Cielonos/Assets/Scripts/MainGame/Characters/Automata/AI/Actions/Movement/PrecisePursue.cs

using Opsive.BehaviorDesigner.AddOns.MovementPack.Runtime.Tasks;
using Opsive.BehaviorDesigner.AddOns.Shared.Runtime.Pathfinding;
using Opsive.BehaviorDesigner.Runtime.Tasks;
using Opsive.GraphDesigner.Runtime;
using Opsive.GraphDesigner.Runtime.Variables;
using Opsive.Shared.Utility;
using UnityEngine;
using UnityEngine.AI;

namespace Cielonos.MainGame.Characters.AI
{
    [Description("以精准停止方式追踪目标。在减速缓冲区内平滑减速，恰好停在目标前方指定距离处。")]
    [NodeIcon("079b135d5d495e14abd9ad2cb0dfaf9e", "c0515b66e6314734ba5a8f2ec7d6f451")]
    [Category("Cielonos/Movement")]
    public class PrecisePursue : MovementBase
    {
        #region Pursue Parameters
        [Tooltip("追踪开始时的初始移动速度，超出减速距离外会保持此速度。")]
        [SerializeField] protected SharedVariable<float> m_StartSpeed = 10f;
        [Tooltip("Agent 正在追踪的目标对象。")]
        [SerializeField] protected SharedVariable<GameObject> m_Target;
        [Tooltip("指定提前预测目标的距离的程度。")]
        [SerializeField] protected SharedVariable<float> m_DistancePrediction = 20;
        [Tooltip("预测提前距离的乘数。")]
        [SerializeField] protected SharedVariable<float> m_DistancePredictionMultiplier = 1;
        #endregion

        #region Precise Stopping Parameters
        [Header("Precise Stopping")]
        [Tooltip("开始减速的距离阈值 (单位: 米)")]
        [SerializeField] protected SharedVariable<float> m_SlowDownDistance = 6f;
        [Tooltip("减速后的最低速度 (防止完全停滞)")]
        [SerializeField] protected SharedVariable<float> m_MinSpeed = 0.5f;
        [Tooltip("减速缓动曲线 (X: 0=停止距离 1=减速距离, Y: 0=最低速度 1=最大速度)")]
        [SerializeField] protected AnimationCurve m_SpeedCurve = AnimationCurve.EaseInOut(0f, 0f, 1f, 1f);
        #endregion

        #region Private State
        private Vector3 _targetPosition;
        private float _originalMaxSpeed;
        private NavMeshAgentPathfinder _navPathfinder;
        private NavMeshAgent _agent;
        #endregion

        public override void OnAwake()
        {
            base.OnAwake();

            _navPathfinder = m_Pathfinder as NavMeshAgentPathfinder;
            if (_navPathfinder == null)
            {
                Debug.LogError("[PrecisePursue] Requires NavMeshAgentPathfinder.");
                return;
            }
            _agent = _navPathfinder.m_NavMeshAgent;
        }

        public override void OnStart()
        {
            base.OnStart();

            if (m_Target == null || m_Target.Value == null)
            {
                Debug.LogError("[PrecisePursue] A target must be set.");
                return;
            }

            if (_agent == null) return;
            
            _originalMaxSpeed = _navPathfinder.Speed;
            _agent.autoBraking = false;

            _targetPosition = m_Target.Value.transform.position;
            SetDestination(GetTargetDestination());
        }

        public override TaskStatus OnUpdate()
        {
            if (m_Target == null || m_Target.Value == null)
                return TaskStatus.Failure;

            if (_agent == null)
                return TaskStatus.Failure;

            // 1. 用直线距离（非 NavMesh remainingDistance）做判定
            float distanceToTarget = Vector3.Distance(
                transform.position, m_Target.Value.transform.position
            );

            // 2. 到达判定
            if (distanceToTarget <= _navPathfinder.StoppingDistance)
            {
                _agent.velocity = Vector3.zero;
                _agent.isStopped = true;
                _agent.speed = 0f;
                return TaskStatus.Success;
            }

            // 3. 减速缓冲区控制
            float denominator = m_SlowDownDistance.Value - _navPathfinder.StoppingDistance;
            if (denominator > 0f && distanceToTarget < m_SlowDownDistance.Value)
            {
                float t = Mathf.Clamp01(
                    (distanceToTarget - _navPathfinder.StoppingDistance) / denominator
                );
                float easedFactor = m_SpeedCurve.Evaluate(t);
                _agent.speed = Mathf.Lerp(m_MinSpeed.Value, m_StartSpeed.Value, easedFactor);
            }
            else
            {
                _agent.speed = m_StartSpeed.Value;
            }

            _agent.isStopped = false;

            // 4. 持续更新预测目标点
            SetDestination(GetTargetDestination());

            return TaskStatus.Running;
        }

        public override void OnEnd()
        {
            base.OnEnd();

            if (_agent != null && _agent.isOnNavMesh && _agent.isActiveAndEnabled)
            {
                _agent.isStopped = true;
                _agent.velocity = Vector3.zero;
                _agent.ResetPath();
            }

            if (_navPathfinder != null && _agent != null)
            {
                _agent.autoBraking = true;
                _agent.speed = _originalMaxSpeed;
            }
        }

        private Vector3 GetTargetDestination()
        {
            var distance = (m_Target.Value.transform.position - transform.position).magnitude;
            var velocityMagnitude = m_Pathfinder.Velocity.magnitude;

            float futurePrediction;
            if (velocityMagnitude <= distance / m_DistancePrediction.Value)
            {
                futurePrediction = m_DistancePrediction.Value;
            }
            else
            {
                futurePrediction = (distance / velocityMagnitude)
                                 * m_DistancePredictionMultiplier.Value;
            }

            var lastTargetPosition = _targetPosition;
            _targetPosition = m_Target.Value.transform.position;
            return _targetPosition + (_targetPosition - lastTargetPosition) * futurePrediction;
        }

        public override void Reset()
        {
            base.Reset();
            m_StartSpeed = 10f;
            m_Target = null;
            m_DistancePrediction = 20;
            m_DistancePredictionMultiplier = 2;  // 与声明一致
            m_SlowDownDistance = 6f;
            m_MinSpeed = 0.5f;
            m_SpeedCurve = AnimationCurve.EaseInOut(0f, 0f, 1f, 1f);
        }
    }
}