/// <summary>
/// Builds a straight path and gets the point farthest along the path that does not exceed
/// the specified maximum number of polygons.
/// </summary>
/// <remarks>
/// <para>Limits:</para>
/// <ul>
/// <li>The path must exist and both the start and goal points must be within the path.</li>
/// <li>
/// The goal's polygon reference must be in or after the start points polygon reference.
/// </li>
/// </ul>
/// <para>
/// <b>Special Case:</b>The result will exceed <paramref name="maxLength"/> if the
/// first straight path point is greater than <paramref name="maxLength"/> from the start
/// point.
/// </para>
/// </remarks>
/// <param name="start">The start point within the current path.</param>
/// <param name="goal">The end point located in or after the start point polygon.</param>
/// <param name="maxLength">
/// The maximum allowed number of polygons between the start and target. [Limit: >= 1]
/// </param>
/// <param name="target">The resulting target point.</param>
/// <returns>The straight path index of the target point, or -1 on error.</returns>
public int GetLocalTarget(NavmeshPoint start, NavmeshPoint goal, int maxLength
, NavmeshQuery query
, out NavmeshPoint target)
{
if (NavUtil.Failed(BuildStraightPath(start, goal, query)))
{
target = new NavmeshPoint();
return(-1);
}
int targetIndex = straightCount; // Will be decremented.
int iStart = FindPolyRef(0, start.polyRef);
// Start at the end of the straight path and search back toward
// the start until the number of polygons is less than
// maxLength.
uint targetRef = 0;
do
{
targetIndex--;
targetRef = (straightPath[targetIndex] == 0 ?
goal.polyRef : straightPath[targetIndex]);
}while (FindPolyRefReverse(iStart, targetRef) - iStart + 1
> maxLength &&
targetIndex > 0);
target = new NavmeshPoint(targetRef, straightPoints[targetIndex]);
return(targetIndex);
}
List <Entity> itemAttached;//Item that attached to character
public CharacterController(
Camera cam,
NavmeshQuery query,
Scene physicsScene,
string meshName,
ModCharacterSkinDfnXML skin,
bool isBot,
Mogre.Vector3 initPosition)
{
camera = cam;
this.controlled = !isBot;
itemAttached = new List <Entity>();
this.sceneMgr = cam.SceneManager;
charaMeshName = meshName;
this.physicsScene = physicsScene;
physics = physicsScene.Physics;
cotrollerManager = physics.ControllerManager;
this.query = query;
setupBody(initPosition);
if (controlled)
{
setupCamera(cam);
}
this.skin = skin;
setupAnimations();
setupPhysics();
}
//使用现有路径从起点到目标点建立标准的直接路径
public NavStatus BuildStraightPath(NavmeshPoint start, NavmeshPoint goal, NavmeshQuery query)
{
int iStart = FindPolyRef(0, start.polyRef);
int iGoal = -1;
if (iStart != -1)
{
iGoal = FindPolyRefReverse(iStart, goal.polyRef);
}
if (iGoal == -1)
{
return(NavStatus.Failure | NavStatus.InvalidParam);
}
//NavmeshQuery是直通C++的底层寻路
Array.Clear(straightPoints, 0, straightPoints.Length);
NavStatus status = query.GetStraightPath(start.point, goal.point
, path, iStart, iGoal - iStart + 1
, straightPoints, straightFlags, straightPath, out straightCount);
if (straightCount == 0)
{
return(NavStatus.Failure);
}
return(status);
}
/// <summary>
/// Immediately frees all unmanaged resources allocated by the object.
/// </summary>
public override void RequestDisposal()
{
// There are no managed or local allocations.
if (root != IntPtr.Zero)
{
mFilter.RequestDisposal();
mFilter = null;
mGrid.Dispose();
mGrid = null;
mQuery.RequestDisposal();
mQuery = null;
mNavmesh = null;
mMaxAgentRadius = -1;
agentStates = null;
for (int i = 0; i < mAgents.Length; i++)
{
if (mAgents[i] == null)
{
continue;
}
mAgents[i].Dispose();
mAgents[i] = null;
}
CrowdManagerEx.dtcDetourCrowdFree(root);
root = IntPtr.Zero;
}
}
private static Color GetStandardColor(uint polyRef, int polyArea, int colorId
, NavmeshQuery query, uint[] markPolys, int markPolyCount)
{
Color result;
if ((query != null && query.IsInClosedList(polyRef)) ||
IsInList(polyRef, markPolys, markPolyCount) != -1)
{
result = polygonOverlayColor;
}
else
{
if (colorId == -1)
{
if (polyArea == 0)
{
result = new Color(0, 0.75f, 1, surfaceAlpha);
}
else
{
result = ColorUtil.IntToColor(polyArea, surfaceAlpha);
}
}
else
{
result = ColorUtil.IntToColor(colorId, surfaceAlpha);
}
}
return(result);
}
/// <summary>
/// Copy constructor.
