// Use this for initialization
void Start()
{
unityPath = new NavMeshPath();
MeshFilter meshFilter = this.gameObject.AddComponent <MeshFilter>();
NavMeshTriangulation triangulatedNavMesh = NavMesh.CalculateTriangulation();
debugNavMeshVertices.AddRange(triangulatedNavMesh.vertices);
debugNavMeshIndices.AddRange(triangulatedNavMesh.indices);
//weld vertices
for (int i = 0; i < triangulatedNavMesh.indices.Length; i += 3)
{
for (int j = 0; j < 3; j++)
{
int vertexIndex = triangulatedNavMesh.indices[i + j];
Vector3 v = triangulatedNavMesh.vertices[vertexIndex];
int index = FindIndex(v);
if (index == -1)
{
vertices.Add(v);
index = vertices.Count - 1;
}
triangles.Add(index);
}
}
this.ExportNavMesh();
TNavMesh.Init("G:/navmesh.txt");
}
private void Update()
{
Vector3 startPos = source.transform.position;
Vector3 targetPos = target.transform.position;
if (startPos == lastStartPos && targetPos == lastTargetPos)
{
return;
}
this.path.Clear();
float time = Time.realtimeSinceStartup;
if (TNavMesh.CalculatePath(startPos, targetPos, this.path))
{
}
Debug.Log("TNavMesh: " + (Time.realtimeSinceStartup - time));
time = Time.realtimeSinceStartup;
if (NavMesh.CalculatePath(startPos, targetPos, NavMesh.AllAreas, unityPath))
{
}
Debug.Log("UnityNavMesh: " + (Time.realtimeSinceStartup - time));
lastStartPos = startPos;
lastTargetPos = targetPos;
}
public static bool CalculatePath(Vector3 sourcePosition, Vector3 targetPosition, List <Vector3> outPath)
{
outPath.Clear();
TNavNode sourceNode = GetNode(sourcePosition);
TNavNode targetNode = GetNode(targetPosition);
if (sourceNode != null && targetNode != null)
{
if (sourceNode == targetNode)
{
outPath.Add(sourcePosition);
outPath.Add(targetPosition);
}
else
{
TNavMesh.Reset();
sourceNode.position = sourcePosition;
targetNode.position = targetPosition;
if (TNavMesh.finder.FindPath(sourceNode, targetNode, TNavMesh.pathNodes))
{
var portals = CalculatePortals(targetPosition);
Funnel.StringPull(sourcePosition, targetPosition, portals, outPath);
}
}
}
return(false);
}
public void GetProtal(int neighborIndex, out Vector3 left, out Vector3 right)
{
int edgeIndex = this.neighborEdges[neighborIndex];
int leftIndex = this.vertexIndex[edgeIndex];
int rightIndex = this.vertexIndex[(edgeIndex + 1) % 3];
left = TNavMesh.GetVertex(leftIndex);
right = TNavMesh.GetVertex(rightIndex);
}
public TNavNode(int index0, int index1, int index2)
{
vertexIndex[0] = index0;
vertexIndex[1] = index1;
vertexIndex[2] = index2;
Vector3 v0 = TNavMesh.GetVertex(index0);
Vector3 v1 = TNavMesh.GetVertex(index1);
Vector3 v2 = TNavMesh.GetVertex(index2);
this._centroid = (v0 + v1 + v2) / 3;
}
public static List <Vector3> GetDebugNeighbor(Vector3 pos)
{
List <Vector3> lines = new List <Vector3>();
TNavNode node = TNavMesh.GetNode(pos);
if (node != null)
{
for (int i = 0; i < node.GetNeighborCount(); i++)
{
TNavNode neightbor = node.GetNeighbor(i);
lines.Add(vertices[neightbor.index0]);
lines.Add(vertices[neightbor.index1]);
lines.Add(vertices[neightbor.index1]);
lines.Add(vertices[neightbor.index2]);
lines.Add(vertices[neightbor.index2]);
lines.Add(vertices[neightbor.index0]);
}
}
return(lines);
}
private void OnDrawGizmos()
{
//foreach (var triangle in this.pathTriangle)
//{
// Gizmos.color = Color.red;
// Vector3 v0 = this.vertices[triangle.index0];
// Vector3 v1 = this.vertices[triangle.index1];
// Vector3 v2 = this.vertices[triangle.index2];
// Gizmos.DrawLine(v0, v1);
// Gizmos.DrawLine(v1, v2);
// Gizmos.DrawLine(v2, v0);
//}
//for (int i = 0; i < this.portals.Count; i += 2)
//{
// Gizmos.color = Color.blue;
// Gizmos.DrawLine(this.portals[i], this.portals[i + 1]);
//}
for (int i = 0; i < TNavMesh.GetDebugPathNode().Count; i += 2)
{
Gizmos.color = Color.black;
Gizmos.DrawLine(TNavMesh.GetDebugPathNode()[i], TNavMesh.GetDebugPathNode()[i + 1]);
}
for (int i = 0; i < TNavMesh.GetDebugPathNodePosition().Count - 1; i++)
{
Gizmos.color = Color.blue;
Gizmos.DrawLine(TNavMesh.GetDebugPathNodePosition()[i], TNavMesh.GetDebugPathNodePosition()[i + 1]);
}
//List<Vector3> neighbor = TNavMesh.GetDebugNeighbor(this.target.transform.position);
//for (int i = 0; i < neighbor.Count; i+=2)
//{
// Gizmos.color = Color.yellow;
// Gizmos.DrawLine(neighbor[i], neighbor[i+1]);
//}
//for (int i = 0; i < TNavMesh.GetDebugPortal().Count; i += 2)
//{
// Gizmos.color = Color.green;
// Gizmos.DrawLine(TNavMesh.GetDebugPortal()[i], TNavMesh.GetDebugPortal()[i + 1]);
//}
for (int i = 0; i < path.Count - 1; i++)
{
Gizmos.color = Color.white;
Gizmos.DrawLine(path[i], path[i + 1]);
}
if (unityPath != null)
{
for (int i = 0; i < unityPath.corners.Length - 1; i++)
{
Gizmos.color = Color.red;
Gizmos.DrawLine(unityPath.corners[i], unityPath.corners[i + 1]);
}
}
//draw navmesh
//for(int i = 0; i < debugNavMeshIndices.Count; i+=3)
//{
// Vector3 v0 = debugNavMeshVertices[debugNavMeshIndices[i]];
// Vector3 v1 = debugNavMeshVertices[debugNavMeshIndices[i+1]];
// Vector3 v2 = debugNavMeshVertices[debugNavMeshIndices[i+2]];
// Gizmos.color = Color.red;
// Gizmos.DrawLine(v0, v1);
// Gizmos.DrawLine(v1, v2);
// Gizmos.DrawLine(v2, v0);
//}
}
