/// <summary>
/// 构造函数
/// </summary>
/// <param name="numWaypoints">要创建的航点数。</ param>
/// <param name="minX">航点的边界框的最小x位置。</ param>
/// <param name="minY">航路点的边界框的最小y位置。</ param>
/// <param name="maxX">航点的边界框的最大x位置。</ param>
/// <param name="maxY">航路点的边界框的最大y位置。</ param>
/// <param name="isLooped">是否循环</param>
public Path(
int numWaypoints,
float minX,
float minY,
float maxX,
float maxY,
bool isLooped)
{
this._waypoints = new LinkedList <float2>();
float midX = (maxX + minX) / 2.0f;
float midY = (maxY + minY) / 2.0f;
float smaller = Math.Min(midX, midY);
float spacing = ( float )Math.PI * 2 / numWaypoints;
for (int i = 0; i < numWaypoints; ++i)
{
float radialDist = 0.6f * smaller; // RandInRange(smaller * 0.2f, smaller);
var transform = TransformUtil.Rotation(i * spacing).Compose(TransformUtil.Translation(midX, midY));
this._waypoints.AddLast(transform.Apply(new float2(radialDist, 0.0f)));
}
this.isLooped = isLooped;
this._currentWaypoint = this._waypoints.First;
}
protected override void OnUpdate()
{
var targetQuery = this.GetEntityQuery(typeof(WallData));
var targetEntityDataArray = targetQuery.ToComponentDataArray <WallData>(Allocator.TempJob);
var targetInfos = new NativeArray <WallInfo>(targetEntityDataArray.Length, Allocator.TempJob);
for (var i = 0; i < targetInfos.Length; i++)
{
targetInfos[i] = new WallInfo
{
from = targetEntityDataArray[i].from,
to = targetEntityDataArray[i].to,
normal = targetEntityDataArray[i].normal
}
}
;
targetEntityDataArray.Dispose();
var wallDetectionFeelers = new NativeArray <float2>(3, Allocator.TempJob);
this.Entities.ForEach((Entity vehicle, ref VehicleData vehicleData, in EntityData entityData, in MovingData movingData) =>
{
// feeler pointing straight in front
vehicleData.wallDetectionFeeler0 = entityData.position + movingData.forward * vehicleData.wallDetectionFeelerLength;
// feeler to left
var temp = TransformUtil.Rotation(( float )System.Math.PI * 1.75f).Apply(movingData.forward);
vehicleData.wallDetectionFeeler1 = entityData.position + vehicleData.wallDetectionFeelerLength / 2f * temp;
// feeler to right
temp = TransformUtil.Rotation(( float )System.Math.PI * 0.25f).Apply(movingData.forward);
vehicleData.wallDetectionFeeler2 = entityData.position + vehicleData.wallDetectionFeelerLength / 2f * temp;
var distToThisIP = 0.0f;
var distToClosestIP = float.MaxValue;
var steeringForce = float2.zero;
wallDetectionFeelers[0] = vehicleData.wallDetectionFeeler0;
wallDetectionFeelers[1] = vehicleData.wallDetectionFeeler1;
wallDetectionFeelers[2] = vehicleData.wallDetectionFeeler2;
// examine each feeler in turn
var count = wallDetectionFeelers.Length;
var flr = 0;
for ( ; flr < count; ++flr)
{
// run through each wall checking for any intersection points
var c2 = targetInfos.Length;
for (var i = 0; i < c2; i++)
{
var targetInfo = targetInfos[i];
if (GeometryUtil.LineSegmentIntersectionPoint(
entityData.position,
wallDetectionFeelers[flr],
targetInfo.from,
targetInfo.to,
out var point))
{
// is this the closest found so far? If so keep a record
if (math.lengthsq(entityData.position - point) < distToClosestIP)
{
distToClosestIP = distToThisIP;
vehicleData.wallDetectionData = new VehicleData.WallDetectionData
{
wallNormal = targetInfo.normal,
closestPoint = point,
wallDetectionFeelerIndex = flr
};
break;
}
}
}
}
}).ScheduleParallel();