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406
Assets/CoolapeFrame/AIPath/Scripts/CLSeeker.cs
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406
Assets/CoolapeFrame/AIPath/Scripts/CLSeeker.cs
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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namespace Coolape
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{
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public class CLSeeker : MonoBehaviour
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{
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public CLAStarPathSearch mAStarPathSearch;
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public Transform target;
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public Vector3 targetPos;
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//移动速度
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public float speed = 1;
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//转向速度（当为负=硬转向）
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public float turningSpeed = 5;
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//离目标多远就停止移动
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public float endReachedDistance = 0.2f;
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public bool canSearchPath = true;
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public bool canMove = false;
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public bool autoMoveOnFinishSeek = true;
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public MovingBy movingBy = MovingBy.Update;
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public bool unscaledTime = false;
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public bool showPath = true;
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[System.NonSerialized]
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public List<Vector3> pathList = new List<Vector3>();
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public object onFinishSeekCallback;
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public object onMovingCallback;
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public object onArrivedCallback;
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[HideInInspector]
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public bool isSeekTargetLoop = false;
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public float seekTargetLoopIntvalSec = 1;
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public float nextSeekTargetTime = 0;
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Transform _mTransform;
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public Transform mTransform
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{
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get
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{
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if (_mTransform == null)
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{
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_mTransform = gameObject.transform;
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}
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return _mTransform;
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}
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}
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// Use this for initialization
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public virtual void Start()
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{
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if (mAStarPathSearch == null)
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{
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mAStarPathSearch = CLAStarPathSearch.current;
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}
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}
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public virtual float cellSize
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{
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get
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{
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return mAStarPathSearch.cellSize;
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}
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}
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/// <summary>
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/// Init the specified onFinishSeekCallback, onMovingCallback and onArrivedCallback.
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/// </summary>
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/// <param name="onFinishSeekCallback">On finish seek callback.完成寻路后的回（其实是同步模式）</param>
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/// <param name="onMovingCallback">On moving callback.移动时的回调</param>
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/// <param name="onArrivedCallback">On arrived callback.到达目的地的回调</param>
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public virtual void init(object onFinishSeekCallback, object onMovingCallback, object onArrivedCallback)
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{
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this.onFinishSeekCallback = onFinishSeekCallback;
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this.onMovingCallback = onMovingCallback;
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this.onArrivedCallback = onArrivedCallback;
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}
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public virtual List<Vector3> seekTarget(Transform target)
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{
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return seekTarget(target, 1);
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}
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/// <summary>
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/// Seeks the target.寻找目标对
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/// </summary>
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/// <returns>The target.</returns>
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/// <param name="target">Target.目标对象</param>
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/// <param name="searchIntvalSec">Search intval sec.每隔xx秒重新寻路</param>
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public virtual List<Vector3> seekTarget(Transform target, float searchIntvalSec)
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{
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if (target == null) return null;
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this.target = target;
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canSearchPath = true;
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//fixedInvoke((Callback)seekTargetLoop, searchIntvalSec, searchIntvalSec);
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seekTargetLoopIntvalSec = searchIntvalSec;
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isSeekTargetLoop = true;
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nextSeekTargetTime = Time.realtimeSinceStartup + seekTargetLoopIntvalSec;
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return seek(target.position);
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}
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/// <summary>
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/// Cancels the seek target.取消对目标的寻路
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/// </summary>
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public virtual void cancelSeekTarget()
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{
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isSeekTargetLoop = false;
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//cancelFixedInvoke4Lua((Callback)seekTargetLoop);
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}
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void seekTargetLoop()
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{
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if (!canSearchPath || target == null)
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{
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return;
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}
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//float searchIntvalSec = (float)(objs[0]);
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seek(target.position);
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nextSeekTargetTime = Time.realtimeSinceStartup + seekTargetLoopIntvalSec;
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//fixedInvoke((Callback)seekTargetLoop, searchIntvalSec, searchIntvalSec);
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}
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public virtual void seekAsyn(Vector3 toPos)
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{
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targetPos = toPos;
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canMove = false;
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stopMove();
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//pathList.Clear();
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mAStarPathSearch.searchPathAsyn(mTransform.position, toPos, (Callback)onSeekAsynCallback);
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}
