lab3 dop

Assets/Code/Lab3/BetterPathFollower.cs

@@ -0,0 +1,170 @@
+using Code.Base;
+using Code.Lab1;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+namespace Code.Lab3
+{
+    public class BetterPathFollower : Seek
+    {
+        public Path path;
+        private List<Vector3> _waypoints;
+        private int _currentTargetIndex = -1;
+        private List<int> _visitedIndices;
+        private bool _reachedLastPoint;
+
+        public override void Awake()
+        {
+            base.Awake();
+            target = new GameObject("BetterPathFollower_Target");
+            _visitedIndices = new List<int>();
+            InitializeWaypoints();
+        }
+
+        private void InitializeWaypoints()
+        {
+            if (path == null || path.nodes == null || path.nodes.Count == 0) return;
+
+            _waypoints = path.nodes.Select(node => node.transform.position).ToList();
+            FindClosestStartPoint();
+        }
+
+        private void FindClosestStartPoint()
+        {
+            var minDistance = float.MaxValue;
+            var closestIndex = 0;
+
+            for (var i = 0; i < _waypoints.Count; i++)
+            {
+                var distance = Vector3.Distance(transform.position, _waypoints[i]);
+
+                if (!(distance < minDistance)) continue;
+                
+                minDistance = distance;
+                closestIndex = i;
+            }
+
+            _currentTargetIndex = closestIndex;
+            _visitedIndices.Clear();
+            _reachedLastPoint = false;
+            
+            UpdateTargetPosition();
+        }
+
+        public override Steering GetSteering()
+        {
+            if (_waypoints == null || _waypoints.Count == 0 || _reachedLastPoint)
+            {
+                return new Steering();
+            }
+
+            var distanceToTarget = Vector3.Distance(transform.position, _waypoints[_currentTargetIndex]);
+
+            if (distanceToTarget < 1f)
+            {
+                if (!_visitedIndices.Contains(_currentTargetIndex))
+                {
+                    _visitedIndices.Add(_currentTargetIndex);
+                }
+
+                if (_visitedIndices.Count >= _waypoints.Count)
+                {
+                    _reachedLastPoint = true;
+                    return new Steering();
+                }
+
+                FindNextTarget();
+            }
+
+            UpdateTargetPosition();
+            return base.GetSteering();
+        }
+
+        private void FindNextTarget()
+        {
+            var shortestDistance = float.MaxValue;
+            var bestTargetIndex = -1;
+
+            for (var i = 0; i < _waypoints.Count; i++)
+            {
+                if (_visitedIndices.Contains(i))
+                    continue;
+
+                var distance = Vector3.Distance(transform.position, _waypoints[i]);
+
+                if (!(distance < shortestDistance)) continue;
+                
+                shortestDistance = distance;
+                bestTargetIndex = i;
+            }
+
+            if (bestTargetIndex != -1)
+            {
+                _currentTargetIndex = bestTargetIndex;
+            }
+            else
+            {
+                _reachedLastPoint = true;
+            }
+        }
+
+        private void UpdateTargetPosition()
+        {
+            if (target && _currentTargetIndex >= 0 && _currentTargetIndex < _waypoints.Count)
+            {
+                target.transform.position = _waypoints[_currentTargetIndex];
+            }
+        }
+
+        public void ResetPathFollowing()
+        {
+            _visitedIndices.Clear();
+            FindClosestStartPoint();
+            _reachedLastPoint = false;
+        }
+
+        private void OnDrawGizmosSelected()
+        {
+            if (_waypoints == null) return;
+
+            for (var i = 0; i < _waypoints.Count; i++)
+            {
+                if (_reachedLastPoint)
+                {
+                    Gizmos.color = Color.gray;
+                }
+                else if (i == _currentTargetIndex)
+                {
+                    Gizmos.color = Color.green;
+                }
+                else if (_visitedIndices != null && _visitedIndices.Contains(i))
+                {
+                    Gizmos.color = Color.blue;
+                }
+                else
+                {
+                    Gizmos.color = Color.yellow;
+                }
+
+                Gizmos.DrawSphere(_waypoints[i], 0.3f);
+
+#if UNITY_EDITOR
+                UnityEditor.Handles.Label(_waypoints[i] + Vector3.up * 0.5f, i.ToString());
+                #endif
+            }
+
+            if (!_reachedLastPoint && _visitedIndices != null)
+            {
+                Gizmos.color = Color.cyan;
+                for (var i = 0; i < _waypoints.Count; i++)
+                {
+                    if (!_visitedIndices.Contains(i) && i != _currentTargetIndex)
+                    {
+                        Gizmos.DrawLine(transform.position, _waypoints[i]);
+                    }
+                }
+            }
+        }
+    }
+}

Assets/Code/Lab3/BetterPathFollower.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 72c82bc35ab14441b1565276e3a0a9af
+timeCreated: 1771318815

Assets/Code/UI/Lab3Controller.cs

@@ -8,6 +8,7 @@ namespace Code.UI
     {
         [SerializeField] private Button toMenuButton;
         [SerializeField] private Button resetButton;
+        [SerializeField] private Button dopButton;
 
         private void Awake()
         {
@@ -15,15 +16,19 @@ namespace Code.UI
                 toMenuButton.onClick.AddListener(LoadMainMenu);
             if (resetButton != null)
                 resetButton.onClick.AddListener(Reload);
+            if (dopButton != null)
+                dopButton.onClick.AddListener(LoadDop);
         }
 
         private static void LoadMainMenu() => SceneManager.LoadScene("MainMenu");
         private static void Reload() => SceneManager.LoadScene("Lab3");
+        private static void LoadDop() => SceneManager.LoadScene("Lab3Dop");
         
         private void OnDestroy()
         {
             if (toMenuButton != null) toMenuButton.onClick.RemoveListener(LoadMainMenu);
             if (resetButton != null) resetButton.onClick.RemoveListener(Reload);
+            if (dopButton != null) resetButton.onClick.RemoveListener(LoadDop);
         }
     }
 }