private void Update()
{
if (Input.GetMouseButtonDown(0))
{
var ray = hitCamera.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (baseCollider.Raycast(ray, out hit, 20))
{
NavigationBuildPoint point = points[graph.FindNearestId(hit.point)];
startObject.position = hit.point;
startPoint = point;
TryFindPath();
}
}
if (Input.GetMouseButtonDown(1))
{
var ray = hitCamera.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (baseCollider.Raycast(ray, out hit, 20))
{
NavigationBuildPoint point = points[graph.FindNearestId(hit.point)];
endObject.position = hit.point;
endPoint = point;
TryFindPath();
}
}
}
private void MergePoints(NavigationBuildPoint point, NavigationBuildPoint merge)
{
foreach (var neigbhor in merge.Neigbhors)
{
if (neigbhor.Neigbhors == null)
{
continue;
}
for (int i = 0; i < neigbhor.Neigbhors.Count; i++)
{
if (neigbhor.Neigbhors[i] == merge)
{
neigbhor.Neigbhors[i] = point;
}
}
}
point.Neigbhors.AddRange(merge.Neigbhors);
merge.Neigbhors = null;
}
private NavigationBuildPoint[] GenerateNavGrid(float radius)
{
var directions = new Quaternion[] {
Quaternion.Euler(0, 0, 0),
Quaternion.Euler(0, 90, 0),
Quaternion.Euler(0, 180, 0),
Quaternion.Euler(0, 270, 0),
Quaternion.Euler(90, 0, 0),
Quaternion.Euler(-90, 0, 0),
};
List <NavigationBuildPoint> points = new List <NavigationBuildPoint>();
List <NavigationBuildPoint> borderPoins = new List <NavigationBuildPoint>();
NavigationBuildPoint[] grid = new NavigationBuildPoint[size * size];
for (int d = 0; d < directions.Length; d++)
{
var direction = directions[d];
for (int i = 0; i < size; i++)
{
for (int j = 0; j < size; j++)
{
Vector3 cellPosition = direction * new Vector3(-0.5f + 1f * (i / (float)(size - 1)), -0.5f + 1f * (j / (float)(size - 1)), 0.5f);
Vector3 normal = cellPosition.normalized;
Vector3 cell = (cellPosition + Vector3.one) * size;
bool isBorderPoint = (i == 0 || j == 0 || i == size - 1 || j == size - 1);
var point = new NavigationBuildPoint()
{
Position = normal * radius,
UpNormal = normal,
IsBorderPoint = isBorderPoint,
PositionHash = (int)(cell.x * (size + 1)) * (size + 1) + (int)(cell.y * (size + 1)) + (int)cell.z
};
if (isBorderPoint)
{
borderPoins.Add(point);
}
points.Add(point);
grid[i * size + j] = point;
}
}
// add links
for (int i = 0; i < size; i++)
{
for (int j = 0; j < size; j++)
{
for (int dx = -2; dx <= 2; dx++)
{
for (int dy = -2; dy <= 2; dy++)
{
if (dx == 0 && dy == 0)
{
}
else
{
AddLinks(ref grid, ref grid[i * size + j].Neigbhors, i + dx, j + dy);
}
}
}
}
}
}
// merge borders
foreach (var point in borderPoins)
{
if (point.Neigbhors == null)
{
continue;
}
foreach (var merge in borderPoins)
{
if (merge == point)
{
continue;
}
if (merge.Neigbhors == null)
{
continue;
}
if (merge.PositionHash == point.PositionHash)
{
MergePoints(point, merge);
break;
}
}
}
points.RemoveAll(point => point.Neigbhors == null);
foreach (var point in points)
{
point.Distances = new List <float>(point.Neigbhors.Count);
for (int i = 0; i < point.Neigbhors.Count; i++)
{
var distance = Vector3.Distance(point.Position, point.Neigbhors[i].Position);
point.Distances.Add(distance);
}
}
return(points.ToArray());
}
private List <NavigationBuildPoint> GenerateNavGridIcosaedron(float radius)
{
List <NavigationBuildPoint> points = new List <NavigationBuildPoint>();
List <NavigationBuildPoint> borderPoins = new List <NavigationBuildPoint>();
NavigationBuildPoint[] grid = new NavigationBuildPoint[size * size];
for (int d = 0; d < icosaedronFaces.Length / 3; d++)
{
var A = icosaedronVertices[icosaedronFaces[d * 3 + 0]];
var B = icosaedronVertices[icosaedronFaces[d * 3 + 1]];
var C = icosaedronVertices[icosaedronFaces[d * 3 + 2]];
var BA = B - A;
var CA = C - A;
for (int i = 0; i < size; i++)
{
for (int j = 0; j < size; j++)
{
if (i + j >= size)
{
continue;
}
Vector3 cellPosition = A + BA * (i / (float)(size - 1)) + CA * (j / (float)(size - 1));
Vector3 normal = cellPosition.normalized;
Vector3 cell = (normal + Vector3.one) * size * 10f;
bool isBorderPoint = (i == 0 || j == 0 || i + j == size - 1);
var point = new NavigationBuildPoint()
{
Position = normal * radius,
UpNormal = normal,
IsBorderPoint = isBorderPoint,
PositionHash = (int)(cell.x * (size + 1f) * (size + 1f)) + (int)(cell.y * (size + 1f)) + (int)(cell.z)
};
if (isBorderPoint)
{
borderPoins.Add(point);
}
points.Add(point);
grid[i * size + j] = point;
}
}
// add links
for (int i = 0; i < size; i++)
{
for (int j = 0; j < size; j++)
{
if (i + j >= size)
{
continue;
}
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i + 1, j);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i - 1, j);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i, j + 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i, j - 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i - 1, j + 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i + 1, j - 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i + 1, j + 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i - 1, j - 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i - 1, j + 2);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i - 2, j + 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i + 2, j - 1);
AddLinksHex(ref grid, ref grid[i * size + j].Neigbhors, i + 1, j - 2);
}
}
}
// merge borders
foreach (var point in borderPoins)
{
if (point.Neigbhors == null)
{
continue;
}
foreach (var merge in borderPoins)
{
if (merge == point)
{
continue;
}
if (merge.Neigbhors == null)
{
continue;
}
if (merge.PositionHash == point.PositionHash)
{
MergePoints(point, merge);
break;
}
}
}
points.RemoveAll(point => point.Neigbhors == null);
foreach (var point in points)
{
point.Distances = new List <float>(point.Neigbhors.Count);
for (int i = 0; i < point.Neigbhors.Count; i++)
{
var distance = Vector3.Distance(point.Position, point.Neigbhors[i].Position);
point.Distances.Add(distance);
}
}
return(points);
}