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void onSeekAsynCallback(params object[] objs)
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{
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bool canReach = (bool)(objs[0]);
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pathList = objs[1] as List<Vector3>;
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//回调的第一个参数是路径，第二个参数是能否到达目标点
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Utl.doCallback(onFinishSeekCallback, pathList, canReach);
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if (autoMoveOnFinishSeek)
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{
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//开始移动
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startMove();
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}
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}
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public virtual List<Vector3> seek(Vector3 toPos, float endReachDis)
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{
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endReachedDistance = endReachDis;
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return seek(toPos);
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}
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/// <summary>
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/// Seek the specified toPos.寻路
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/// </summary>
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/// <returns>The seek.路径列表</returns>
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/// <param name="toPos">To position.</param>
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public virtual List<Vector3> seek(Vector3 toPos)
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{
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targetPos = toPos;
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canMove = false;
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stopMove();
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pathList.Clear();
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bool canReach = mAStarPathSearch.searchPath(mTransform.position, toPos, ref pathList);
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//回调的第一个参数是路径，第二个参数是能否到达目标点
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Utl.doCallback(onFinishSeekCallback, pathList, canReach);
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if (autoMoveOnFinishSeek)
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{
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//开始移动
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startMove();
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}
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return pathList;
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}
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// Update is called once per frame
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public virtual void Update()
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{
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if(isSeekTargetLoop) {
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if(Time.realtimeSinceStartup >= nextSeekTargetTime) {
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seekTargetLoop();
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}
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}
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if (canMove && movingBy == MovingBy.Update)
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{
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if (unscaledTime)
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{
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moving(Time.unscaledDeltaTime);
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}
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else
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{
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moving(Time.deltaTime);
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}
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}
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}
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public virtual void FixedUpdate()
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{
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if (canMove && movingBy == MovingBy.FixedUpdate)
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{
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if (unscaledTime)
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{
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moving(Time.fixedUnscaledDeltaTime);
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}
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else
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{
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moving(Time.fixedDeltaTime);
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}
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}
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}
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int nextPahtIndex = 0;
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float movePersent = 0;
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bool finishOneSubPath = false;
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float offsetSpeed = 0;
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Vector3 diff4Moving = Vector3.zero;
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Vector3 fromPos4Moving = Vector3.zero;
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/// <summary>
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/// Begains the move.
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/// </summary>
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public virtual void startMove()
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{
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canMove = false;
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if (pathList == null || pathList.Count < 2)
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{
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if (pathList == null)
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{
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Debug.LogError("pathList == null!");
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}
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Debug.LogError("Path list error!");
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stopMove();
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Utl.doCallback(onArrivedCallback);
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return;
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}
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if (Vector3.Distance(mTransform.position, pathList[0]) < 0.001f)
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{
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//说明是在原点
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movePersent = 0;
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finishOneSubPath = false;
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fromPos4Moving = pathList[0];
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diff4Moving = pathList[1] - pathList[0];
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offsetSpeed = 1.0f / Vector3.Distance(pathList[0], pathList[1]);
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nextPahtIndex = 1;
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rotateTowards(diff4Moving, true);
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canMove = true;
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}
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else if (Vector3.Distance(mTransform.position, pathList[pathList.Count - 1]) <= endReachedDistance)
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{
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//到达目标点
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Utl.doCallback(onArrivedCallback);
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return;
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}
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else
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{
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float dis = 0;
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float dis1 = 0;
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float dis2 = 0;
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for (int i = 1; i < pathList.Count; i++)
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{
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dis = Vector3.Distance(pathList[i - 1], pathList[i]);
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dis1 = Vector3.Distance(mTransform.position, pathList[i - 1]);
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dis2 = Vector3.Distance(mTransform.position, pathList[i]);
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if (Mathf.Abs(dis - (dis1 + dis2)) < 0.01f)
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{
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movePersent = dis1 / dis;
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finishOneSubPath = false;
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nextPahtIndex = i;
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fromPos4Moving = pathList[i - 1];
