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using UnityEngine;
namespace Pathfinding.Examples {
using Pathfinding.Util;
/// <summary>
/// RichAI for local space (pathfinding on moving graphs).
///
/// What this script does is that it fakes graph movement.
/// It can be seen in the example scene called 'Moving' where
/// a character is pathfinding on top of a moving ship.
/// The graph does not actually move in that example
/// instead there is some 'cheating' going on.
///
/// When requesting a path, we first transform
/// the start and end positions of the path request
/// into local space for the object we are moving on
/// (e.g the ship in the example scene), then when we get the
/// path back, they will still be in these local coordinates.
/// When following the path, we will every frame transform
/// the coordinates of the waypoints in the path to global
/// coordinates so that we can follow them.
///
/// At the start of the game (when the graph is scanned) the
/// object we are moving on should be at a valid position on the graph and
/// you should attach the <see cref="Pathfinding.LocalSpaceGraph"/> component to it. The <see cref="Pathfinding.LocalSpaceGraph"/>
/// component will store the position and orientation of the object right there are the start
/// and then we can use that information to transform coordinates back to that region of the graph
/// as if the object had not moved at all.
///
/// This functionality is only implemented for the RichAI
/// script, however it should not be hard to
/// use the same approach for other movement scripts.
/// </summary>
[HelpURL("https://arongranberg.com/astar/documentation/stable/localspacerichai.html")]
public class LocalSpaceRichAI : RichAI {
/// <summary>Root of the object we are moving on</summary>
public LocalSpaceGraph graph;
protected override Vector3 ClampPositionToGraph (Vector3 newPosition) {
RefreshTransform();
// Clamp the new position to the navmesh
// First we need to transform the position to the same space that the graph is in though.
var nearest = AstarPath.active != null? AstarPath.active.GetNearest(graph.transformation.InverseTransform(newPosition)) : new NNInfo();
float elevation;
movementPlane.ToPlane(newPosition, out elevation);
return movementPlane.ToWorld(movementPlane.ToPlane(nearest.node != null ? graph.transformation.Transform(nearest.position) : newPosition), elevation);
}
void RefreshTransform () {
graph.Refresh();
richPath.transform = graph.transformation;
movementPlane = graph.transformation.ToSimpleMovementPlane();
}
protected override void Start () {
RefreshTransform();
base.Start();
}
protected override void CalculatePathRequestEndpoints (out Vector3 start, out Vector3 end) {
RefreshTransform();
base.CalculatePathRequestEndpoints(out start, out end);
start = graph.transformation.InverseTransform(start);
end = graph.transformation.InverseTransform(end);
}
protected override void OnUpdate (float dt) {
RefreshTransform();
base.OnUpdate(dt);
}
}
}
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