/// </summary>
/// <param name="copy">The group to copy.</param>
/// <param name="cloneFilter">
/// If true, the filter will be cloned. Otherwise it will be referenced.
/// </param>
public NavGroup(NavGroup copy, bool cloneFilter)
{
this.mesh = copy.mesh;
this.query = copy.query;
this.crowd = copy.crowd;
this.filter = (cloneFilter ? copy.filter.Clone() : copy.filter);
this.extents = copy.extents;
}
/// <summary>
/// Draws a debug visualization of the navigation mesh with the closed nodes highlighted.
/// </summary>
/// <param name="mesh">The mesh to draw.</param>
/// <param name="query">The query which provides the list of closed nodes.</param>
public static void Draw(Navmesh mesh, NavmeshQuery query)
{
int count = mesh.GetMaxTiles();
for (int i = 0; i < count; i++)
{
Draw(mesh.GetTile(i), query, null, 0, i);
}
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="mesh">The navigation mesh used by the query.</param>
/// <param name="query">A navigation mesh query.</param>
/// <param name="crowd">A crowd.</param>
/// <param name="filter">The filter to use with the query.</param>
/// <param name="extents">The extents to use with the query.</param>
/// <param name="cloneFilter">
/// If true, the filter will be cloned rather than referenced.
/// </param>
public NavGroup(Navmesh mesh, NavmeshQuery query, CrowdManager crowd
, NavmeshQueryFilter filter, Vector3 extents
, bool cloneFilter)
{
this.mesh = mesh;
this.query = query;
this.crowd = crowd;
this.filter = (cloneFilter ? filter.Clone() : filter);
this.extents = extents;
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="mesh">The navigation mesh used by the query.</param>
/// <param name="query">A navigation mesh query.</param>
/// <param name="crowd">A crowd.</param>
/// <param name="filter">The filter to use with the query.</param>
/// <param name="extents">The extents to use with the query.</param>
/// <param name="cloneFilter">
/// If true, the filter will be cloned rather than referenced.
/// </param>
public NavGroup(Navmesh mesh, NavmeshQuery query, CrowdManager crowd
, NavmeshQueryFilter filter, Vector3 extents
, bool cloneFilter)
{
this.mesh = mesh;
this.query = query;
this.crowd = crowd;
this.filter = (cloneFilter ? filter.Clone() : filter);
this.extents = extents;
}
public void Create(Navmesh navmesh)
{
this._navmesh = navmesh; //一定要保存起来,Navmesh的析构函数会把非托管内存的指针清掉!!
NavStatus status = NavmeshQuery.Create(navmesh, 2048, out this._query);
if (status != NavStatus.Sucess)
{
LLogger.Error(status);
}
}
public Pathfinder(Navmesh navMesh)
{
_navMesh = navMesh;
_filter = new NavmeshQueryFilter();
if (NavUtil.Failed(NavmeshQuery.Create(_navMesh, 1000, out _query)))
{
throw new Exception("NavQuery failed");
}
_pathCorridor = new PathCorridor(1000, 1000, _query, _filter);
}
private void Clear()
{
if (m_Query != null)
{
m_Query.RequestDisposal();
m_Query = null;
}
if (m_NavMesh != null)
{
m_NavMesh.RequestDisposal();
m_NavMesh = null;
}
}
//从池子里面获取通道，如果没有就需要建立一个（目前都是在NavAgent里面处理的）
public PathCorridor GetCorridor(NavmeshPoint position, NavmeshQuery query, NavmeshQueryFilter filter)
{
if (mCorridors.Count > 0)
{
PathCorridor corr = mCorridors.Pop();
if (PathCorridor.LoadLocals(corr, position, query, filter))
{
return(corr);
}
return(null);
}
return(new PathCorridor(mMaxPathSize, mMaxStraightPathSize, query, filter));
}
public List <Waypoint> GenerateWaypointsBetweenTwoPoints(Navmesh navmesh, Vector3 startPos, Vector3 endPos)
{
List <Waypoint> waypoints = new List <Waypoint>();
NavmeshQuery query;
var status = NavmeshQuery.Create(navmesh, 1024, out query);
if (!NavUtil.Failed(status))
{
org.critterai.Vector3 navStartPointVect;
org.critterai.Vector3 navEndPointVect;
var navStartPointStatus = query.GetNearestPoint(1, new org.critterai.Vector3(startPos.x, startPos.y, startPos.z), out navStartPointVect);
var navEndPointStatus = query.GetNearestPoint(1, new org.critterai.Vector3(startPos.x, startPos.y, startPos.z), out navEndPointVect);
if (navStartPointStatus == NavStatus.Sucess && navEndPointStatus == NavStatus.Sucess)
{
NavmeshPoint navStartPoint = new NavmeshPoint(1, new org.critterai.Vector3(startPos.x, startPos.y, startPos.z));
NavmeshPoint navEndPoint = new NavmeshPoint(1, new org.critterai.Vector3(endPos.x, endPos.y, endPos.z));
uint[] path = new uint[1024];
int pathCount;
status = query.FindPath(navStartPoint, navEndPoint, new NavmeshQueryFilter(), path, out pathCount);
if (!NavUtil.Failed(status))
{
const int MaxStraightPath = 4;
int wpCount;
org.critterai.Vector3[] wpPoints = new org.critterai.Vector3[MaxStraightPath];
uint[] wpPath = new uint[MaxStraightPath];
WaypointFlag[] wpFlags = new WaypointFlag[MaxStraightPath];
status = query.GetStraightPath(navStartPoint.point, navEndPoint.point
, path, 0, pathCount, wpPoints, wpFlags, wpPath
, out wpCount);
if (!NavUtil.Failed(status) && wpCount > 0)
{
foreach (var wp in wpPoints)
{
Mogre.Vector3 wayPointPos = new Vector3(wp.x, wp.y, wp.z);
waypoints.Add(new Waypoint(wayPointPos, new Vector3()));
}
}
}
}
}
return(waypoints);
}
/// <summary>
/// Constructor.
