406 lines
20 KiB
C#
406 lines
20 KiB
C#
using UnityEngine;
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using PathBerserker2d;
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using BaseGames.Enemies;
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using System;
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using System.Collections.Generic;
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namespace BaseGames.Enemies.Navigation
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{
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/// <summary>
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/// PathBerserker2d 导航代理包装器（架构 07_EnemyModule §5 能力驱动版）。
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///
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/// 设计原则：
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/// <list type="bullet">
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/// <item>连接段穿越（跳跃/攀爬/传送等）委托给 <see cref="INavLinkHandler"/> 能力组件执行</item>
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/// <item>能力自行驱动动画 + 物理，本组件只做"调度 → 等回调 → 通知 PB2d 继续"</item>
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/// <item>无对应能力时自动回退到 TransformBasedMovement（兜底行为）</item>
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/// <item>Awake 自动发现 GameObject 上的全部 INavLinkHandler，并禁用 TBM 对应 FeatureFlag</item>
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/// </list>
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/// </summary>
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[RequireComponent(typeof(NavAgent))]
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[RequireComponent(typeof(TransformBasedMovement))]
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public class EnemyNavAgent : MonoBehaviour, IPathAgent
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{
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// ── 序列化 ──────────────────────────────────────────────────────
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[Tooltip("边缘检测前向距离（m）")]
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[SerializeField] private float _edgeCheckFwdOffset = 0.3f;
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[Tooltip("边缘检测向下射线长度（m）")]
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[SerializeField] private float _edgeCheckDownLen = 0.6f;
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[Tooltip("边缘检测 LayerMask（留空 = 所有层）")]
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[SerializeField] private LayerMask _groundMask = ~0;
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[Header("重寻路防抖（PathBerserker2d 不可每帧 UpdatePath，否则路径永远算不完）")]
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[Tooltip("目标位移阈值(m)：目标移动超过此值才重算路径")]
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[SerializeField] private float _repathTargetThreshold = 0.5f;
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[Tooltip("两次重算最小间隔(s)：留出跨帧路径计算完成的时间")]
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[SerializeField] private float _repathMinInterval = 0.25f;
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[Header("目标点吸附")]
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[Tooltip("把巡逻/移动目标吸附到最近可行走段时，允许目标离最近段的最大真实距离(m)。语义同 PB2d 的 " +
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"closestToSegmentMaxDistance——想多大就多大；只要目标在此距离内一定吸附得到。仅当目标离所有" +
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"烘焙段都超过此值(真正脱离导航面)才判失败。")]
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[SerializeField] private float _maxSnapDistance = 10f;
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[Header("受阻检测（寻路移动无进展即判被挡）")]
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[Tooltip("卡死检测窗口时长(s)：段上移动时，此时长内朝子目标推进小于阈值即判受阻")]
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[SerializeField] private float _stuckWindowSeconds = 0.5f;
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[Tooltip("卡死推进阈值(m)：窗口内朝子目标的距离缩小不足此值即判卡死")]
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[SerializeField] private float _stuckMinProgress = 0.05f;
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// 重寻路防抖状态
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private Vector2 _lastPathGoal;
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private bool _hasPathGoal;
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private float _lastPathTime;
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// ── IPathAgent 公开状态 ────────────────────────────────────────
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public bool IsMoving => _navAgent != null && _navAgent.IsFollowingAPath;
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public bool IsOnLink => _navAgent != null && _navAgent.IsOnLink;
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public NavLinkType CurrentLinkType => _currentLinkType;
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public Vector2 CurrentLinkStart => _currentLinkStart;
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public Vector2 CurrentLinkEnd => _currentLinkEnd;
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/// <summary>上次寻路移动是否因不可达/被挡而受阻（走到最近点或原地停，而非到达原目标）。新目标 RequestMoveTo 后复位。</summary>
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public bool LastMoveObstructed => _lastMoveObstructed;
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/// <summary>取上次寻路失败时算出的最近可达世界点。无则返回 false。</summary>
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public bool TryGetClosestReachable(out Vector2 worldPos)
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{
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if (_navAgent != null) return _navAgent.TryGetClosestReachablePosition(out worldPos);
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worldPos = Vector2.zero;
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return false;
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}
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// ── IPathAgent 事件 ────────────────────────────────────────────
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public event Action<NavLinkType> OnLinkStarted;
