388 lines
15 KiB
C#
388 lines
15 KiB
C#
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using Opsive.BehaviorDesigner.AddOns.MovementPack.Runtime.Tasks;
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using Opsive.BehaviorDesigner.AddOns.Shared.Runtime.Pathfinding;
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using Opsive.BehaviorDesigner.Runtime.Tasks;
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using Opsive.GraphDesigner.Runtime;
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using Opsive.GraphDesigner.Runtime.Variables;
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using Opsive.Shared.Utility;
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using UnityEngine;
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using UnityEngine.AI;
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namespace Cielonos.MainGame.Characters.AI
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{
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public enum TacticalLimitMode
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{
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TotalDuration, // 总时间限制
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TotalMoveCount, // 总移动次数限制
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Infinite // 无限运行 (条件打断)
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}
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[Description("横向移动/绕圈 (Strafe)。敌人面朝玩家并横向移动一段圆弧。支持时间限制或移动次数限制。单次移动一旦确定目标点，在此次移动完成前不会因为玩家移动而改变航点。")]
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[NodeIcon("f900ccca7c66371459b52036efeb8778", "cfd0e78235c50db46bc12d1751492ecf")]
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[Category("Cielonos/Movement")]
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public class Strafe : MovementBase
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{
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#region Parameters
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[Header("Target & Distance")]
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[Tooltip("环绕的目标对象。")]
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[SerializeField] protected SharedVariable<GameObject> m_Target;
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[Tooltip("绕圈的最小距离 (米)。")]
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[SerializeField] protected SharedVariable<float> m_MinDistance = 4f;
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[Tooltip("绕圈的最大距离 (米)。")]
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[SerializeField] protected SharedVariable<float> m_MaxDistance = 7f;
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[Header("Strafe Movement")]
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[Tooltip("移动速度。")]
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[SerializeField] protected SharedVariable<float> m_StrafeSpeed = 2.5f;
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[Tooltip("单次横向绕圈的最小移动距离 (步长, 米)。")]
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[SerializeField] protected SharedVariable<float> m_StrafeDistanceMin = 2f;
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[Tooltip("单次横向绕圈的最大移动距离 (步长, 米)。")]
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[SerializeField] protected SharedVariable<float> m_StrafeDistanceMax = 5f;
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[Header("Facing")]
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[Tooltip("是否在移动过程中面朝目标。如果不勾选，则依赖外部系统的朝向控制。")]
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[SerializeField] protected SharedVariable<bool> m_FaceTarget = true;
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[Tooltip("面朝目标的旋转角速度 (度/秒)。")]
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[SerializeField] protected SharedVariable<float> m_RotationSpeed = 360f;
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[Header("Limits & Timing")]
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[Tooltip("任务退出限制模式：总时间 / 总次数 / 无限")]
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[SerializeField] protected TacticalLimitMode m_LimitMode = TacticalLimitMode.TotalDuration;
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[Tooltip("最大移动次数（用于 TotalMoveCount 模式）。")]
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[SerializeField] protected SharedVariable<int> m_MaxMoveCount = 3;
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[Tooltip("最长总持续时间（秒，用于 TotalDuration 模式）。")]
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[SerializeField] protected SharedVariable<float> m_MaxDuration = 8f;
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[Tooltip("在总时间结束时，是否强制走完最后一次移动后再退出。")]
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[SerializeField] protected SharedVariable<bool> m_FinishLastMoveBeforeEnd = false;
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[Tooltip("单次移动的最大持续时间 (秒)。到达时间或到达航点都会结束单词移动。")]
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[SerializeField] protected SharedVariable<float> m_SingleMoveMaxDuration = 2f;
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[Tooltip("每次到达航点后的短暂停顿 (秒)。")]
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[SerializeField] protected SharedVariable<float> m_TransitionPause = 0.2f;
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#endregion
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#region Private State
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private NavMeshAgentPathfinder _navPathfinder;
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private NavMeshAgent _agent;
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private AutomataLandMovementSubcontroller _movementSc;
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private float _originalMaxSpeed;
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private bool _originalUpdateRotation;
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private bool _original8WayMovement;
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// 总体进度控制
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private float _taskStartTime;
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private int _currentMoveCount;
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private bool _isTimeUp;