/// </summary>
/// <remarks>
/// <para>
/// <b>Important:</b> The <see cref="Reset"/> method must be called before the corridor
/// can be used. (That is how the position is set.)
/// </para>
/// <para>
/// Due to internal optimizations, the maximum number of detectable corners will be
/// <c>(<paramref name="maxCorners"/> - 1)</c>.
/// </para>
/// <para>The query and filter parameters can be set to null. This supports the ability
/// to create pools of re-usable path corridor objects. But it means that care needs to
/// be taken not to use the corridor until query and filter objects have been set.
/// See <see cref="ReleaseLocals"/> and <see cref="LoadLocals"/> for pool related utility
/// functions.
/// </para>
/// </remarks>
/// <param name="maxPathSize">
/// The maximum path size that can be handled by the object. [Limit: >= 1]
/// </param>
/// <param name="maxCorners">
/// The maximum number of corners the corner buffer can hold. [Limit: >= 2]
/// </param>
/// <param name="query">The query to be used by the corridor.</param>
/// <param name="filter">The query filter to be used by the corridor.</param>
public PathCorridor(int maxPathSize, int maxCorners
, NavmeshQuery query, NavmeshQueryFilter filter)
{
maxPathSize = Math.Max(1, maxPathSize);
mRoot = PathCorridorEx.dtpcAlloc(maxPathSize);
if (mRoot == IntPtr.Zero)
{
mMaxPathSize = 0;
return;
}
mQuery = query;
mFilter = filter;
mMaxPathSize = maxPathSize;
mCorners = new CornerData(Math.Max(2, maxCorners));
}
/// <summary>
/// Sets the specified resources and resets the corridor.
/// </summary>
/// <remarks>
/// <para>
/// This method is useful when pooling path corridors for use by mulitple clients.
/// </para>
/// <para>
/// See <see cref="Reset"/> for information on the effect of the reset.
/// </para>
/// <para>
/// Existing references will be replaced by the new references.
/// </para>
/// <para>
/// This method cannot be used to set references to null. Attempting to do so will result
/// in a failure.
/// </para>
/// </remarks>
/// <param name="corridor">The corridor to update.</param>
/// <param name="position">The position to reset to corridor to.</param>
/// <param name="query">The query object to use.</param>
/// <param name="filter">The filter object to use.</param>
/// <returns>True if successful.</returns>
public static bool LoadLocals(PathCorridor corridor, NavmeshPoint position
, NavmeshQuery query, NavmeshQueryFilter filter)
{
// Basic checks first.
if (position.polyRef == 0 || corridor == null || query == null || filter == null)
{
return(false);
}
// Validate optional parameters.
// Assign and reset.
corridor.mQuery = query;
corridor.mFilter = filter;
corridor.Reset(position);
return(true);
}
private CrowdManager(IntPtr crowd, Navmesh navmesh, int maxAgents, float maxAgentRadius)
: base(AllocType.External)
{
mMaxAgentRadius = maxAgentRadius;
mNavmesh = navmesh;
root = crowd;
mAgents = new CrowdAgent[maxAgents];
agentStates = new CrowdAgentCoreState[maxAgents];
IntPtr ptr = CrowdManagerEx.dtcGetFilter(root);
mFilter = new NavmeshQueryFilter(ptr, AllocType.ExternallyManaged);
ptr = CrowdManagerEx.dtcGetGrid(root);
mGrid = new CrowdProximityGrid(ptr);
ptr = CrowdManagerEx.dtcGetNavMeshQuery(root);
mQuery = new NavmeshQuery(ptr, true, AllocType.ExternallyManaged);
}
/// <summary>
/// Gets a standard corridor from the pool. (Or creates one if none is available.)
/// </summary>
/// <remarks>
/// <para>
/// The corridor maximum path will equal <see cref="MaxPathSize"/>, and maximum corners
/// will equal <see cref="MaxStraightPathSize"/> .