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public event Action<NavLinkType> OnLinkCompleted;
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public event Action OnNavPathFailed;
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public event Action OnGoalReached;
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// ── 私有 ────────────────────────────────────────────────────────
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private NavAgent _navAgent;
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private TransformBasedMovement _movement;
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private EnemyMovement _enemyMovement;
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// 能力 handler 注册表（NavLinkType → INavLinkHandler）
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private readonly Dictionary<NavLinkType, INavLinkHandler> _handlers
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= new Dictionary<NavLinkType, INavLinkHandler>();
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private INavLinkHandler _activeHandler;
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// 受阻状态（供意图层结算）
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private bool _lastMoveObstructed;
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private bool _redirectedToClosest; // 本轮已改道到最近点，避免每帧重复下发
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private bool _obstructionSignal; // 受阻信号(寻路失败/卡死)，延后到 FixedUpdate 统一处理
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// 卡死检测窗口
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private float _stuckWinTimer;
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private float _stuckWinStartDist;
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private bool _stuckWinInit;
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// 连接段状态缓存
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private NavLinkType _currentLinkType = NavLinkType.None;
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private bool _wasNavOnSegment;
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private Vector2 _currentLinkStart;
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private Vector2 _currentLinkEnd;
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// ── 初始化 ─────────────────────────────────────────────────────
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private void Awake()
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{
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_navAgent = GetComponent<NavAgent>();
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_movement = GetComponent<TransformBasedMovement>();
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_enemyMovement = GetComponent<EnemyMovement>();
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// 物理原生移动：禁用 TBM 段移动——不让它直接写 transform.position（会与 Dynamic 刚体物理冲突）。
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// 段上的水平移动改由 EnemyMovement 用 velocity 执行、刚体重力保持贴地（见 FixedUpdate）。
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if (_movement != null)
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_movement.enabledFeatures &= ~TransformBasedMovement.FeatureFlags.SegmentMovement;
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// 自动发现 INavLinkHandler 组件并注册（包含子对象）
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foreach (var handler in GetComponentsInChildren<INavLinkHandler>(true))
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RegisterLinkHandler(handler);
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_navAgent.OnStartLinkTraversal += HandleLinkStart;
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_navAgent.OnSegmentTraversal += HandleSegmentTraversal;
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_navAgent.OnFailedToFindPath += HandlePathFailed;
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_navAgent.OnReachedGoal += HandleGoalReached;
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}
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private void OnDestroy()
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{
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if (_navAgent == null) return;
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_navAgent.OnStartLinkTraversal -= HandleLinkStart;
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_navAgent.OnSegmentTraversal -= HandleSegmentTraversal;
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_navAgent.OnFailedToFindPath -= HandlePathFailed;
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_navAgent.OnReachedGoal -= HandleGoalReached;
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}
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// ── Handler 注册 ───────────────────────────────────────────────
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/// <summary>
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/// 注册能力为某连接段类型的处理器。
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/// 注册后 TransformBasedMovement 中对应 FeatureFlag 将被禁用，由能力全权负责该类型穿越。
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/// </summary>
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public void RegisterLinkHandler(INavLinkHandler handler)
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{
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if (handler == null) return;
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foreach (var type in handler.HandledLinkTypes)
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{
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_handlers[type] = handler;
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// 禁用 TBM 对该类型的处理，完全交给能力
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var flag = TypeToFeatureFlag(type);
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if (flag != 0 && _movement != null)
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_movement.enabledFeatures &= ~flag;
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}
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}
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/// <summary>移除某处理器（例如能力被永久禁用时）。TBM FeatureFlag 自动恢复。</summary>
