TCI/Assets/Script/SplineMovement.cs

using UnityEngine;
using UnityEngine.Splines;
using Unity.Mathematics;
using System.Linq;
using System.Collections;
using System.Collections.Generic;

public class MultiSplineFollower : MonoBehaviour
{
    [Header("Tuyến đường 1")]
    public SplineRoute[] routes;
    [Header("Tuyến đường 2")]
    public SplineRoute[] routes1;
    [Header("Tuyến đường 3")]
    public SplineRoute[] routes2;

    [Header("Cài đặt chuyển động")]
    public float speed = 2f;
    public float rotationSpeed = 180f;
    public float angleThreshold = 30f;

    [Header("Cài đặt quét TCIA")]
    public float scanRadius = 0.5f; // bán kính quét đối tượng TCIA quanh follower

    private int currentRouteIndex = 0;
    private int currentRouteGroup = 0; // 0 = routes, 1 = routes1, 2 = routes2
    private float t = 0f;
    private bool onFirstSpline = true;
    private bool isDelaying = false;

    void Start()
    {
        if (GetActiveRoutes() == null || GetActiveRoutes().Length == 0) return;

        var activeRoutes = GetActiveRoutes();
        InitRoute(activeRoutes[0]);
        t = activeRoutes[0].tStart;
        transform.position = activeRoutes[0].splineStart.EvaluatePosition(0, t);
    }

    void Update()
    {
        var activeRoutes = GetActiveRoutes();
        if (activeRoutes == null || activeRoutes.Length == 0) return;
        if (currentRouteIndex >= activeRoutes.Length) return;
        if (isDelaying) return;

        SplineRoute route = activeRoutes[currentRouteIndex];
        if (onFirstSpline)
            MoveOnSpline(route.splineStart, ref t, route.tCommonA, true, route);
        else
            MoveOnSpline(route.splineEnd, ref t, route.tEnd, false, route);
    }

    SplineRoute[] GetActiveRoutes()
    {
        switch (currentRouteGroup)
        {
            case 0: return routes;
            case 1: return routes1;
            case 2: return routes2;
            default: return null;
        }
    }

    void InitRoute(SplineRoute route)
    {
        BezierKnot knotStart = route.splineStart.Spline.Knots.ElementAt(route.startKnotIndex);
        BezierKnot knotEnd = route.splineEnd.Spline.Knots.ElementAt(route.endKnotIndex);

        Vector3 knotX = route.splineStart.transform.TransformPoint((Vector3)knotStart.Position);
        Vector3 knotY = route.splineEnd.transform.TransformPoint((Vector3)knotEnd.Position);

        route.commonPoint = FindCommonPoint(route.splineStart, route.splineEnd);

        float3 nearest;
        SplineUtility.GetNearestPoint(route.splineStart.Spline,
            (float3)route.splineStart.transform.InverseTransformPoint(knotX),
            out nearest, out route.tStart);

        SplineUtility.GetNearestPoint(route.splineStart.Spline,
            (float3)route.splineStart.transform.InverseTransformPoint(route.commonPoint),
            out nearest, out route.tCommonA);

        SplineUtility.GetNearestPoint(route.splineEnd.Spline,
            (float3)route.splineEnd.transform.InverseTransformPoint(route.commonPoint),
            out nearest, out route.tCommonB);

        SplineUtility.GetNearestPoint(route.splineEnd.Spline,
            (float3)route.splineEnd.transform.InverseTransformPoint(knotY),
            out nearest, out route.tEnd);

        onFirstSpline = true;
    }

    void MoveOnSpline(SplineContainer spline, ref float t, float targetT, bool first, SplineRoute route)
    {
        Vector3 pos = spline.EvaluatePosition(0, t);
        Vector3 tangent = Vector3.Normalize((Vector3)spline.EvaluateTangent(0, t));
        if (route.reverseDirection) tangent = -tangent;

        float angle = Vector3.Angle(transform.forward, tangent);

        if (angle > angleThreshold)
        {
            Quaternion targetRot = Quaternion.LookRotation(tangent, Vector3.up);
            transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRot, rotationSpeed * Time.deltaTime);
            return;
        }

        float dir = (targetT > t) ? 1f : -1f;
        t += dir * (Time.deltaTime * speed / spline.CalculateLength(0));

        if ((dir > 0 && t >= targetT) || (dir < 0 && t <= targetT))
            t = targetT;