/// </para>
/// </remarks>
/// <param name="query">The query to assign to the corridor.</param>
/// <param name="filter">The filter to assign to the corridor.</param>
/// <returns>A standard corridor, or null on error.</returns>
public PathCorridor GetCorridor(NavmeshPoint position, NavmeshQuery query, NavmeshQueryFilter filter)
{
if (mCorridors.Count > 0)
{
PathCorridor corr = mCorridors.Pop();
if (PathCorridor.LoadLocals(corr, position, query, filter))
return corr;
return null;
}
return new PathCorridor(mMaxPathSize, mMaxStraightPathSize, query, filter);
}
public void Dispose()
{
this._query = null;
this._navmesh = null; //让gc调用析构函数
}
public void CreateQuery(float fMoveSpeed, float fTurnSpeed)
{
this.mTurnSpeed = fTurnSpeed;
this.mMoveSpeed = fMoveSpeed;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
fileName + ": Aborted initialization. Failed query creation: " + status.ToString());
mCrowdManager = null;
return;
}
mCrowdManager = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (mCrowdManager == null)
{
Debug.LogError(fileName + ": Aborted initialization. Failed crowd creation.");
}
CrowdAvoidanceParams mCrowdParam = CrowdAvoidanceParams.CreateStandardMedium();
mCrowdManager.SetAvoidanceConfig(0, mCrowdParam);
mCrowdAgentParams = new CrowdAgentParams();
mCrowdAgentParams.avoidanceType = 0;
mCrowdAgentParams.collisionQueryRange = 3.2f;
mCrowdAgentParams.height = 1.8f;
mCrowdAgentParams.maxAcceleration = 8.0f;
mCrowdAgentParams.maxSpeed = this.mMoveSpeed;
mCrowdAgentParams.pathOptimizationRange = 12.0f;
mCrowdAgentParams.radius = 1.0f;
mCrowdAgentParams.separationWeight = 2.0f;
mCrowdAgentParams.updateFlags = CrowdUpdateFlags.AnticipateTurns | CrowdUpdateFlags.ObstacleAvoidance | CrowdUpdateFlags.CrowdSeparation | CrowdUpdateFlags.OptimizeVis | CrowdUpdateFlags.OptimizeTopo;
polyResult = new uint[300];
pointResult = new Vector3[300];
tileBufferPoints = new Vector3[3000];
pointResultBuffer = new Vector3[300];
polyResultBuffer = new uint[300];
NavmeshTile tile = navmesh.GetTile(0);
int count = tile.GetVerts(tileBufferPoints);
Debug.Log("Tile " + tile.GetTileRef() + " count:" + count);
if (count > 3000)
{
tileBufferPoints = new Vector3[count];
}
tileBufferRef = -1;
//NavmeshPoly[] polys=new NavmeshPoly[3000];
//int polyCount;
//polyCount=tile.GetPolys(polys);
//for (int i = 0; i < polyCount; i++)
//{
// NavmeshPoly poly = polys[i];
// //if (poly.Type == NavmeshPolyType.OffMeshConnection)
// {
// Debug.Log("Poly" + i+"type"+poly.Type.ToString());
// }
//}
}
public NavManager CreateManager()
{
if (!(mNavmeshData && NavmeshData.HasNavmesh))
{
Debug.LogError(name + ": Aborted initialization. Navigation mesh not available.");
return(null);
}
if (!mAvoidanceSet || !mGroupsSettings)
{
Debug.LogError(
name + ": Aborted initialization. Avoidance and/or agent groups not available.");
return(null);
}
Navmesh navmesh = NavmeshData.GetNavmesh();
NavmeshQuery query;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
name + ": Aborted initialization. Failed query creation: " + status.ToString());
return(null);
}
CrowdManager crowd = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (crowd == null)
{
Debug.LogError(name + ": Aborted initialization. Failed crowd creation.");
return(null);
}
for (int i = 0; i < CrowdManager.MaxAvoidanceParams; i++)
{
crowd.SetAvoidanceConfig(i, mAvoidanceSet[i]);
}
NavGroup mGroup = new NavGroup(navmesh, query, crowd, crowd.QueryFilter, mExtents, false);
int count = mGroupsSettings.GroupCount;
Dictionary <byte, NavAgentGroup> mAgentGroups = new Dictionary <byte, NavAgentGroup>(count);
for (int i = 0; i < count; i++)
{
byte groupId;
NavAgentGroup group =
mGroupsSettings.CreateAgentGroup(i, mMaxPath, mMaxStraightPath, out groupId);
group.angleAt = mAngleAt;
group.heightTolerance = mHeightTolerance;
group.radiusAt = mRadiusAt;
group.radiusNear = mRadiusNear;
group.turnThreshold = mTurnThreshold;
mAgentGroups.Add(groupId, group);
}
return(NavManager.Create(mMaxAgents, mGroup, mAgentGroups));
}
/// <summary>
/// Copy constructor.
/// </summary>
/// <param name="copy">The group to copy.</param>
/// <param name="cloneFilter">
/// If true, the filter will be cloned. Otherwise it will be referenced.