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// 单次移动状态
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private float _singleMoveStartTime;
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private bool _isMoving;
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private float _transitionPauseEndTime;
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// 方向控制 (确保多次Strafe连贯的话，方向可能改变或保持)
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private int _strafeDirection;
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private const int k_MaxSampleRetries = 5;
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#endregion
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public override void OnAwake()
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{
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base.OnAwake();
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_navPathfinder = m_Pathfinder as NavMeshAgentPathfinder;
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if (_navPathfinder != null) _agent = _navPathfinder.m_NavMeshAgent;
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var automata = gameObject.GetComponent<Automata>();
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if (automata != null) _movementSc = automata.movementSc as AutomataLandMovementSubcontroller;
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}
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public override void OnStart()
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{
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base.OnStart();
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if (m_Target == null || m_Target.Value == null || _agent == null)
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return;
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_originalMaxSpeed = _navPathfinder.Speed;
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_originalUpdateRotation = _agent.updateRotation;
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_agent.updateRotation = !m_FaceTarget.Value; // 如果我们手动face target，则关掉自动寻路旋转
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_agent.autoBraking = true;
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_agent.speed = m_StrafeSpeed.Value;
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if (_movementSc != null)
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{
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_original8WayMovement = _movementSc.is8WayMovement;
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_movementSc.is8WayMovement = true;
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}
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_taskStartTime = Time.time;
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_currentMoveCount = 0;
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_isTimeUp = false;
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_isMoving = false;
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_transitionPauseEndTime = 0f;
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// 首段移动的方向随机
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_strafeDirection = Random.value > 0.5f ? 1 : -1;
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StartNewMove();
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}
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public override TaskStatus OnUpdate()
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{
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if (m_Target == null || m_Target.Value == null || _agent == null)
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return TaskStatus.Failure;
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// 面朝目标
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if (m_FaceTarget.Value) RotateTowardsTarget();
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// 检查外部是否已经超时
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if (m_LimitMode == TacticalLimitMode.TotalDuration && !_isTimeUp)
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{
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if (Time.time - _taskStartTime >= m_MaxDuration.Value)
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{
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_isTimeUp = true;
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if (!m_FinishLastMoveBeforeEnd.Value)
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{
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return TaskStatus.Success;
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}
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}
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}
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//如果没有次数，直接成功
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if (m_LimitMode == TacticalLimitMode.TotalMoveCount && m_MaxMoveCount.Value == 0)
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{
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return TaskStatus.Success;
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}
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if (_isMoving)
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{
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// 正在移动中，检查单次移动是否结束 (到达终点或到达单次最长时间)
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bool arrived = HasArrived();
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bool singleMoveTimeUp = (Time.time - _singleMoveStartTime) >= m_SingleMoveMaxDuration.Value;
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if (arrived || singleMoveTimeUp)
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{
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StopAgent();
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_isMoving = false;
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_currentMoveCount++;
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_transitionPauseEndTime = Time.time + m_TransitionPause.Value;
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}
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}
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else
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{
