnrA);
if(Util.sign(nCnrA, cPos, cnrA) > 0) {
if(Util.sign(cnrB, cPos, nCnrA) < 0) {
tPos = cnrB;
// Debug.Log("breakb");
break;
}
cnrA = nCnrA;
}
} else {
//Debug.DrawLine(cPos, fnlB2, Color.black);
sgn = Util.sign(cnrB, cPos, nCnrB);
if(Util.sign(cnrB, cPos, nCnrB) > 0) {
if(Util.sign(cnrB, cPos, nCnrA) < 0) {
tPos = cnrA;
// Debug.Log("breaka");
break;
}
cnrB = nCnrB;
}
}
// if( msi-- == 0 ) break;
}
if(Util.sign(cnrB, cPos, tPos) < 0) tPos = cnrB;
if(Util.sign(tPos, cPos, cnrA) < 0) tPos = cnrA;
/*// Debug.Log("sgn " + sgn);
Debug.DrawLine(cPos, fnlA, Color.green);
Debug.DrawLine(cPos, fnlB, Color.red);
Debug.DrawLine(cPos, tPos, Color.white); */
break;
}
} else {
if(NavMsh.findNode(cPos) != TargetNode) //fallen off map somehow ... used to happen when colliders dind match map and also current node wasn't clamped -- try and move back to last valid position
tPos = ValidPos;
}
vec = tPos - cPos;
DesVec = vec;
if (isInvincible)
{
if ((invincibleTimer -= Time.deltaTime) <= 0)
{
isInvincible = false;
invincibleTimer = invincibleTimerInit;
}
}
}
protected void updatePath() {
if(NavMsh == null) return;
var lCn = CurNode;
CurNode = NavMsh.findNode(SyncO.Body. position, CurNode);
if(CurNode == null) {
Debug.Log("no node..");
Debug.DrawLine(Trnsfrm.position, Vector3.zero);
}
checkTarget();
Vector2 biasOff = (Vector2)Trnsfrm.up * RoughRadius*2 + Body.velocity / Acceleration;
//cPos = SyncO.Body.position
Debug.DrawLine(SyncO.Body.position + biasOff, SyncO.Body.position, Color.black);
if(!PathActive) return;
Vector2 tPos = TargetP, cPos = SyncO.Body.position;
Vector2 tPos2 = tPos;
if(CurNode != TargetNode) {
if(Path != null && LPathTime - Time.time < -0.2f) {
if(LPathTime - Time.time < -2.0f) Path = null; //recalc every so often
else {
var sqDiff = (LTPos - tPos).sqrMagnitude;
// if target moved much - need to recalculate path
if(sqDiff > 4.0f || (LTNode != TargetNode && sqDiff > 0.5f)) Path = null;
}
}
if(Path != null && lCn != CurNode) {
if(!fixNodeI(ref CurNodeI, CurNode)) {
///not resolved!! -- we got shunted off to side most likely.. --- or possibly rewound but too far - (likely cos we just repathed)
// Debug.Log("SHUNTED!!");
Path = null; //todo - we may be able to quick fix some of thse cases
}
}
if(Path == null) {
Path = NavMsh.getPath2(cPos, cPos+ biasOff, tPos, TargetNode);
if(Path != null) {
LTPos = tPos;
LTNode = TargetNode;
LPathTime = Time.time; LSmoothTime = -1.0f;
CurNodeI = Path.Smooth.Count - 1;
if(CurNode != Path.Smooth[CurNodeI].N)
Debug.LogError("err");
// ValidPos = Trnsfrm.position;
// Debug.Log("pc " + Path.Smooth.Count + " cn " + CurNode);
} else {
CurNodeI = -1;
// Debug.Log("path fail");
}
}
///funnel!
