void OnDrawGizmos()
{
if (m_mat == null)
{
m_mat = new Material(Shader.Find("Unlit/Color"));
}
List <List <IntPoint> > walkablePolygons = new List <List <IntPoint> >()
{
new List <IntPoint>()
{
new IntPoint(10, 10),
new IntPoint(600, 10),
new IntPoint(600, 400),
new IntPoint(10, 400),
}
};
List <List <IntPoint> > blockedPolygons = new List <List <IntPoint> >()
{
new List <IntPoint>()
{
new IntPoint(100, 160),
new IntPoint(150, 160),
new IntPoint(200, 200),
new IntPoint(130, 300),
},
new List <IntPoint>()
{
new IntPoint(220, 50),
new IntPoint(260, 50),
new IntPoint(260, 100),
new IntPoint(220, 100),
},
new List <IntPoint>()
{
new IntPoint(300, 150),
new IntPoint(350, 150),
new IntPoint(350, 200),
new IntPoint(300, 200),
},
new List <IntPoint>()
{
new IntPoint(400, 250),
new IntPoint(450, 250),
new IntPoint(450, 300),
new IntPoint(400, 300),
},
};
List <DelaunayTriangle> triangles;
var nodes = NavmeshGenerator.Generate(walkablePolygons, blockedPolygons, out triangles);
//设置起点和终点
DelaunayTriangle start = null, end = null;
GraphNode startNode = null, endNode = null;
float minX = float.MaxValue, maxX = 0;
for (int i = 0; i < triangles.Count; i++)
{
var t = triangles[i];
var centroid = t.Centroid();
if (centroid.Xf < minX)
{
minX = centroid.Xf;
start = t;
startNode = nodes[i];
}
if (centroid.Xf > maxX)
{
maxX = centroid.Xf;
end = t;
endNode = nodes[i];
}
//鼠标所在三角形为终点
if (IsTriangleContains(t, Input.mousePosition))
{
maxX = float.MaxValue;
end = t;
endNode = nodes[i];
}
}
GraphAStar algo = new GraphAStar(startNode, endNode);
algo.Process();
m_mat.SetColor("_Color", Color.black);
for (int i = 0; i < blockedPolygons.Count; i++)
{
DrawPolygon(blockedPolygons[i], true, true);
}
m_mat.SetColor("_Color", Color.white);
for (int i = 0; i < triangles.Count; i++)
{
DrawTriangle(triangles[i], false);
}
m_mat.SetColor("_Color", Color.yellow);
DrawTriangle(start, false);
DrawTriangle(end, false);
List <Vector2> path = new List <Vector2>();
var node = endNode;
while (node != null)
{
path.Add(node.Center);
node = node.Parent;
}
m_mat.SetColor("_Color", Color.red);
GraphicsTool.DrawPolygon(path, m_mat, false);
}
void OnDrawGizmos()
{
if (m_mat == null)
{
m_mat = new Material(Shader.Find("Unlit/Color"));
}
m_mat.SetColor("_Color", Color.black);
List <Polygon> obstacles = new List <Polygon>()
{
new Polygon(new Vector2[]
{
new Vector2(100, 50),
new Vector2(100, 100),
new Vector2(180, 100),
new Vector2(180, 50),
}),
new Polygon(new Vector2[]
{
new Vector2(250, 120),
new Vector2(230, 140),
new Vector2(250, 160),
new Vector2(290, 150),
}),
new Polygon(new Vector2[]
{
new Vector2(90, 130),
new Vector2(70, 150),
new Vector2(110, 150),
}),
new Polygon(new Vector2[]
{
new Vector2(150, 200),
new Vector2(150, 250),
new Vector2(280, 250),
new Vector2(280, 200),
}),
};
for (int i = 0; i < obstacles.Count; i++)
{
GraphicsTool.DrawPolygon(obstacles[i].Points, m_mat, true, true);
}
m_mat.SetColor("_Color", Color.yellow);
List <GraphNode> nodes = VisibilityGraphGenerator.Generate(m_start, m_end, obstacles);
for (int a = 0; a < nodes.Count; a++)
{
var n = nodes[a];
GraphicsTool.DrawPoint(nodes[a].Center, 3, m_mat);
for (int i = 0; i < n.Neighbors.Count; i++)
{
GraphicsTool.DrawLine(n.Center, n.Neighbors[i].Center, m_mat);
}
}
m_mat.SetColor("_Color", Color.red);
GraphicsTool.DrawPoint(m_start, 4, m_mat);
GraphicsTool.DrawPoint(m_end, 4, m_mat);
GraphNode startNode = nodes[nodes.Count - 2];
GraphNode endNode = nodes[nodes.Count - 1];
GraphAStar astar = new GraphAStar(startNode, endNode);
astar.Process();
List <Vector2> path = new List <Vector2>();
while (endNode != null)
{
path.Add(endNode.Center);
endNode = endNode.Parent;
}
GraphicsTool.DrawPolygon(path, m_mat, false);
}
void Start()
{
instance = this;
}