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public void UnregisterLinkHandler(INavLinkHandler handler)
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{
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if (handler == null) return;
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foreach (var type in handler.HandledLinkTypes)
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{
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if (_handlers.TryGetValue(type, out var registered) && ReferenceEquals(registered, handler))
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{
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_handlers.Remove(type);
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// 恢复 TBM 对该类型的处理
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var flag = TypeToFeatureFlag(type);
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if (flag != 0 && _movement != null)
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_movement.enabledFeatures |= flag;
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}
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}
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}
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// ── IPathAgent ─────────────────────────────────────────────────
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public void RequestMoveTo(Vector2 target)
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{
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if (_navAgent == null) return;
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// PathBerserker2d 明确警告不可每帧 UpdatePath（路径计算跨帧，每帧重启则永不完成、agent 永不移动）。
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// 防抖：目标未明显移动 且 距上次重算不足间隔 → 跳过，让当前路径算完并跟随。
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if (_hasPathGoal
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&& Vector2.Distance(target, _lastPathGoal) < _repathTargetThreshold
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&& Time.time - _lastPathTime < _repathMinInterval)
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return;
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_lastPathGoal = target;
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_hasPathGoal = true;
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_lastPathTime = Time.time;
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_lastMoveObstructed = false; // 新目标 → 复位受阻态
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_redirectedToClosest = false;
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ResetStuckWindow();
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_navAgent.UpdatePath(target);
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}
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public void StopNavigation()
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{
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_activeHandler?.AbortLinkTraversal();
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_activeHandler = null;
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_hasPathGoal = false; // 复位防抖，下次请求立即重新寻路
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_navAgent?.Stop();
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}
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public bool IsAtDestination() => _navAgent == null || _navAgent.IsIdle;
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public void SetSpeed(float speed)
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{
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if (_movement != null) _movement.movementSpeed = speed;
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}
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public bool CanReach(Vector2 target) => _navAgent?.CanReach(target) ?? false;
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public bool WalkToRandom() => _navAgent?.SetRandomDestination() ?? false;
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// 段内随机游走：按身体前缘安全余量内缩段两端，避免随机点落在角色宽度站不住的崖沿(WouldFallAhead 夹停)。
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public bool WalkToRandomOnSegment()
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=> _navAgent?.SetRandomDestinationOnCurrentSegment(
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_enemyMovement != null ? _enemyMovement.EdgeSafeMargin : 0f) ?? false;
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// 目标点吸附：把任意世界目标映射到最近可行走段、并按身体宽度(EdgeSafeMargin)从段两端内缩，
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// 得到"身体真正站得住"的点。身体宽度是本执行层独占的知识——意图层(AI/Locomotion)只递原始目标。
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// 用 PB2d 映射任意点到导航面的机制(_maxSnapDistance 内一定命中最近段)；返回 false 仅表示目标真正脱离导航面。
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public bool ResolveStandablePoint(Vector2 target, out Vector2 standable)
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{
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if (_navAgent == null) { standable = target; return false; }
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float margin = _enemyMovement != null ? _enemyMovement.EdgeSafeMargin : 0f;
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return _navAgent.TryGetStandablePointNear(target, _maxSnapDistance, margin, out standable);
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}
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public bool IsNearEdge()
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{
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var origin = (Vector2)transform.position;
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var facing = transform.localScale.x >= 0f ? Vector2.right : Vector2.left;
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return !Physics2D.Raycast(origin + facing * _edgeCheckFwdOffset,
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Vector2.down, _edgeCheckDownLen, _groundMask);
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}
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// ── 底层 NavAgent 直接访问 ──────────────────────────────────────
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/// <summary>原始 PB2d NavAgent，供需要 PB2d 高级功能的能力直接使用。</summary>