// basicly recursivlely look at edge we must travers to get to next node until we find a corner in our way - then move thataway
// no corner in the way means just go towards target
if(Time.time - LSmoothTime > 0.5f) { //todo - can check if we have diverged from path to affect resmooth
var smthP = WorkingSmoothPath;
smthP.Clear();
if(Path != null) {
#if DRAW_NAV_LINES
Vector2 lastPos = cPos;
for(int i = CurNodeI; i-- > 0; ) {
Debug.DrawLine(lastPos, Path.Smooth[i].P, Color.white);
Debug.DrawLine(lastPos, Path.Smooth[i].E1, Color.grey);
Debug.DrawLine(lastPos, Path.Smooth[i].E2, Color.grey);
lastPos = Path.Smooth[i].P;
}
Debug.DrawLine(lastPos, tPos, Color.white);
#endif
// for(; CurNodeI >= 0; CurNodeI--) { //path is backwards - because .... reasons
funnel(cPos, ref tPos, CurNodeI);
var lp = cPos;
var cp = tPos; var cni = CurNodeI; var n = CurNode;
float dis = (lp - cp).magnitude;
float lDis = 0;
float maxDis = 25;
for(int maxIter = 10; maxIter-- > 0; ) {
// Debug.Log("iter " + maxIter);
smthP.Add(cp);
var tp = TargetP;
if(dis > maxDis) {
// Debug.Log("PASS dis " + maxIter);
var v = (cp - lp);
#if DRAW_NAV_LINES
Debug.DrawLine(lp, lp + v * (maxDis - lDis) / v.magnitude, Color.black);
#endif
break;
}
if((tp - cp).sqrMagnitude < 0.5f) {
// Debug.Log("PASS " + maxIter);
#if DRAW_NAV_LINES
Debug.DrawLine(lp, cp, Color.black);
#endif
break;
}
#if DRAW_NAV_LINES
Debug.DrawLine(lp, cp, Color.black);
#endif
var ln = n;
n = NavMsh.findNode(cp, n);
if(ln != n) {
if(n == TargetNode) {
// Debug.Log("PASS " + maxIter);
#if DRAW_NAV_LINES
Debug.DrawLine(cp, tp, Color.black);
#endif
smthP.Add(tp);
break;
}
if(!fixNodeI(ref cni, n)) {
// Debug.Log("FAIL --- you shall not pass");
smthP.Add(tp); //hope for the best
break;
}
}
funnel(cp, ref tp, cni);
float d = (cp - tp).magnitude;
// Debug.Log("dis " + d);
float minStep = 0.75f;
if(d < minStep) {
tp = cp + (tp - cp) * minStep / d;
d = minStep;
}
lDis = dis;
dis += d;
// break;
lp = cp;
cp = tp;
}
} else {
smthP.Add(TargetP);
if(CurNode != TargetNode) //fallen off map somehow ... used to happen when colliders dind match map and also current node wasn't clamped -- try and move back to last valid position
// tPos = ValidPos;
Debug.Log("Awk noes we appear to have fallen off the map");
}
if( SmoothPath.Count > 0 ) {
if(Vector2.Dot((Body.position - smthP[0]).normalized, (Body.position - SmoothPath[SyncO.SPi]).normalized) < 0.8f)
steerUpdate();
} else steerUpdate();
SmoothPath = new List<Vector2>(smthP); //todo
SPi = SyncO.SPi = 0;
}
} else {
Path = null;
//bool dirty = false;
if(SmoothPath.Count < 1) {
// dirty = true;
SmoothPath.Add(TargetP);
steerUpdate();
} else if( (SmoothPath[0]- TargetP).sqrMagnitude > 0.5f ) {
// dirty = true;
if( Vector2.Dot( (Body.position - TargetP).normalized, (Body.position - SmoothPath[0]).normalized ) < 0.8f )
steerUpdate();
SmoothPath.Clear();
SmoothPath.Add(TargetP);
}
SPi = SyncO.SPi = 0;
}
// Debug.DrawLine( Body.position, tPos, Color.white);
// Debug.DrawLine( tPos2, tPos, Color.white);
//DesPos = tPos;
//vec = tPos - cPos;
// DesVec = vec;
}
