/// <summary>
/// Update the planner.
/// </summary>
/// <returns>True if successful.</returns>
public bool Update()
{
if (mAtGoalState == StateNormal)
{
agent.SyncCrowdToDesired();
}
bool newPos = (agent.data.flags & NavFlag.HasNewPosition) != 0;
bool newGoal = (agent.data.flags & NavFlag.HasNewGoal) != 0;
NavmeshPoint pt;
if (newPos)
{
pt = agent.GetPointSearch(agent.data.position);
if (pt.polyRef == 0)
{
// Ignore new position.
Debug.LogWarning(string.Format(
"{0}: Could not constrain new position to the navigation mesh. Ignoring: {1}"
, agent.transform.name, pt.ToString()));
newPos = false;
}
else
{
agent.data.desiredPosition = pt;
}
}
if (newGoal)
{
pt = agent.GetPointSearch(agent.data.goal);
if (pt.polyRef == 0)
{
// Ignore new goal.
Debug.LogWarning(string.Format(
"{0}: Could not constrain new goal to the navigation mesh. Ignoring: {1}"
, agent.transform.name, pt.ToString()));
newGoal = false;
}
else
{
agent.data.plannerGoal = pt;
}
}
if (mAtGoalState != StateNormal && newGoal || newPos)
{
TransitionToNormalGoalState();
}
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
if (newPos)
{
// Note: This call inherently handles everything, not just the
// position change.
return(HandlePositionFeedback());
}
if (!HandleNormalPlanning(newGoal))
{
// A critical failure has occurred.
return(false);
}
if ((agent.data.flags & NavFlag.CrowdConfigUpdated) != 0)
{
CrowdAgentParams config = agent.crowdConfig;
if (mAtGoalState != StateNormal)
{
config.maxSpeed = 0;
}
agent.crowdAgent.SetConfig(config);
agent.data.flags &= ~NavFlag.CrowdConfigUpdated;
}
if (mAtGoalState == StateInRange)
{
// Need to manually move the agent to the goal.
Vector3 pos = agent.data.desiredPosition.point;
Vector3 goal = agent.data.plannerGoal.point;
if (Vector2Util.SloppyEquals(
new Vector2(pos.x, pos.z), new Vector2(goal.x, goal.z), 0.005f))
{
// Snap to the goal and, essentially, go into an idle
// state.
mAtGoalState = StateIdle;
agent.data.desiredPosition = agent.data.plannerGoal;
agent.data.desiredSpeedSq = 0;
agent.data.desiredVelocity = Vector3.zero;
// Debug.Log("Reached goal. Going idle.");
}
else
{
// Need to manually move the agent to the goal.
// Assumptions: The distance is short, and the crowd has
// already slowed the agent's speed to a minimal value.
float desiredSpeed = Mathf.Sqrt(agent.data.desiredSpeedSq);
agent.data.desiredPosition.point =
Vector3.MoveTowards(pos, goal, desiredSpeed * Time.deltaTime);
// While the point will be on the mesh surface, we
// can't assume we are already in the goal's polygon.
agent.data.desiredPosition.polyRef = 0;
agent.data.desiredVelocity =
(agent.data.desiredPosition.point - pos).normalized * desiredSpeed;
}
}
return(true);
}
/// <summary>
/// Update the planner.
/// </summary>
/// <returns>True if the update completed successfully.</returns>
public bool Update()
{
agent.SyncCrowdToDesired();
// Constrain the goal to the navigation mesh.
NavmeshPoint ngoal = agent.GetPointSearch(agent.data.goal);
if (ngoal.polyRef == 0)
{
Debug.LogWarning(string.Format(
"{0}: Failed constrain goal to navmesh: Ignoring: {1}"
, agent.transform.name, ngoal.ToString()));
// Leave the flag alone. It will be handled later.
ngoal = agent.data.plannerGoal; // Revert to last good.
}
agent.data.plannerGoal = ngoal;
// Handle a full planner reset if the agent position has changed.
if ((agent.data.flags & NavFlag.HasNewPosition) != 0)
{
NavmeshPoint pt = agent.GetPointSearch(agent.data.position);
if (pt.polyRef == 0)
{
// Ignore the new position.
Debug.LogWarning(string.Format(
"{0}: Failed constrain pos to navmesh: Ignoring: {1}"
, agent.transform.name, agent.data.position.ToString()));
agent.data.flags &= ~NavFlag.HasNewPosition;
}
else
{
// Assume large change in position. So force a full reset of planning.
// Note: Ignoring failure of add since it can only occur from invalid crowd
// manager use cases.
agent.AddToCrowd(pt.point);
agent.crowdAgent.RequestMoveTarget(ngoal);
agent.data.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
agent.data.desiredPosition = pt;
//Debug.Log(string.Format(
// "{0}: Reset planning. New position."
// , agent.transform.name));
return(true);
}
}
// Feed the goal to the crowd manager.
if ((agent.data.flags & NavFlag.HasNewGoal) != 0)
{
agent.crowdAgent.RequestMoveTarget(ngoal);
agent.data.flags &= ~NavFlag.HasNewGoal;
//Debug.Log(string.Format("{0}: Reset crowd goal."
// , agent.transform.name));
}
else
{
agent.crowdAgent.AdjustMoveTarget(ngoal);
}
// Handle posting configation changes to the crowd.
if ((agent.data.flags & NavFlag.CrowdConfigUpdated) != 0)
{
agent.crowdAgent.SetConfig(agent.crowdConfig);
agent.data.flags &= ~NavFlag.CrowdConfigUpdated;
}
return(true);
}