public override void Start()
{
navMeshFilePath = GetScriptCustomAttribute("NavMesh");
dustPostObject = Find("Dust Post");
Console.WriteLine(navMeshFilePath);
if (!string.IsNullOrEmpty(navMeshFilePath))
{
Console.WriteLine(navMeshFilePath);
string resolvedPath = VirtualFileSystem.ResolvePath(navMeshFilePath);
m_aimNavMesh = AimNavMeshGenerator.Instance.GenerateNavMeshFromFile(resolvedPath);
}
AimSequenceNode sequence = new AimSequenceNode();
AimSelectorNode dustGetSelector = new AimSelectorNode();
AimBehaviourTreeConditionNode dustGetCondition = new AimBehaviourTreeConditionNode(ref m_dustPathGenerated);
AimSequenceNode dustGetSequence = new AimSequenceNode();
AimExecutionNode generateDustPosTask = new AimExecutionNode(GenerateDustPosition);
AimExecutionNode getPathTask = new AimExecutionNode(GetPathToDust);
AimSelectorNode dustCollectSelector = new AimSelectorNode();
AimBehaviourTreeConditionNode dustCollectCondition = new AimBehaviourTreeConditionNode(ref m_dustCollected);
AimSequenceNode dustCollectSequence = new AimSequenceNode();
AimExecutionNode moveTorwardsDustTask = new AimExecutionNode(MoveToDust);
AimExecutionNode collectDustTask = new AimExecutionNode(CollectDust);
aimBehaviourTree = new AimBehaviourTree();
aimBehaviourTree.SetRootNode(sequence);
sequence.AddChild(dustGetSelector);
dustGetSelector.AddChild(dustGetCondition);
dustGetSelector.AddChild(dustGetSequence);
dustGetSequence.AddChild(generateDustPosTask);
dustGetSequence.AddChild(getPathTask);
sequence.AddChild(dustCollectSelector);
dustCollectSelector.AddChild(dustCollectCondition);
dustCollectSelector.AddChild(dustCollectSequence);
dustCollectSequence.AddChild(moveTorwardsDustTask);
dustCollectSequence.AddChild(collectDustTask);
m_agent = AimAgentFactory.Instance.CreateAgent <AimAgent>();
m_agent.transform.position = new vec3(gameObject.transform.position);
}
public static AimAStarPath AimAStarEvaluate(vec3 startPosition, vec3 targetPoint, AimNavMesh navMesh, bool smoothing = true)
{
try
{
if (!navMesh.PointInNavMesh(targetPoint))
{
return(null);
}
List <AimAStarNode> openList = new List <AimAStarNode>();
List <AimAStarNode> closedList = new List <AimAStarNode>();
vec3 currentPosition = startPosition;
vec3 lastPoint = startPosition;
AimAStarNode lastNode = new AimAStarNode(currentPosition, lastPoint, targetPoint, null);
List <AimNavMeshTriangle> targetTriangles = navMesh.FindTriangles(targetPoint);
AimNavMeshTriangle targetTriangle = null;
if (targetTriangles.Count > 0)
{
targetTriangle = targetTriangles[0];
}
else
{
return(null);
}
while (true)
{
List <AimNavMeshTriangle> trianglesWithCurrentPoint = navMesh.FindTriangles(currentPosition);
bool foundTargetTriangle = false;
foreach (AimNavMeshTriangle triangle in trianglesWithCurrentPoint)
{
if (triangle == targetTriangle)
{
foundTargetTriangle = true;
}
}
if (foundTargetTriangle)
{
break;
}
List <vec3> adjacentPoints = navMesh.GetAdjacentPoints(currentPosition);
foreach (vec3 point in adjacentPoints)
{
bool pointFound = false;
foreach (AimAStarNode openListNode in openList)
{
if (openListNode.vertex == point)
{
pointFound = true;
float newGCost = AimAStarNode.CalculateGCost(point, lastPoint);
if (newGCost < openListNode.g)
{
openListNode.UpdateGCost(newGCost);
}
break;
}
}
if (!pointFound)
{
bool found = false;
foreach (AimAStarNode closedListNode in closedList)
{
if (closedListNode.vertex == point)
{
found = true;
}
}
if (!found)
{
openList.Add(new AimAStarNode(point, lastPoint, targetPoint, lastNode));
}
}
}
AimAStarNode lowestNode = GetNodeWithLowestFCost(openList);
if (lowestNode == null)
{
return(null);
}
foreach (AimAStarNode node in openList)
{
closedList.Add(node);
}
openList = new List <AimAStarNode>();
lastNode = lowestNode;
lastPoint = currentPosition;
currentPosition = lowestNode.vertex;
}
if (lastNode != null)
{
AimAStarNode currentNode = lastNode;
List <vec3> points = new List <vec3>();
while (currentNode.parentNode != null)
{
//push to the front.
points.Insert(0, currentNode.vertex);
currentNode = currentNode.parentNode;
}
points.Add(targetPoint);
if (points.Count > 1)
{
vec3 currentPoint = points[0];
vec3 checkPoint = points[1];
for (int i = 1; i < points.Count - 1; ++i)
{
vec3 nextPoint = points[i];
}
}
return(new AimAStarPath(points));
}
else
{
return(null);
}
}
catch (Exception e)
{
AimLogger.Instance.LogError(e);
return(null);
}
}
