void MakeGrid()
{
// create grid with voids
var colliders = _voids
.GetComponentsInChildren <MeshCollider>()
.ToArray();
var voxelSize = float.Parse(_voxelSize);
_grid = Grid3d.MakeGridWithVoids(colliders, voxelSize);
// select edges of boundary faces
var edges = _grid.GetEdges().Where(e => e.ClimbableFaces.Length == 2);
// create graph from edges
var graphEdges = edges.Select(e => new TaggedEdge <Face, Edge>(e.ClimbableFaces[0], e.ClimbableFaces[1], e));
var graph = graphEdges.ToUndirectedGraph <Face, TaggedEdge <Face, Edge> >();
// start face for shortest path
var start = _grid.GetFaces().Where(f => f.IsSkin).Skip(10).First();
// calculate shortest path from start face to all boundary faces
var shortest = graph.ShortestPathsDijkstra(e => 1.0, start);
// select an end face to draw one specific path
var end = _grid.GetFaces().Where(f => f.IsSkin).Skip(200).First();
shortest(end, out var endPath);
// unsorted distinct faces of the path from start to end faces
var endPathFaces = new HashSet <Face>(endPath.SelectMany(e => new[] { e.Source, e.Target }));
// create a mesh face for every outer face colored based on the path length (except a solid yellow path to end face)
var faceMeshes = new List <CombineInstance>();
foreach (var face in _grid.GetFaces().Where(f => f.IsSkin))
{
float t = 1;
if (shortest(face, out var path))
{
t = path.Count() * 0.04f;
t = Mathf.Clamp01(t);
}
Mesh faceMesh;
// paint face yellow if its part of the start-end path, gradient color for other faces
if (endPathFaces.Contains(face))
{
faceMesh = Drawing.MakeFace(face.Center, face.Direction, _grid.VoxelSize, 0, 1);
}
else
{
faceMesh = Drawing.MakeFace(face.Center, face.Direction, _grid.VoxelSize, t);
}
faceMeshes.Add(new CombineInstance()
{
mesh = faceMesh
});
}
var mesh = new Mesh()
{
indexFormat = UnityEngine.Rendering.IndexFormat.UInt32
};
mesh.CombineMeshes(faceMeshes.ToArray(), true, false, false);
Mesh pathMesh = new Mesh();
// draw a polyline for the start-end path
{
if (shortest(end, out var path))
{
float offset = 0.1f;
var vertices = new List <Vector3>();
var current = start;
vertices.Add(current.Center + current.Normal * offset);
foreach (var edge in path)
{
vertices.Add(edge.Tag.Center + edge.Tag.Normal * offset);
current = edge.GetOtherVertex(current);
vertices.Add(current.Center + current.Normal * offset);
}
pathMesh.SetVertices(vertices);
pathMesh.subMeshCount = 2;
pathMesh.SetIndices(Enumerable.Range(0, vertices.Count).ToArray(), MeshTopology.LineStrip, 1);
}
}
_meshes = new[] { mesh, pathMesh };
}
public IEnumerator MoveToRaycastVoxel()
{
allPaths.Clear();
foreach (var voxel in previewVoxels)
{
var linkFaces = voxel.Faces.Where(f => f.IsClimbable && f.Normal != Vector3.left);
foreach (var end in linkFaces)
{
Vector3 faceOffset = new Vector3();
if (end.Normal == Vector3.up)
{
faceOffset = new Vector3(0, halfSize.y * 2, -halfSize.y * 2);
}
else if (end.Normal == Vector3.down)
{
faceOffset = new Vector3(0, -halfSize.y * 2, halfSize.y * 2);
}
else if (end.Normal == Vector3.forward)
{
faceOffset = new Vector3(0, halfSize.y * 2, halfSize.y * 2);
}
else if (end.Normal == Vector3.back)
{
faceOffset = new Vector3(0, -halfSize.y * 2, -halfSize.y * 2);
}
else if (end.Normal == Vector3.right)
{
faceOffset = new Vector3(halfSize.y * 2, 0, 0);
}
else
{
throw new Exception("normal not found");
}
if (startFaces.All(f => f.IsUsed))
{
foreach (var sf in startFaces)
{
sf.IsUsed = false;
}
}
var start = startFaces.OrderBy(sf => Vector3.Distance(sf.Center, end.Center)).First(f => !f.IsUsed);
var stack = _stackList.First(st => st.transform.position == start.Center);
var tileStackList = stack.GetComponent <CreateStack>().tileList;
foreach (Transform tile in stack.transform)
{
if (tile.gameObject.name == "robot1")
{
tile.GetComponent <Renderer>().enabled = false;
}
}
Destroy(tileStackList.First());
tileStackList.Remove(tileStackList.First());
StartCoroutine(MoveRobot(start, end, graphFinal, true, 0, faceOffset));
}
MakeGraph();
}
yield return(new WaitForSeconds(tumblingTime * 30));
foreach (var voxel in previewVoxels)
{
voxel.IsActive = true;
// Shortest Path to each voxel
var edges = _grid.GetEdges().Where(e => e.ClimbableFaces.Length == 2);
var graphEdges = edges.Select(e => new TaggedEdge <Face, Edge>(e.ClimbableFaces[0], e.ClimbableFaces[1], e));
var graph = graphEdges.ToUndirectedGraph <Face, TaggedEdge <Face, Edge> >();
var endFaces = voxel.Faces.Where(f => f.IsClimbable).ToList();
foreach (var end in endFaces)
{
if (startFaces.All(f => f.IsUsed))
{
foreach (var sf in startFaces)
{
sf.IsUsed = false;
}
}
var start = startFaces.OrderBy(sf => Vector3.Distance(sf.Center, end.Center)).First(f => !f.IsUsed);
var stack = _stackList.First(st => st.transform.position == start.Center);
var tileStackList = stack.GetComponent <CreateStack>().tileList;
stack.GetComponent <CreateStack>().robot1.GetComponent <Renderer>().enabled = false;
Destroy(tileStackList.First());
tileStackList.Remove(tileStackList.First());
StartCoroutine(MoveRobot(start, end, graph, true, 0, Vector3.zero));
}
}
yield return(new WaitForSeconds(tumblingTime * 10));
previewVoxels.Clear();
}