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// 正在暂停中
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if (Time.time >= _transitionPauseEndTime)
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{
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// 检查是否应该退出任务
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if (_isTimeUp)
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return TaskStatus.Success;
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if (m_LimitMode == TacticalLimitMode.TotalMoveCount && _currentMoveCount >= m_MaxMoveCount.Value)
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return TaskStatus.Success;
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// 开启下一次移动
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StartNewMove();
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}
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}
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return TaskStatus.Running;
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}
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private void StartNewMove()
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{
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Vector3 targetPos = m_Target.Value.transform.position;
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Vector3 toSelf = transform.position - targetPos;
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toSelf.y = 0f;
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if (toSelf.sqrMagnitude < 0.01f)
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{
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toSelf = -transform.forward; // 兜底
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}
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// --- 几何安全防越界机制 ---
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// 确保敌人从A点(当前)直线移动到B点(终点)的过程中，连线(弦)不会进入内圈(MinDistance)
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float mathMinDist = m_MinDistance.Value + 0.1f; // 附加0.1m的安全余量
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float currentDist = toSelf.magnitude;
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float r1 = Mathf.Max(currentDist, mathMinDist);
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// 从 r1 处作内圈切线所经历的夹角 alpha
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float alpha = Mathf.Acos(mathMinDist / r1);
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// 终点最远能在 MaxDistance 处，对应的另一个切线夹角
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float maxThetaForMaxR2 = alpha + Mathf.Acos(mathMinDist / Mathf.Max(m_MaxDistance.Value, mathMinDist + 0.1f));
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float targetStepDist = Random.Range(m_StrafeDistanceMin.Value, m_StrafeDistanceMax.Value);
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float absTheta = targetStepDist / r1; // 根据当前半径和目标步长预估需要的弧度
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// 1. 限制最大角度：如果走得太远，连目标放在最大边界边缘都会穿模，必须截断本次角度
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float maxThetaSafe = maxThetaForMaxR2 * 0.99f;
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if (absTheta > maxThetaSafe)
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{
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absTheta = maxThetaSafe;
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}
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// 2. 动态决定目标的最短安全半径 minR2
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float minR2 = mathMinDist;
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if (absTheta > alpha)
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{
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// 如果角度超过了 alpha，代表弦已经超过了切点，必须让目标点往外扩，才不至于割进内圈
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minR2 = mathMinDist / Mathf.Cos(absTheta - alpha);
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}
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minR2 = Mathf.Min(minR2, m_MaxDistance.Value); // 钳位
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// 70% 概率维持刚才的方向，30% 反转方向
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if (Random.value < 0.3f) _strafeDirection = -_strafeDirection;
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// 在安全的外部带中随机取一个终点半径
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float r2 = Random.Range(minR2, m_MaxDistance.Value);
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float currentAngle = Mathf.Atan2(toSelf.x, toSelf.z);
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float angleDelta = absTheta * _strafeDirection;
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float newAngle = currentAngle + angleDelta;
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Vector3 destination = targetPos + new Vector3(Mathf.Sin(newAngle), 0f, Mathf.Cos(newAngle)) * r2;
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// 防撞墙机制：使用 NavMesh.Raycast
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NavMeshHit hit;
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if (NavMesh.Raycast(transform.position, destination, out hit, NavMesh.AllAreas))
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{
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Vector3 toDest = (destination - transform.position).normalized;
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destination = hit.position - toDest * 0.5f;
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// 这次碰壁了，强行反转下周期的绕圈方向
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_strafeDirection = -_strafeDirection;
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}
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if (TrySampleAndSetDestination(targetPos, destination))
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{
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_isMoving = true;
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_singleMoveStartTime = Time.time;
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if (_agent != null && _agent.isStopped) _agent.isStopped = false;
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}
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else
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{