/// </param>
public NavGroup(NavGroup copy, bool cloneFilter)
{
this.mesh = copy.mesh;
this.query = copy.query;
this.crowd = copy.crowd;
this.filter = (cloneFilter ? copy.filter.Clone() : copy.filter);
this.extents = copy.extents;
}
//创作一个新的直接路径，并且沿路获取点
public int GetLocalTarget(NavmeshPoint start, NavmeshPoint goal, int maxLength, NavmeshQuery query, out NavmeshPoint target)
{
if (NavUtil.Failed(BuildStraightPath(start, goal, query)))
{
target = new NavmeshPoint();
return(-1);
}
int targetIndex = straightCount;
int iStart = FindPolyRef(0, start.polyRef);
uint targetRef = 0;
do
{
targetIndex--;
targetRef = (straightPath[targetIndex] == 0 ? goal.polyRef : straightPath[targetIndex]);
}while (FindPolyRefReverse(iStart, targetRef) - iStart + 1 > maxLength && targetIndex > 0);
target = new NavmeshPoint(targetRef, straightPoints[targetIndex]);
return(targetIndex);
}
/// <summary>
/// Builds a standard straight path from the start to the goal point using the exiting path.
/// </summary>
/// <remarks>
/// <para>Limits:</para>
/// <ul>
/// <li>The path must exist and both the start and goal points must be within the path.</li>
/// <li>
/// The goal's polygon reference must be in or after the start points polygon reference.
/// </li>
/// </ul>
/// </remarks>
/// <param name="start">The start point.</param>
/// <param name="goal">The goal point.</param>
/// <returns>The status of the operation.</returns>
public NavStatus BuildStraightPath(NavmeshPoint start, NavmeshPoint goal, NavmeshQuery query)
{
int iStart = FindPolyRef(0, start.polyRef);
int iGoal = -1;
if (iStart != -1)
iGoal = FindPolyRefReverse(iStart, goal.polyRef);
if (iGoal == -1)
return (NavStatus.Failure | NavStatus.InvalidParam);
NavStatus status = query.GetStraightPath(start.point, goal.point
, path, iStart, iGoal - iStart + 1
, straightPoints, straightFlags, straightPath, out straightCount);
if (straightCount == 0)
return NavStatus.Failure;
return status;
}
/// <summary>
/// Draws a debug visualization of an individual navmesh tile.
/// </summary>
/// <remarks>
/// <para>
/// The tile will be checked to see if it is in use before it is drawn. So there is no
/// need for caller to do so.
/// </para>
/// </remarks>
private static void Draw(NavmeshTile tile
, NavmeshQuery query, uint[] markPolys, int markPolyCount
, int colorId)
{
NavmeshTileHeader header = tile.GetHeader();
// Keep this check. Less trouble for clients.
if (header.polyCount < 1)
return;
DebugDraw.SimpleMaterial.SetPass(0);
uint polyBase = tile.GetBasePolyRef();
NavmeshPoly[] polys = new NavmeshPoly[header.polyCount];
tile.GetPolys(polys);
Vector3[] verts = new Vector3[header.vertCount];
tile.GetVerts(verts);
NavmeshDetailMesh[] meshes =
new NavmeshDetailMesh[header.detailMeshCount];
tile.GetDetailMeshes(meshes);
byte[] detailTris = new byte[header.detailTriCount * 4];
tile.GetDetailTris(detailTris);
Vector3[] detailVerts = new Vector3[header.detailVertCount];
tile.GetDetailVerts(detailVerts);
GL.Begin(GL.TRIANGLES);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type == NavmeshPolyType.OffMeshConnection)
continue;
NavmeshDetailMesh mesh = meshes[i];
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
GL.Color(color);
for (int j = 0; j < mesh.triCount; j++)
{
int pTri = (int)(mesh.triBase + j) * 4;
for (int k = 0; k < 3; k++)
{
// Note: iVert and pVert refer to different
// arrays.
int iVert = detailTris[pTri + k];
if (iVert < poly.vertCount)
{
// Get the vertex from the main vertices.
int pVert = poly.indices[iVert];
GL.Vertex(verts[pVert]);
}
else
{
// Get the vertex from the detail vertices.
int pVert = (int)
(mesh.vertBase + iVert - poly.vertCount);
GL.Vertex(detailVerts[pVert]);
}
}
}
}
GL.End();
NavmeshLink[] links = new NavmeshLink[header.maxLinkCount];
tile.GetLinks(links);
GL.Begin(GL.LINES);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0, 0.2f, 0.25f, 0.13f)
, true);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0.65f, 0.2f, 0, 0.9f)
, false);
if (header.connCount == 0)
{
GL.End();
return;
}
NavmeshConnection[] conns = new NavmeshConnection[header.connCount];
tile.GetConnections(conns);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type != NavmeshPolyType.OffMeshConnection)
continue;
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
// Note: Alpha of less than one doesn't look good because connections tend to
// overlay a lot of geometry, resulting is off color transitions.
color.a = 1;
GL.Color(color);
NavmeshConnection conn = conns[i - header.connBase];
Vector3 va = verts[poly.indices[0]];
Vector3 vb = verts[poly.indices[1]];
// Check to see if start and end end-points have links.
bool startSet = false;
bool endSet = false;
for (uint k = poly.firstLink; k != Navmesh.NullLink; k = links[k].next)
{
if (links[k].edge == 0)
startSet = true;
if (links[k].edge == 1)
endSet = true;
}
// For linked endpoints: Draw a line between on-mesh location and endpoint,
// and draw circle at the endpoint.
