public PNavEdge(PNavEdge edge)
{
selfPolygonIndex = edge.selfPolygonIndex;
otherPolygonIndex = edge.otherPolygonIndex;
distance = edge.distance;
width = edge.width;
hasOther = edge.hasOther;
pointA = edge.pointA;
pointB = edge.pointB;
}
static void BuildEdges(PNavPolygonGraph graph, int[] indices, int count, PNavPolygon polygon, Dictionary <long, PNavEdge> edgeMap)
{
int previous = 0;
Fix64Vec2 previousVector2 = Fix64Vec2.zero;
for (int i = 0; i < count; i++)
{
int current = indices[i];
Fix64Vec2 currentVector2 = polygon.verts[i];
if (i != 0)
{
long key = KeyForIndices(previous, current);
if (edgeMap.ContainsKey(key))
{
PNavEdge edge = edgeMap[key];
edge.otherPolygonIndex = polygon.index;
edge.hasOther = true;
PNavPolygon self = graph.polygons[edge.selfPolygonIndex];
edge.distance = Fix64Vec2.Distance(self.centroid, polygon.centroid);
PNavEdge newEdge = new PNavEdge(edge);
newEdge.SwapDirection();
polygon.edges.Add(newEdge);
}
else
{
PNavEdge edge = new PNavEdge();
edge.selfPolygonIndex = polygon.index;
edge.width = Fix64Vec2.Distance(previousVector2, currentVector2);
edge.pointA = previousVector2;
edge.pointB = currentVector2;
edgeMap[key] = edge;
polygon.edges.Add(edge);
}
}
previous = current;
previousVector2 = currentVector2;
}
int lastCurrent = indices[0];
long lastKey = KeyForIndices(previous, lastCurrent);
if (edgeMap.ContainsKey(lastKey))
{
PNavEdge edge = edgeMap[lastKey];
edge.otherPolygonIndex = polygon.index;
edge.hasOther = true;
PNavPolygon self = graph.polygons[edge.selfPolygonIndex];
edge.distance = Fix64Vec2.Distance(self.centroid, polygon.centroid);
PNavEdge newEdge = new PNavEdge(edge);
newEdge.SwapDirection();
polygon.edges.Add(newEdge);
}
else
{
PNavEdge edge = new PNavEdge();
edge.selfPolygonIndex = polygon.index;
edge.width = Fix64Vec2.Distance(previousVector2, polygon.verts[0]);
edge.pointA = previousVector2;
edge.pointB = polygon.verts[0];
edgeMap[lastKey] = edge;
polygon.edges.Add(edge);
}
}
public bool NextCorner1(Fix64Vec3 position, Fix64 width, ref Fix64Vec3 corner, ref int index)
{
//if corner not found stay at current position
corner = position;
if (Status != ParallelNavMeshPathStatus.Valid)
{
return(false);
}
if (index < 0)
{
index = startIndex;
}
if (index == MAX_CORNER_COUNT)
{
//reached last polygon, invalidate path
index = -1;
Status = ParallelNavMeshPathStatus.Invalid;
return(false);
}
Fix64Vec2 testPosition = new Fix64Vec2(position.x, position.z);
int polygonIndex = polygonIndexes[index];
PNavPolygon currentPolygon = island.graph.polygons[polygonIndex];
int nextIndex = index + 1;
if (nextIndex >= MAX_CORNER_COUNT)
{
//reached final polygon
index = MAX_CORNER_COUNT;
corner = Destination;
return(false);
}
int nextPolygonIndex = polygonIndexes[nextIndex];
PNavPolygon nextPolygon = island.graph.polygons[nextPolygonIndex];
PNavEdge edge = FindEdge(currentPolygon, nextPolygon, width);
if (edge != null)
{
Fix64Vec2 pointOnEdge = Fix64Math.FindNearestPointOnLine(testPosition, edge.pointA, edge.pointB);
Fix64 distanceToA = Fix64Vec2.Distance(pointOnEdge, edge.pointA);
Fix64 distanceToB = edge.width - distanceToA;
Fix64Vec2 ba = edge.pointB - edge.pointA;
ba = ba.normalized;
Fix64 halfWidth = width / Fix64.two;
if (distanceToA < halfWidth)
{
pointOnEdge = edge.pointA + ba * halfWidth;
}
else if (distanceToB < halfWidth)
{
pointOnEdge = edge.pointB - ba * halfWidth;
}
corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y);
index = nextIndex;
return(true);
}
return(false);
}
//http://digestingduck.blogspot.com/2010/03/simple-stupid-funnel-algorithm.html