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// 如果找不到目标点，强行翻转方向重试一次
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_strafeDirection = -_strafeDirection;
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angleDelta = absTheta * _strafeDirection;
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newAngle = currentAngle + angleDelta;
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destination = targetPos + new Vector3(Mathf.Sin(newAngle), 0f, Mathf.Cos(newAngle)) * r2;
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if (NavMesh.Raycast(transform.position, destination, out hit, NavMesh.AllAreas))
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{
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Vector3 toDest = (destination - transform.position).normalized;
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destination = hit.position - toDest * 0.5f;
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}
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if (TrySampleAndSetDestination(targetPos, destination))
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{
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_isMoving = true;
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_singleMoveStartTime = Time.time;
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if (_agent != null && _agent.isStopped) _agent.isStopped = false;
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}
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else
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{
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// 两边都没法走，当做此次移动完成，进入Pause并计入次数
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_isMoving = false;
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_currentMoveCount++;
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_transitionPauseEndTime = Time.time + m_TransitionPause.Value;
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}
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}
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}
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private bool TrySampleAndSetDestination(Vector3 centerTargetPos, Vector3 destination)
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{
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Vector3 sampledPos = destination;
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if (SamplePosition(ref sampledPos))
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{
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SetDestination(sampledPos);
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return true;
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}
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// 采样失败时，尝试向目标方向回退
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for (int i = 1; i <= k_MaxSampleRetries; i++)
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{
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Vector3 safeCenter = centerTargetPos + (destination - centerTargetPos).normalized * ((m_MinDistance.Value + m_MaxDistance.Value) * 0.5f);
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Vector3 retryPos = Vector3.Lerp(destination, safeCenter, i * 0.2f);
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if (SamplePosition(ref retryPos))
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{
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SetDestination(retryPos);
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return true;
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}
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}
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return false;
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}
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private void RotateTowardsTarget()
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{
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Vector3 direction = m_Target.Value.transform.position - transform.position;
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direction.y = 0f;
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if (direction.sqrMagnitude < 0.001f) return;
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Quaternion targetRot = Quaternion.LookRotation(direction);
|
|||
|
|
transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRot, m_RotationSpeed.Value * Time.deltaTime);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void StopAgent()
|
|||
|
|
{
|
|||
|
|
if (_agent != null && _agent.isOnNavMesh && !_agent.isStopped)
|
|||
|
|
{
|
|||
|
|
_agent.isStopped = true;
|
|||
|
|
_agent.velocity = Vector3.zero;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override void OnEnd()
|
|||
|
|
{
|
|||
|
|
base.OnEnd();
|
|||
|
|
CleanUpAgent();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override void OnBehaviorTreeStopped(bool paused)
|
|||
|
|
{
|
|||
|
|
base.OnBehaviorTreeStopped(paused);
|
|||
|
|
CleanUpAgent();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void CleanUpAgent()
|
|||
|
|
{
|
|||
|
|
if (_agent != null)
|
|||
|
|
{
|
|||
|
|
if (_agent.isOnNavMesh && _agent.isActiveAndEnabled)
|
|||
|
|
{
|
|||
|
|
_agent.isStopped = true;
|
|||
|
|
_agent.velocity = Vector3.zero;
|
|||
|
|
_agent.ResetPath();
|
|||
|
|
}
|
|||
|
|
_agent.updateRotation = _originalUpdateRotation;
|
|||
|
|
_agent.autoBraking = true;
|
|||
|
|
_agent.speed = _originalMaxSpeed;
|
|||
|
|
}
|
|||
|
|
if (_movementSc != null)
|
|||
|
|
{
|
|||
|
|
_movementSc.is8WayMovement = _original8WayMovement;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override void Reset()
|
|||
|
|
{
|
|||
|
|
base.Reset();
|
|||
|
|
m_Target = null;
|
|||
|
|
m_MinDistance = 4f;
|
|||
|
|
m_MaxDistance = 7f;
|
|||
|
|
m_StrafeSpeed = 2.5f;
|
|||
|
|
m_StrafeDistanceMin = 2f;
|
|||
|
|
m_StrafeDistanceMax = 5f;
|
|||
|
|
m_FaceTarget = true;
|
|||
|
|
m_RotationSpeed = 360f;
|
|||
|
|
m_LimitMode = TacticalLimitMode.TotalDuration;
|
|||
|
|
m_MaxMoveCount = 3;
|
|||
|
|
m_MaxDuration = 8f;
|
|||
|
|
m_FinishLastMoveBeforeEnd = false;
|
|||
|
|
m_SingleMoveMaxDuration = 2f;
|
|||
|
|
m_TransitionPause = 0.2f;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|