// For un-linked endpoints: Draw a small red x-marker.
if (startSet)
{
GL.Vertex(va);
GL.Vertex(conn.endpoints[0]);
DebugDraw.AppendCircle(conn.endpoints[0], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[0], 0.1f);
GL.Color(color);
}
if (endSet)
{
GL.Vertex(vb);
GL.Vertex(conn.endpoints[1]);
DebugDraw.AppendCircle(conn.endpoints[1], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[1], 0.1f);
GL.Color(color);
}
DebugDraw.AppendArc(conn.endpoints[0], conn.endpoints[1]
, 0.25f
, conn.IsBiDirectional ? 0.6f : 0
, 0.6f);
}
GL.End();
}
private static Color GetStandardColor(uint polyRef, int polyArea, int colorId
, NavmeshQuery query, uint[] markPolys, int markPolyCount)
{
Color result;
if ((query != null && query.IsInClosedList(polyRef))
|| IsInList(polyRef, markPolys, markPolyCount) != -1)
{
result = polygonOverlayColor;
}
else
{
if (colorId == -1)
{
if (polyArea == 0)
result = new Color(0, 0.75f, 1, surfaceAlpha);
else
result = ColorUtil.IntToColor(polyArea, surfaceAlpha);
}
else
result = ColorUtil.IntToColor(colorId, surfaceAlpha);
}
return result;
}
/// <summary>
/// Draws a debug visualization of the navigation mesh with the closed nodes highlighted.
/// </summary>
/// <param name="mesh">The mesh to draw.</param>
/// <param name="query">The query which provides the list of closed nodes.</param>
public static void Draw(Navmesh mesh, NavmeshQuery query)
{
int count = mesh.GetMaxTiles();
for (int i = 0; i < count; i++)
{
Draw(mesh.GetTile(i), query, null, 0, i);
}
}
/// <summary>
/// Draws a debug visualization of an individual navmesh tile.
/// </summary>
/// <remarks>
/// <para>
/// The tile will be checked to see if it is in use before it is drawn. So there is no
/// need for caller to do so.
/// </para>
/// </remarks>
private static void Draw(NavmeshTile tile
, NavmeshQuery query, uint[] markPolys, int markPolyCount
, int colorId)
{
NavmeshTileHeader header = tile.GetHeader();
// Keep this check. Less trouble for clients.
if (header.polyCount < 1)
{
return;
}
DebugDraw.SimpleMaterial.SetPass(0);
uint polyBase = tile.GetBasePolyRef();
NavmeshPoly[] polys = new NavmeshPoly[header.polyCount];
tile.GetPolys(polys);
Vector3[] verts = new Vector3[header.vertCount];
tile.GetVerts(verts);
NavmeshDetailMesh[] meshes =
new NavmeshDetailMesh[header.detailMeshCount];
tile.GetDetailMeshes(meshes);
byte[] detailTris = new byte[header.detailTriCount * 4];
tile.GetDetailTris(detailTris);
Vector3[] detailVerts = new Vector3[header.detailVertCount];
tile.GetDetailVerts(detailVerts);
GL.Begin(GL.TRIANGLES);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type == NavmeshPolyType.OffMeshConnection)
{
continue;
}
NavmeshDetailMesh mesh = meshes[i];
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
GL.Color(color);
for (int j = 0; j < mesh.triCount; j++)
{
int pTri = (int)(mesh.triBase + j) * 4;
for (int k = 0; k < 3; k++)
{
// Note: iVert and pVert refer to different
// arrays.
int iVert = detailTris[pTri + k];
if (iVert < poly.vertCount)
{
// Get the vertex from the main vertices.
int pVert = poly.indices[iVert];
GL.Vertex(verts[pVert]);
}
else
{
// Get the vertex from the detail vertices.
int pVert = (int)
(mesh.vertBase + iVert - poly.vertCount);
GL.Vertex(detailVerts[pVert]);
}
}
}
}
GL.End();
NavmeshLink[] links = new NavmeshLink[header.maxLinkCount];
tile.GetLinks(links);
GL.Begin(GL.LINES);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0, 0.2f, 0.25f, 0.13f)
, true);
DrawPolyBoundaries(header
, polys
, verts
, meshes
, detailTris
, detailVerts
, links
, new Color(0.65f, 0.2f, 0, 0.9f)
, false);
if (header.connCount == 0)
{
GL.End();
return;
}
NavmeshConnection[] conns = new NavmeshConnection[header.connCount];
tile.GetConnections(conns);
for (int i = 0; i < header.polyCount; i++)
{
NavmeshPoly poly = polys[i];
if (poly.Type != NavmeshPolyType.OffMeshConnection)
{
continue;
}
Color color = GetStandardColor(polyBase | (uint)i
, poly.Area, colorId
, query, markPolys, markPolyCount);
// Note: Alpha of less than one doesn't look good because connections tend to
// overlay a lot of geometry, resulting is off color transitions.
