public override bool PlanTimeToTarget(Projectile3D projectile3D,
Vector3 initialPosition,
Vector3 targetPosition,
ref float timeToTarget)
{
// Allow this planner to only modify an already existing plan, not create a new one.
if (timeToTarget <= 0) return false;
// Convert the problem to principal space
PrincipalProjectile principalProjectile;
PrincipalSpace3D principalSpace3D = PrincipalSpace3D.Create(projectile3D,
initialPosition, targetPosition, out principalProjectile);
Vector2 principalTargetPosition = principalSpace3D.ToPrincipalPosition(targetPosition);
PrincipalTrajectory principalTrajectory = new PrincipalTrajectory(principalProjectile);
principalTrajectory.v0 = principalTrajectory.GetInitialVelocityGivenRelativeTargetAndTime(
principalTargetPosition, timeToTarget);
// notify helper classes/structs of the trajectory to test
_trajectoryOverGameObjectHelper.SetupTrajectory(principalSpace3D, principalTrajectory, principalTargetPosition, marginDistance);
// (Re-)check all the gameobjects until no further intersections are detected, or until
// an intersecting gameobject is found that can't have a trajectory passing over it.
int lastIntersectingGameObjectIndex = -1;
//bool foundAnotherIntersection;
//do
{
//foundAnotherIntersection = false;
for (int index = 0; index < obstacles.Length; ++index)
{
if (index != lastIntersectingGameObjectIndex)
{
float foundTimeToTarget = _trajectoryOverGameObjectHelper.GetTimeToTargetOverGameObject(obstacles[index]);
if (foundTimeToTarget >= 0) // found intersection
{
//foundAnotherIntersection = true;
lastIntersectingGameObjectIndex = index;
timeToTarget = foundTimeToTarget;
if (timeToTarget == 0)
{
return true; // trajectory over the object is impossible, so give up
}
// use the new initial velocity in the tested trajecory
principalTrajectory.v0 = principalTrajectory.GetInitialVelocityGivenRelativeTargetAndTime(
principalTargetPosition, timeToTarget);
// notify helper classes/structs of the new trajectory to test
_trajectoryOverGameObjectHelper.SetupTrajectory(principalSpace3D,
principalTrajectory, principalTargetPosition, marginDistance);
}
}
}
}
//while (foundAnotherIntersection);
return lastIntersectingGameObjectIndex >= 0; // true iff the plan changed
}
// Find a trajectory for which the trajectory's y is at least as high as any
// of the vertices remaining in _edgesOnPrincipalPlane.
private float GetTimeToTargetOnIntersection(
PrincipalSpace3D principalSpace3D,
PrincipalTrajectory principalTrajectory,
Vector2 principalTargetPosition)
{
for (int index = 0; index < _edgesOnPrincipalPlane.vertexCount; index += 2)
{
if (_edgeClassifier.CrossesXBound(
_edgesOnPrincipalPlane.vertices[index],
_edgesOnPrincipalPlane.vertices[index + 1]))
{
return 0;
}
}
float timeToTarget = 0.0f;
for (int index = 0; index < _edgesOnPrincipalPlane.vertexCount; index += 2)
{
Vector2 vertex = _edgesOnPrincipalPlane.vertices[index];
if (principalTrajectory.PositionYAtX(vertex.x) < vertex.y)
{
/*
Debug.DrawLine(principalSpace3D.p0,
principalSpace3D.p0 + principalSpace3D.xAxis * vertex.x + principalSpace3D.yAxis * vertex.y,
Color.grey);
*/
timeToTarget = PrincipalTimePlanners.GetTimeToTargetRGivenIntermediatePositionQ(
principalTrajectory,
principalTargetPosition,
vertex);
principalTrajectory.v0 =
principalTrajectory.GetInitialVelocityGivenRelativeTargetAndTime(
principalTargetPosition, timeToTarget);
}
}
return timeToTarget;
}