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public NavAgent RawNavAgent => _navAgent;
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// ── 连接段调度核心 ─────────────────────────────────────────────
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private void HandleLinkStart(NavAgent agent)
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{
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var seg = agent.CurrentPathSegment;
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_currentLinkType = ParseLinkType(seg?.link?.LinkTypeName);
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_currentLinkStart = seg?.LinkStart ?? Vector2.zero;
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_currentLinkEnd = seg?.LinkEnd ?? Vector2.zero;
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OnLinkStarted?.Invoke(_currentLinkType);
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if (_handlers.TryGetValue(_currentLinkType, out var handler))
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{
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if (handler.CanHandleLink(_currentLinkType, _currentLinkStart, _currentLinkEnd))
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{
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_activeHandler = handler;
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handler.BeginLinkTraversal(_currentLinkType, _currentLinkStart, _currentLinkEnd,
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onComplete: () =>
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{
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_activeHandler = null;
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_navAgent?.CompleteLinkTraversal();
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});
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return;
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}
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// CanHandleLink 返回 false 且 TBM 已禁用 → NavAgent 会卡住，警告设计者
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Debug.LogWarning($"[EnemyNavAgent] '{handler.GetType().Name}' reported CanHandleLink=false " +
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$"for {_currentLinkType} (TBM disabled). NavAgent may stall. " +
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$"Check link distance/height vs. ability parameters.", this);
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}
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// 无 handler → TBM 兜底（其 FeatureFlag 仍开启）
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}
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private void HandleSegmentTraversal(NavAgent agent)
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{
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if (_currentLinkType != NavLinkType.None && !agent.IsOnLink)
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{
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var finished = _currentLinkType;
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_currentLinkType = NavLinkType.None;
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_currentLinkStart = Vector2.zero;
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_currentLinkEnd = Vector2.zero;
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OnLinkCompleted?.Invoke(finished);
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}
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}
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private void HandlePathFailed(NavAgent _)
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{
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_obstructionSignal = true; // 延后到 FixedUpdate 统一处理，避免在 NavAgent 失败回调内重入 UpdatePath
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OnNavPathFailed?.Invoke();
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}
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private void HandleGoalReached(NavAgent _) => OnGoalReached?.Invoke();
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// ── 物理原生移动桥 ─────────────────────────────────────────────
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/// <summary>
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/// 跟随路径段时：向 <see cref="EnemyMovement"/> 写入朝当前子目标的水平方向+速度（由 velocity+重力执行），
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/// 并在到达子目标时推进导航到下一段（TBM 段移动已在 Awake 禁用，改由本组件推进）。
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/// 不直接写 transform.position → 与 Dynamic 刚体物理不冲突，保留击退/击飞/落地等物理反馈。
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/// </summary>
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private void FixedUpdate()
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{
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if (_enemyMovement == null || _navAgent == null) return;
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bool onSegment = _navAgent.IsMovingOnSegment;
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_enemyMovement.NavDriving = onSegment; // 状态标记（供调试/上层判断"是否导航中"）
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TickStuckDetection(onSegment);
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if (onSegment)
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{
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// 物理原生：朝子目标水平移动，由 EnemyMovement 施加 velocity、刚体重力保持贴地
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float dx = _navAgent.PathSubGoal.x - transform.position.x;
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_enemyMovement.PendingInput.MoveDir = Mathf.Abs(dx) > 0.05f ? Mathf.Sign(dx) : 0f;
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_enemyMovement.PendingInput.MoveSpeed = _movement != null ? _movement.movementSpeed : 0f;
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// 段推进：到达当前子目标 → 推进到下一段
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if (_navAgent.HasReachedCurrentSubGoal(0.25f))
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_navAgent.CompleteSegmentTraversal();
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}
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else if (_wasNavOnSegment && !_navAgent.IsFollowingAPath)