color.a = 1;
GL.Color(color);
NavmeshConnection conn = conns[i - header.connBase];
Vector3 va = verts[poly.indices[0]];
Vector3 vb = verts[poly.indices[1]];
// Check to see if start and end end-points have links.
bool startSet = false;
bool endSet = false;
for (uint k = poly.firstLink; k != Navmesh.NullLink; k = links[k].next)
{
if (links[k].edge == 0)
{
startSet = true;
}
if (links[k].edge == 1)
{
endSet = true;
}
}
// For linked endpoints: Draw a line between on-mesh location and endpoint,
// and draw circle at the endpoint.
// For un-linked endpoints: Draw a small red x-marker.
if (startSet)
{
GL.Vertex(va);
GL.Vertex(conn.endpoints[0]);
DebugDraw.AppendCircle(conn.endpoints[0], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[0], 0.1f);
GL.Color(color);
}
if (endSet)
{
GL.Vertex(vb);
GL.Vertex(conn.endpoints[1]);
DebugDraw.AppendCircle(conn.endpoints[1], conn.radius);
}
else
{
GL.Color(Color.red);
DebugDraw.AppendXMarker(conn.endpoints[1], 0.1f);
GL.Color(color);
}
DebugDraw.AppendArc(conn.endpoints[0], conn.endpoints[1]
, 0.25f
, conn.IsBiDirectional ? 0.6f : 0
, 0.6f);
}
GL.End();
}
/// <summary>
/// Builds a straight path and gets the point farthest along the path that does not exceed
/// the specified maximum number of polygons.
/// </summary>
/// <remarks>
/// <para>Limits:</para>
/// <ul>
/// <li>The path must exist and both the start and goal points must be within the path.</li>
/// <li>
/// The goal's polygon reference must be in or after the start points polygon reference.
/// </li>
/// </ul>
/// <para>
/// <b>Special Case:</b>The result will exceed <paramref name="maxLength"/> if the
/// first straight path point is greater than <paramref name="maxLength"/> from the start
/// point.
/// </para>
/// </remarks>
/// <param name="start">The start point within the current path.</param>
/// <param name="goal">The end point located in or after the start point polygon.</param>
/// <param name="maxLength">
/// The maximum allowed number of polygons between the start and target. [Limit: >= 1]
/// </param>
/// <param name="target">The resulting target point.</param>
/// <returns>The straight path index of the target point, or -1 on error.</returns>
public int GetLocalTarget(NavmeshPoint start, NavmeshPoint goal, int maxLength
, NavmeshQuery query
, out NavmeshPoint target)
{
if (NavUtil.Failed(BuildStraightPath(start, goal, query)))
{
target = new NavmeshPoint();
return -1;
}
int targetIndex = straightCount; // Will be decremented.
int iStart = FindPolyRef(0, start.polyRef);
// Start at the end of the straight path and search back toward
// the start until the number of polygons is less than
// maxLength.
uint targetRef = 0;
do
{
targetIndex--;
targetRef = (straightPath[targetIndex] == 0 ?
goal.polyRef : straightPath[targetIndex]);
}
while (FindPolyRefReverse(iStart, targetRef) - iStart + 1
> maxLength
&& targetIndex > 0);
target = new NavmeshPoint(targetRef, straightPoints[targetIndex]);
return targetIndex;
}
public void createScene()
{
// set background and some fog
AdvancedMogreFramework.Singleton.m_pViewport.BackgroundColour = new ColourValue(1.0f, 1.0f, 0.8f);
m_pSceneMgr.SetFog(FogMode.FOG_LINEAR, new ColourValue(1.0f, 1.0f, 0.8f), 0, 15, 100);
// set shadow properties
m_pSceneMgr.ShadowTechnique = ShadowTechnique.SHADOWTYPE_TEXTURE_MODULATIVE;
m_pSceneMgr.ShadowColour = new ColourValue(0.5f, 0.5f, 0.5f);
m_pSceneMgr.SetShadowTextureSize(1024);
m_pSceneMgr.ShadowTextureCount = 1;
// disable default camera control so the character can do its own
m_pCameraMan.setStyle(CameraStyle.CS_MANUAL);
// use a small amount of ambient lighting
m_pSceneMgr.AmbientLight = new ColourValue(0.3f, 0.3f, 0.3f);
// add a bright light above the scene
Light light = m_pSceneMgr.CreateLight();
light.Type = (Light.LightTypes.LT_POINT);
light.Position = new Mogre.Vector3(-10, 40, 20);
light.SpecularColour = ColourValue.White;
// create a floor mesh resource
MeshManager.Singleton.CreatePlane("floor", ResourceGroupManager.DEFAULT_RESOURCE_GROUP_NAME,