void ProcessNextPolygon()
{
//Debug.Log($"ProcessNextPolygon {_pathPolygonIndex}");
Fix64Vec2 pos = _waypoints[_waypoints.Count - 1];
if (_pathPolygonIndex == 128)
{
//Debug.Log("LAST POLYGON");
if (_minLeftVector == Fix64Vec2.zero)
{
//Debug.Log("GO to destination directly");
_waypoints.Add(_path.Destination2D);
ResetPathValues();
return;
}
Fix64Vec2 destinationVector = _path.Destination2D - pos;
bool destinationLeftOfMinLeft = Fix64Vec2.Cross(_minLeftVector, destinationVector) > Fix64.zero;
bool destinationRightOfMinRight = Fix64Vec2.Cross(_minRightVector, destinationVector) < Fix64.zero;
bool lastRecalculate = false;
bool useLeft = true;
if (destinationLeftOfMinLeft && destinationRightOfMinRight)
{
//when both are too be added
//use the one that is closer to pos
Fix64 leftDis = Fix64Vec2.Distance(_minLeft, pos);
Fix64 rightDis = Fix64Vec2.Distance(_minRight, pos);
if (leftDis > rightDis)
{
useLeft = false;
}
}
if (destinationLeftOfMinLeft && useLeft)
{
_waypoints.Add(_minLeft);
pos = _minLeft;
_pathPolygonIndex = _leftPolygonIndex;
_previousPolygon = _leftPreviousPolygon;
lastRecalculate = true;
}
if (destinationRightOfMinRight && !lastRecalculate)
{
_waypoints.Add(_minRight);
pos = _minRight;
_pathPolygonIndex = _rightPolygonIndex;
_previousPolygon = _rightPreviousPolygon;
lastRecalculate = true;
}
if (!lastRecalculate)
{
//Debug.Log("GO to destination directly");
_waypoints.Add(_path.Destination2D);
ResetPathValues();
}
else
{
_minLeftVector = Fix64Vec2.zero;
}
return;
}
if (_finishedProcessing)
{
return;
}
int polygonIndex = _path.polygonIndexes[_pathPolygonIndex];
PNavPolygon currentPolygon = _path.island.graph.polygons[polygonIndex];
PNavEdge edge = _path.FindEdge(_previousPolygon, currentPolygon, Fix64.zero);
if (edge == null)
{
Debug.LogError("No Edge found");
return;
}
_previousPolygon = currentPolygon;
_pathPolygonIndex++;
Fix64Vec2 ab = edge.pointB - edge.pointA;
Fix64Vec2 ba = edge.pointA - edge.pointB;
Fix64Vec2 pa = edge.pointA + ab.normalized * error;
Fix64Vec2 pb = edge.pointB + ba.normalized * error;
Fix64Vec2 vA = pa - pos;
Fix64Vec2 vB = pb - pos;
Fix64 c = Fix64Vec2.Cross(vA, vB);
Fix64Vec2 left = pb;
Fix64Vec2 right = pa;
if (c > Fix64.zero)
{
//Debug.Log($"POSITVE: pointA is on the right. pA={pa} pB={pb} pos={pos}");
}
else
{
//Debug.Log($"NEGTIVE: pointA is on the left. pA={pa} pB={pb} pos={pos}");
right = pb;
left = pa;
}
if (_minLeftVector == Fix64Vec2.zero)
{
_minLeft = left;
_minRight = right;
_minLeftVector = left - pos;
_minRightVector = right - pos;
_leftPolygonIndex = _pathPolygonIndex;
_rightPolygonIndex = _pathPolygonIndex;
_leftPreviousPolygon = _previousPolygon;
_rightPreviousPolygon = _previousPolygon;
return;
}
Fix64Vec2 newLeftVector = left - pos;
Fix64Vec2 newRightVector = right - pos;
bool newLeftIsRightToOldRight = Fix64Vec2.Cross(_minRightVector, newLeftVector) < Fix64.zero;
bool newRightIsLeftToOldLeft = Fix64Vec2.Cross(_minLeftVector, newRightVector) > Fix64.zero;
bool recalculateNewVectors = false;
if (newLeftIsRightToOldRight)
{
//move to old right and recalculate
_waypoints.Add(_minRight);
pos = _minRight;
_pathPolygonIndex = _rightPolygonIndex;
_previousPolygon = _rightPreviousPolygon;
recalculateNewVectors = true;
}
if (newRightIsLeftToOldLeft && !recalculateNewVectors)
{
//move to old left and recalculate
_waypoints.Add(_minLeft);
pos = _minLeft;
_pathPolygonIndex = _leftPolygonIndex;
_previousPolygon = _leftPreviousPolygon;
recalculateNewVectors = true;
