public static void Find(this PathfindingComponent self, Vector3 start, Vector3 target, List <Vector3> result)
{
if (self.NavMesh == 0)
{
Log.Debug("寻路| Find 失败 pathfinding ptr is zero");
throw new Exception($"pathfinding ptr is zero: {self.DomainScene().Name}");
}
self.StartPos[0] = -start.x;
self.StartPos[1] = start.y;
self.StartPos[2] = start.z;
self.EndPos[0] = -target.x;
self.EndPos[1] = target.y;
self.EndPos[2] = target.z;
//Log.Debug($"start find path: {self.GetParent<Unit>().Id}");
int n = Recast.RecastFind(self.NavMesh, PathfindingComponent.extents, self.StartPos, self.EndPos, self.Result);
for (int i = 0; i < n; ++i)
{
int index = i * 3;
result.Add(new Vector3(-self.Result[index], self.Result[index + 1], self.Result[index + 2]));
}
//Log.Debug($"finish find path: {self.GetParent<Unit>().Id} {result.ListToString()}");
}
public static Vector3 RecastFindNearestPoint(this PathfindingComponent self, Vector3 pos)
{
if (self.NavMesh == 0)
{
throw new Exception($"pathfinding ptr is zero: {self.DomainScene().Name}");
}
self.StartPos[0] = -pos.x;
self.StartPos[1] = pos.y;
self.StartPos[2] = pos.z;
int ret = Recast.RecastFindNearestPoint(self.NavMesh, PathfindingComponent.extents, self.StartPos, self.EndPos);
if (ret == 0)
{
throw new Exception($"RecastFindNearestPoint fail, 可能是位置配置有问题: sceneName:{self.DomainScene().Name} {pos} {self.Name} {self.GetParent<Unit>().Id} {self.GetParent<Unit>().Config.Id} {self.EndPos.ArrayToString()}");
}
return(new Vector3(-self.EndPos[0], self.EndPos[1], self.EndPos[2]));
}
public static long Get(this NavmeshComponent self, string name)
{
long ptr;
if (self.Navmeshs.TryGetValue(name, out ptr))
{
return(ptr);
}
byte[] buffer = self.Loader(name);
if (buffer.Length == 0)
{
throw new Exception($"no nav data: {name}");
}
ptr = Recast.RecastLoadLong(name.GetHashCode(), buffer, buffer.Length);
self.Navmeshs[name] = ptr;
return(ptr);
}