public void Execute([ReadOnly] ref Translation pos, [ReadOnly] ref Rotation rot, ref Move move)
{
//射线查询
float3 dirNormal = Math.normalize(Math.mul(rot.Value, new float3(0, 0, 1)));
RaycastInput input = new RaycastInput()
{
Ray = new Ray()
{
Origin = pos.Value + dirNormal,
Direction = dirNormal * 1.1f
},
Filter = new CollisionFilter()
{
CategoryBits = ~0u, // all 1s, so all layers, collide with everything
MaskBits = ~0u,
GroupIndex = 0
}
};
RaycastHit hit = new RaycastHit();
if (World.CastRay(input, out hit))
{
move.isHit = 1;
}
else
{
move.isHit = 0;
}
//检测碰撞，重设目标，移动。
if (move.isHit == 0)
{
if (Math.distancesq(move.targetPos, pos.Value) < 0.01)
{
move.targetPos = GetRandomTarget();
rot.Value = quaternion.LookRotation(move.targetPos - pos.Value, new float3(0, 1, 0));
}
#region 加速度
if (move.speed < move.maxSpeed)
{
move.speed += move.acceleratioin * time;
}
pos.Value += Math.normalize(move.targetPos - pos.Value) * move.speed * time;
#endregion
}
else //碰到障碍，右转180度/秒
{
move.speed = 0; //减速
move.targetPos = math.rotate(quaternion.AxisAngle(new float3(0, 1, 0), (float)math.PI * time), (move.targetPos - pos.Value)) + pos.Value;
rot.Value = quaternion.LookRotation(move.targetPos - pos.Value, new float3(0, 1, 0));
}
}
public void Execute([ReadOnly] ref Translation pos, [ReadOnly] ref Rotation rot, [ReadOnly] ref LocalToWorld ltw, ref Move move)
{
//射线查询
float3 forward = Math.normalize(ltw.Forward);
float3 right = Math.normalize(ltw.Right);
move.originL = Math.normalize(forward - right) * 0.9f;
move.originR = Math.normalize(forward + right) * 0.9f;
//中射线
//move.isHit = RayCast(pos.Value + forward, forward);
//左射线
// if (move.isHit == 0)
move.isHit = RayCast(pos.Value + move.originL, forward);
//右射线
if (move.isHit == 0)
{
move.isHit = RayCast(pos.Value + move.originR, forward);
}
//检测碰撞，重设目标，移动。
if (move.isHit == 0)
{
if (Math.distancesq(move.targetPos, pos.Value) < 0.01)
{
move.targetPos = GetRandomTarget();
rot.Value = quaternion.LookRotation(move.targetPos - pos.Value, new float3(0, 1, 0));
}
#region 加速度
if (move.speed < move.maxSpeed)
{
move.speed += move.acceleratioin * deltaTime;
}
pos.Value += Math.normalize(move.targetPos - pos.Value) * move.speed * deltaTime;
#endregion
}
else //碰到障碍，右转180度/秒
{
move.speed = 0; //减速
move.targetPos = math.rotate(quaternion.AxisAngle(new float3(0, 1, 0), (float)math.PI * deltaTime), (move.targetPos - pos.Value)) + pos.Value;
rot.Value = quaternion.LookRotation(move.targetPos - pos.Value, ltw.Up);
}
}
public void Execute([ReadOnly] ref Translation pos, [ReadOnly] ref Rotation rot, ref Move move)
{
float3 dirNormal = Math.normalize(Math.mul(rot.Value, new float3(0, 0, 1)));
RaycastInput input = new RaycastInput()
{
Ray = new Ray()
{
Origin = pos.Value + dirNormal * 0.51f,
Direction = dirNormal * 1.1f
},
Filter = new CollisionFilter()
{
CategoryBits = ~0u, // all 1s, so all layers, collide with everything
MaskBits = ~0u,
GroupIndex = 0
}
};
RaycastHit hit = new RaycastHit();
if (World.CastRay(input, out hit))
{
// see hit.Position
move.isHit = 1;
// Debug.Log(hit.Position);
}
else
{
move.isHit = 0;
}
//检测碰撞，重设目标，移动。
if (move.isHit == 0)
{
if (Math.distancesq(move.targetPos, pos.Value) < 0.01)
{
move.targetPos = GetRandomTarget();
rot.Value = quaternion.LookRotation(move.targetPos - pos.Value, new float3(0, 1, 0));
}
pos.Value += Math.normalize(move.targetPos - pos.Value) * time;
}
else
{
move.targetPos = GetRandomTarget();
rot.Value = quaternion.LookRotation(move.targetPos - pos.Value, new float3(0, 1, 0));
}
}