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diff4Moving = pathList[i] - pathList[i - 1];
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offsetSpeed = 1.0f / Vector3.Distance(pathList[i - 1], pathList[i]);
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rotateTowards(diff4Moving, true);
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canMove = true;
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break;
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}
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}
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if(!canMove)
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{
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Debug.LogWarning("说明没有找到起点，但是还是强制设置成可以移动");
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canMove = true;
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}
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}
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}
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public virtual void stopMove()
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{
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canMove = false;
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}
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/// <summary>
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/// Moving the specified deltaTime.处理移动
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/// </summary>
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/// <param name="deltaTime">Delta time.会根据不同的情况传入</param>
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protected void moving(float deltaTime)
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{
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if (pathList == null || nextPahtIndex >= pathList.Count)
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{
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Debug.LogError("moving error");
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if (pathList == null)
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{
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Debug.LogError("pathList == null!");
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}
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stopMove();
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Utl.doCallback(onArrivedCallback);
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return;
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}
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movePersent += (deltaTime * speed * 0.3f * offsetSpeed);
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if (movePersent >= 1)
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{
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movePersent = 1;
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finishOneSubPath = true;
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}
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if (turningSpeed > 0)
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{
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rotateTowards(diff4Moving, false);
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}
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mTransform.position = fromPos4Moving + diff4Moving * movePersent;
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Utl.doCallback(onMovingCallback);
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if (nextPahtIndex == pathList.Count - 1)
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{
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//最后一段路径，即将要到达目的地
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if (finishOneSubPath ||
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Vector3.Distance(mTransform.position, pathList[pathList.Count - 1]) <= endReachedDistance)
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{
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stopMove();
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Utl.doCallback(onArrivedCallback);
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}
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}
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else
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{
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if (finishOneSubPath)
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{
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//移动完成一段路径，进入下一段路径的准备（一些变量的初始化）
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nextPahtIndex++;
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movePersent = 0;
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finishOneSubPath = false;
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fromPos4Moving = pathList[nextPahtIndex - 1];
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diff4Moving = pathList[nextPahtIndex] - pathList[nextPahtIndex - 1];
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offsetSpeed = 1.0f / Vector3.Distance(pathList[nextPahtIndex - 1], pathList[nextPahtIndex]);
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if (turningSpeed <= 0)
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{
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rotateTowards(diff4Moving, true);
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}
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}
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}
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}
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/// <summary>
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/// Rotates the towards.转向
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/// </summary>
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/// <param name="dir">Dir.方向</param>
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/// <param name="immediately">If set to <c>true</c> immediately.立即转向，否则为慢慢转</param>
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protected void rotateTowards(Vector3 dir, bool immediately)
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{
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if (dir == Vector3.zero) return;
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Quaternion rot = mTransform.rotation;
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Quaternion toTarget = Quaternion.LookRotation(dir);
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if (immediately)
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{
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rot = toTarget;
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}
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else
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{
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rot = Quaternion.Slerp(rot, toTarget, turningSpeed * Time.deltaTime);
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}
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Vector3 euler = rot.eulerAngles;
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euler.z = 0;
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euler.x = 0;
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rot = Quaternion.Euler(euler);
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mTransform.rotation = rot;
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}
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//====================================================================
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//====================================================================
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#if UNITY_EDITOR
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void OnDrawGizmos()
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{
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Gizmos.color = Color.yellow;
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Gizmos.DrawSphere(targetPos, 0.5f);
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Gizmos.color = Color.white;
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if (showPath && pathList != null && pathList.Count > 0)
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{
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for (int i = 0; i < pathList.Count - 1; i++)
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{
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Debug.DrawLine(pathList[i], pathList[i + 1], Color.green);
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}
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}
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}
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#endif
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//====================================================================
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//====================================================================
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public enum MovingBy
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{
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Update,
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FixedUpdate
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}
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}
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}
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Reference in New Issue
Block a user