new Plane(Mogre.Vector3.UNIT_Y, 0), 100, 100, 10, 10, true, 1, 10, 10, Mogre.Vector3.UNIT_Z);
// create a floor entity, give it a material, and place it at the origin
SceneProp floorSceneProp = new SceneProp(
this,
m_pSceneMgr,
m_pSceneMgr.RootSceneNode,
physicsScene,
"Floor",
"floor"
);
floorSceneProp.SetMaterialName("Examples/Rockwall");
//Navmesh
Navmesh floorNavMesh = MeshToNavmesh.LoadNavmesh(floorSceneProp.Entity);
NavmeshQuery query;
NavmeshPoint retStartPoint;
NavmeshPoint retEndPoint;
org.critterai.Vector3 pointStart = new org.critterai.Vector3(0, 0, 0);
org.critterai.Vector3 pointEnd = new org.critterai.Vector3(0, 0, 0);
org.critterai.Vector3 extents = new org.critterai.Vector3(2, 2, 2);
NavStatus status = NavmeshQuery.Create(floorNavMesh, 100, out query);
Console.WriteLine("Status returned when NavmeshQuery was built: " + status);
NavmeshQueryFilter filter = new NavmeshQueryFilter();
filter.IncludeFlags = 1;
status = query.GetNearestPoint(pointStart, extents, filter, out retStartPoint);
Console.WriteLine("\nStatus of startPoint GetNearestPoint: " + status);
status = query.GetNearestPoint(pointEnd, extents, filter, out retEndPoint);
Console.WriteLine("\nStatus of endPoint GetNearestPoint: " + status);
uint[] path = new uint[100];
int pathCount;
status = query.FindPath(retStartPoint, retEndPoint, filter, path, out pathCount);
Console.WriteLine("\nStatus of Find path: " + status);
// create our character controller
m_pChara = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(0, 5, 0), 0);
SinbadCharacterController bot1 = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(-10, 5, 0), 1, false);
SinbadCharacterController bot2 = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(0, 5, -10), 2, false);
SinbadCharacterController bot3 = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(10, 5, 0), 3, false);
agents.Add(m_pChara);
agents.Add(bot1);
agents.Add(bot2);
agents.Add(bot3);
AdvancedMogreFramework.Singleton.m_pTrayMgr.toggleAdvancedFrameStats();
StringVector items = new StringVector();
items.Insert(items.Count, "Help");
ParamsPanel help = AdvancedMogreFramework.Singleton.m_pTrayMgr.createParamsPanel(TrayLocation.TL_TOPLEFT, "HelpMessage", 100, items);
help.setParamValue("Help", "H / F1");
}
public NavManager CreateManager()
{
CheckCrowdAvoidanceSet();
if (!(mNavmeshData && NavmeshData.HasNavmesh))
{
Debug.LogError("Aborted initialization. Navigation mesh not available.");
return(null);
}
//Debug.Log("NavmeshData-------"+ NavmeshData);
Navmesh navmesh = NavmeshData.GetNavmesh();
if (navmesh == null)
{
NavStatus theStatus = Navmesh.Create(navMeshData, out navmesh);
Debug.Log("Navmesh.Create ---->" + theStatus + "---->" + (int)(theStatus & NavStatus.Sucess));
if (NavUtil.Failed(theStatus))
{
Debug.LogError("NavUtil.Failed(Navmesh.Create(navMeshData, out navmesh) Fail!");
}
Debug.Log("--------------------\n" + navMeshData + "---" + navMeshData.Length + "\n-----------------\nNavmesh-------" + navmesh);
}
if (navmesh == null)
{
Debug.LogError(" navmesh is null");
return(null);
}
NavmeshQuery query;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(" Aborted initialization. Failed query creation: " + status.ToString());
return(null);
}
CrowdManager crowd = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (crowd == null)
{
Debug.LogError("Aborted initialization. Failed crowd creation.");
return(null);
}
for (int i = 0; i < CrowdManager.MaxAvoidanceParams; i++)
{
crowd.SetAvoidanceConfig(i, CrowdAvoidanceConfig[i]);
}
NavGroup mGroup = new NavGroup(navmesh, query, crowd, crowd.QueryFilter, mExtents, false);
int count = AgentGroupSettingManager.GetGroupCount();
Dictionary <byte, NavAgentGroups> mAgentGroups = new Dictionary <byte, NavAgentGroups>(count);
for (int i = 0; i < count; i++)
{
byte groupId;
NavAgentGroups group = AgentGroupSettingManager.CreateAgentGroup(i, mMaxPath, mMaxStraightPath, out groupId);
group.angleAt = mAngleAt;
group.heightTolerance = mHeightTolerance;
group.turnThreshold = mTurnThreshold;
mAgentGroups.Add(groupId, group);
}
return(NavManager.Create(mMaxAgents, mGroup, mAgentGroups));
}