        pos = spline.EvaluatePosition(0, t);
        tangent = Vector3.Normalize((Vector3)spline.EvaluateTangent(0, t));
        if (route.reverseDirection) tangent = -tangent;

        transform.position = pos;
        transform.rotation = Quaternion.LookRotation(tangent, Vector3.up);

        if (first && Mathf.Approximately(t, targetT))
        {
            onFirstSpline = false;
            t = route.tCommonB;
        }
        else if (!first && Mathf.Approximately(t, targetT))
        {
            if (route.delayAtEnd)
            {
                StartCoroutine(DelayAndNextRoute(route));
            }
            else
            {
                NextRoute();
            }
        }
    }

    IEnumerator DelayAndNextRoute(SplineRoute route)
    {
        isDelaying = true;

        if (route.attachTCIAObjects)
        {
            Debug.Log($"[{route.splineStart.name}] attachTCIAObjects = TRUE → quét và gắn TCIA");
            AttachTCIAChildren();
        }
        else
        {
            DetachTCIAChildren();
        }

        yield return new WaitForSeconds(2f);

        isDelaying = false;
        NextRoute();
    }

    void AttachTCIAChildren()
    {
        GameObject[] allObjects = Object.FindObjectsByType<GameObject>(FindObjectsSortMode.None);

        foreach (GameObject obj in allObjects)
        {
            if (!obj.activeInHierarchy || obj == this.gameObject)
                continue;

            if (obj.name.ToUpper().Contains("TCIA"))
            {
                float distance = Vector3.Distance(transform.position, obj.transform.position);
                if (distance <= scanRadius)
                {
                    obj.transform.SetParent(this.transform, true);
                }
            }
        }
    }

    void DetachTCIAChildren()
    {
        List<Transform> childrenToDetach = new List<Transform>();

        foreach (Transform child in transform)
        {
            if (child.name.ToUpper().Contains("TCIA"))
            {
                childrenToDetach.Add(child);
            }
        }

        foreach (Transform child in childrenToDetach)
        {
            child.SetParent(null, true);
        }
    }

    void NextRoute()
    {
        var activeRoutes = GetActiveRoutes();

        currentRouteIndex++;
        if (activeRoutes != null && currentRouteIndex < activeRoutes.Length)
        {
            InitRoute(activeRoutes[currentRouteIndex]);
            t = activeRoutes[currentRouteIndex].tStart;
            transform.position = activeRoutes[currentRouteIndex].splineStart.EvaluatePosition(0, t);
        }
        else
        {
            // Hết nhóm hiện tại → chuyển sang nhóm tiếp theo
            currentRouteGroup++;
            currentRouteIndex = 0;

            var nextGroupRoutes = GetActiveRoutes();

            if (nextGroupRoutes != null && nextGroupRoutes.Length > 0)
            {
                Debug.Log($"Chuyển sang nhóm tuyến: {currentRouteGroup}");
                InitRoute(nextGroupRoutes[0]);
                t = nextGroupRoutes[0].tStart;
                transform.position = nextGroupRoutes[0].splineStart.EvaluatePosition(0, t);
            }
            else
            {
                Debug.Log("Hoàn thành toàn bộ tuyến đường!");
            }
        }
    }

    Vector3 FindCommonPoint(SplineContainer s1, SplineContainer s2)
    {
        foreach (var knotA in s1.Spline.Knots)
        {
            Vector3 pA = s1.transform.TransformPoint((Vector3)knotA.Position);
            foreach (var knotB in s2.Spline.Knots)
            {
                Vector3 pB = s2.transform.TransformPoint((Vector3)knotB.Position);
                if (Vector3.Distance(pA, pB) < 0.01f)
                    return pA;
            }
        }
        Debug.LogWarning("Không tìm thấy điểm chung!");
        return Vector3.zero;
    }
}

[System.Serializable]
public class SplineRoute
{
    public SplineContainer splineStart;
    public int startKnotIndex;
    public SplineContainer splineEnd;
    public int endKnotIndex;
    public bool reverseDirection;
    public bool delayAtEnd;
    public bool attachTCIAObjects = true; // true = gắn TCIA, false = tách TCIA khi delay

    [HideInInspector] public Vector3 commonPoint;
    [HideInInspector] public float tStart;
    [HideInInspector] public float tCommonA;
    [HideInInspector] public float tCommonB;
    [HideInInspector] public float tEnd;
}