public void DoYourThing()
{
Nodo partida = grafoActual.darNodoContenedor(agent.transform.position);
Nodo destino = grafoActual.darNodoContenedor(target.transform.position);
camino = A.Ejecutar(partida, destino, grafoActual);
for (int j = 0; j < (camino.Count - 1); j = j + 1)
{
Debug.DrawLine(new Vector3((float)camino[j].GetCentro.Item1, (float)camino[j].GetCentro.Item2, 0),
new Vector3((float)camino[j + 1].GetCentro.Item1, (float)camino[j + 1].GetCentro.Item2, 0));
}
foreach (Nodo n in grafoActual.GetListaNodos())
{
Debug.DrawLine(new Vector3((float)n.GetPrimerVertice().Item1, (float)n.GetPrimerVertice().Item2, 0),
new Vector3((float)n.GetSegundoVertice().Item1, (float)n.GetSegundoVertice().Item2, 0));
Debug.DrawLine(new Vector3((float)n.GetSegundoVertice().Item1, (float)n.GetSegundoVertice().Item2, 0),
new Vector3((float)n.GetTercerVertice().Item1, (float)n.GetTercerVertice().Item2, 0));
Debug.DrawLine(new Vector3((float)n.GetPrimerVertice().Item1, (float)n.GetPrimerVertice().Item2, 0),
new Vector3((float)n.GetTercerVertice().Item1, (float)n.GetTercerVertice().Item2, 0));
}
if (arrived)
{
if (!partida.Equals(destino))
{
arrived = false;
}
else
{
dac = new dArriveComp(agent, target.transform.position, maxA, maxS, targetR, slowR, timeToT);
dac.doYourThing();
}
}
if (camino.Count <= actual)
{
actual = 0;
}
if ((agent.transform.position.x - 0.3 <= camino[actual].GetCentro.Item1 && camino[actual].GetCentro.Item1 <= agent.transform.position.x + 0.3) &&
(agent.transform.position.y - 0.3 <= camino[actual].GetCentro.Item2 && camino[actual].GetCentro.Item2 <= agent.transform.position.y + 0.3) &&
actual != (camino.Count - 1))
{
actual = actual + 1;
}
if (camino.Count <= actual)
{
actual = 0;
}
if (partida.Equals(destino))
{
dac = new dArriveComp(agent, target.transform.position, maxA, maxS, targetR, slowR, timeToT);
dac.doYourThing();
// dsc = new dSeekComp(agent, target.transform.position, maxA, Vector3.zero);
// dsc.doYourThing();
arrived = true;
}
else
{
if (camino[actual].GetAltura() > partida.GetAltura())
{
agent.transform.position += new Vector3(0, 0, 0.01f);
agent.transform.localScale += new Vector3(Math.Abs(agent.transform.position.z) * 0.005f, Math.Abs(agent.transform.position.z) * 0.005f, 0);
}
else if (camino[actual].GetAltura() < partida.GetAltura())
{
agent.transform.position -= new Vector3(0, 0, 0.01f);
agent.transform.localScale -= new Vector3(Math.Abs(agent.transform.position.z) * 0.005f, Math.Abs(agent.transform.position.z) * 0.005f, 0);
}
else if ((camino[actual].GetAltura() == 0) && (partida.GetAltura() == 0))
{
agent.transform.position = new Vector3(agent.transform.position.x, agent.transform.position.y, 0);
agent.transform.localScale = agent.GetInitialScale();
}
Vector3 objetivoActual = new Vector3((float)camino[actual].GetCentro.Item1, (float)camino[actual].GetCentro.Item2, 0);
dac = new dArriveComp(agent, objetivoActual, maxA, maxS, targetR, slowR, timeToT);
dac.doYourThing();
}
}
// Start is called before the first frame update
void Start()
{
dArrive = new dArriveComp(agent, target.transform.position, maxSpeed, maxAcceleration, targetRadius, slowRadius, timeToTarget);
}