}
if (recalculateNewVectors)
{
_minLeftVector = Fix64Vec2.zero;
return;
}
else
{
bool newLeftIsOk = Fix64Vec2.Cross(_minLeftVector, newLeftVector) <= Fix64.zero;
bool newRightIsOk = Fix64Vec2.Cross(_minRightVector, newRightVector) >= Fix64.zero;
if (newLeftIsOk)
{
_minLeft = left;
_minLeftVector = newLeftVector;
_leftPolygonIndex = _pathPolygonIndex;
_leftPreviousPolygon = _previousPolygon;
}
if (newRightIsOk)
{
_minRight = right;
_minRightVector = newRightVector;
_rightPolygonIndex = _pathPolygonIndex;
_rightPreviousPolygon = _previousPolygon;
}
}
}
public bool NextCorner(Fix64Vec3 position, Fix64 width, ref Fix64Vec3 corner, ref int index)
{
//if corner not found stay at current position
corner = position;
if (Status != ParallelNavMeshPathStatus.Valid)
{
return(false);
}
index = BoundaryCheckIndex(index);
if (index == -1)
{
Status = ParallelNavMeshPathStatus.Invalid;
return(false);
}
Fix64Vec2 testPosition = new Fix64Vec2(position.x, position.z);
Fix64Vec2 pa = Fix64Vec2.zero;
Fix64Vec2 pb = Fix64Vec2.zero;
bool pointABSet = false;
if (polygonIndexes == null)
{
//destination polygon and start polygon is the same
index = MAX_CORNER_COUNT;
}
while (index <= MAX_CORNER_COUNT)
{
if (index == MAX_CORNER_COUNT)
{
//reached final polygon
if (pointABSet)
{
//check if destination is in the span of pa and pb
Fix64Vec2 des = new Fix64Vec2(Destination.x, Destination.z);
Fix64Vec2 vd = des - testPosition;
Fix64Vec2 va = pa - testPosition;
Fix64Vec2 vb = pb - testPosition;
bool desInSpan = Fix64Math.InSpan(vd, va, vb);
if (!desInSpan)
{
Fix64Vec2 pointOnEdge = FindNearestPointOnEdge(testPosition, pa, pb, width);
index--;
corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y);
return(true);
}
}
corner = Destination;
break;
}
int nextIndex = index + 1;
int polygonIndex = polygonIndexes[index];
PNavPolygon currentPolygon = island.graph.polygons[polygonIndex];
int nextPolygonIndex = polygonIndexes[nextIndex];
PNavPolygon nextPolygon = island.graph.polygons[nextPolygonIndex];
PNavEdge edge = FindEdge(currentPolygon, nextPolygon, width);
if (edge != null)
{
if (!pointABSet)
{
pa = edge.pointA;
pb = edge.pointB;
pointABSet = true;
}
else
{
Fix64Vec2 va = pa - testPosition;
Fix64Vec2 vb = pb - testPosition;
Fix64 AXB = Fix64Vec2.Cross(va, vb);
Fix64 BXA = Fix64Vec2.Cross(vb, va);
Fix64Vec2 pa1 = edge.pointA;
Fix64Vec2 pb1 = edge.pointB;
Fix64Vec2 va1 = pa1 - testPosition;
Fix64Vec2 vb1 = pb1 - testPosition;
Fix64 A1XB1 = Fix64Vec2.Cross(va1, vb1);
bool sameDirection = A1XB1 * AXB > Fix64.zero;
bool va1InsideOfSpan = Fix64Math.InSpan(va1, va, vb);
bool vb1InsideOfSpan = Fix64Math.InSpan(vb1, va, vb);
if (va1InsideOfSpan)
{
if (sameDirection)
{
bool valid = IsValidEdgePoint(testPosition, pb, pa1, width);
if (valid)
{
pa = pa1;
}
else
{
va1InsideOfSpan = false;
}
}
else
{
bool valid = IsValidEdgePoint(testPosition, pa, pa1, width);
if (valid)
{
pb = pa1;
}
else
{
va1InsideOfSpan = false;
}
}
}
if (vb1InsideOfSpan)
{
if (sameDirection)
{
bool valid = IsValidEdgePoint(testPosition, pa, pb1, width);
if (valid)
{
pb = pb1;
}
else
{
vb1InsideOfSpan = false;
}
}
else
{
bool valid = IsValidEdgePoint(testPosition, pb, pb1, width);
if (valid)
{
pa = pb1;
}
else
{
vb1InsideOfSpan = false;
}
}
}
if (!va1InsideOfSpan && !vb1InsideOfSpan)
{
Fix64Vec2 pointOnEdge = FindNearestPointOnEdge(testPosition, pa, pb, width);
corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y);
index--;
return(true);
}
}
}
else
{
break;
}
index = BoundaryCheckIndex(nextIndex);
}
return(false);
}