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{
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// 导航刚结束（到达目标 / 路径失败）→ 停下水平移动
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_enemyMovement.PendingInput.WantStop = true;
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}
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// 受阻信号统一处理（寻路失败/卡死）：此处不在 NavAgent 回调内，UpdatePath 安全
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if (_obstructionSignal)
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{
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_obstructionSignal = false;
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ProcessObstruction();
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}
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_wasNavOnSegment = onSegment;
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}
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// 卡死检测：段上移动时，滑动窗口内朝子目标推进不足阈值 → 判受阻(覆盖"障碍未进图"的物理空推)。
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private void TickStuckDetection(bool onSegment)
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{
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if (!onSegment) { _stuckWinInit = false; return; }
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float dist = Mathf.Abs(_navAgent.PathSubGoal.x - transform.position.x);
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if (!_stuckWinInit)
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{
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_stuckWinInit = true;
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_stuckWinTimer = 0f;
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_stuckWinStartDist = dist;
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return;
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}
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_stuckWinTimer += Time.fixedDeltaTime;
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if (_stuckWinTimer >= _stuckWindowSeconds)
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{
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if (_stuckWinStartDist - dist < _stuckMinProgress)
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_obstructionSignal = true; // 窗口内几乎没靠近子目标 → 卡死
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_stuckWinTimer = 0f;
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_stuckWinStartDist = dist;
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}
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}
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private void ResetStuckWindow() => _stuckWinInit = false;
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// 统一受阻处理：尽力改道到最近可达点(走到障碍前)，拿不到更近点则停下，交由意图层结算。
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private void ProcessObstruction()
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{
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_lastMoveObstructed = true;
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if (!_redirectedToClosest
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&& _navAgent.TryGetClosestReachablePosition(out var closest)
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&& Vector2.Distance(transform.position, closest) > _repathTargetThreshold)
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{
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_redirectedToClosest = true;
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ResetStuckWindow();
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// 同步防抖记账：改道等价于把当前寻路目标换成 closest，避免 _lastPathGoal/_lastPathTime
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// 停留在原(受阻)目标，导致下一次对新目标的 RequestMoveTo 被防抖误吞。
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_lastPathGoal = closest;
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_lastPathTime = Time.time;
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_navAgent.UpdatePath(closest); // 走向最近可达点
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return;
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}
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// 无更近点 / 已在最近点附近（含"障碍未进图"无 closest 数据）→ 停下
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_navAgent.Stop();
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_enemyMovement.PendingInput.WantStop = true;
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}
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// ── 工具 ───────────────────────────────────────────────────────
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private static NavLinkType ParseLinkType(string name) => name switch
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{
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"corner" => NavLinkType.Corner,
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"jump" => NavLinkType.Jump,
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"fall" => NavLinkType.Fall,
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"teleport" => NavLinkType.Teleport,
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"climb" => NavLinkType.Climb,
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"elevator" => NavLinkType.Elevator,
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null or "" => NavLinkType.Segment,
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_ => NavLinkType.Custom
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};
|
||
|
||
/// <summary>NavLinkType → TransformBasedMovement.FeatureFlags 映射。</summary>
|
||
private static TransformBasedMovement.FeatureFlags TypeToFeatureFlag(NavLinkType type) => type switch
|
||
{
|
||
NavLinkType.Jump => TransformBasedMovement.FeatureFlags.JumpLinks,
|
||
NavLinkType.Fall => TransformBasedMovement.FeatureFlags.FallLinks,
|
||
NavLinkType.Corner => TransformBasedMovement.FeatureFlags.CornerLinks,
|
||
NavLinkType.Climb => TransformBasedMovement.FeatureFlags.ClimbLinks,
|
||
NavLinkType.Elevator => TransformBasedMovement.FeatureFlags.ElevatorLinks,
|
||
NavLinkType.Teleport => TransformBasedMovement.FeatureFlags.TeleportLinks,
|
||
_ => (TransformBasedMovement.FeatureFlags)0
|
||
};
|
||
}
|
||
}
|
||
|