public void FindPath( FindPathContext context )
{
if( tiledNavMesh != null )
{
if( navMeshQuery == null )
navMeshQuery = new NavMeshQuery( tiledNavMesh, PathfindingMaxNodes );
try
{
var extents = ToSharpNav( context.PolygonPickExtents, true );
var startPt = navMeshQuery.FindNearestPoly( ToSharpNav( context.Start ), extents );
var endPt = navMeshQuery.FindNearestPoly( ToSharpNav( context.End ), extents );
var filter = new NavQueryFilter();
var path = new SharpNav.Pathfinding.Path();
var found = navMeshQuery.FindPath( ref startPt, ref endPt, filter, path );
Vector3[] pathResult = null;
if( found )
{
//find a smooth path over the mesh surface
int npolys = path.Count;
SharpNav.Geometry.Vector3 iterPos = new SharpNav.Geometry.Vector3();
SharpNav.Geometry.Vector3 targetPos = new SharpNav.Geometry.Vector3();
navMeshQuery.ClosestPointOnPoly( startPt.Polygon, startPt.Position, ref iterPos );
navMeshQuery.ClosestPointOnPoly( path[ npolys - 1 ], endPt.Position, ref targetPos );
var smoothPath = new List<SharpNav.Geometry.Vector3>( context.MaxSmoothPath );
smoothPath.Add( iterPos );
//for( int n = 0; n < path.Count; n++ )
//{
// Vector3 closest = Vector3.Zero;
// if( navMeshQuery.ClosestPointOnPoly( path[ n ], startPt.Position, ref closest ) )
// smoothPath.Add( closest );
//}
float stepSize = (float)context.StepSize;
float slop = (float)context.Slop;
while( npolys > 0 && smoothPath.Count < smoothPath.Capacity )
{
//find location to steer towards
SharpNav.Geometry.Vector3 steerPos = new SharpNav.Geometry.Vector3();
StraightPathFlags steerPosFlag = 0;
NavPolyId steerPosRef = NavPolyId.Null;
if( !GetSteerTarget( navMeshQuery, iterPos, targetPos, slop, path, ref steerPos, ref steerPosFlag, ref steerPosRef ) )
break;
bool endOfPath = ( steerPosFlag & StraightPathFlags.End ) != 0 ? true : false;
bool offMeshConnection = ( steerPosFlag & StraightPathFlags.OffMeshConnection ) != 0 ? true : false;
//find movement delta
SharpNav.Geometry.Vector3 delta = steerPos - iterPos;
float len = (float)Math.Sqrt( SharpNav.Geometry.Vector3.Dot( delta, delta ) );
//if steer target is at end of path or off-mesh link
//don't move past location
if( ( endOfPath || offMeshConnection ) && len < stepSize )
len = 1;
else
len = stepSize / len;
SharpNav.Geometry.Vector3 moveTgt = new SharpNav.Geometry.Vector3();
VMad( ref moveTgt, iterPos, delta, len );
//move
SharpNav.Geometry.Vector3 result = new SharpNav.Geometry.Vector3();
List<NavPolyId> visited = new List<NavPolyId>( 16 );
NavPoint startPoint = new NavPoint( path[ 0 ], iterPos );
navMeshQuery.MoveAlongSurface( ref startPoint, ref moveTgt, out result, visited );
path.FixupCorridor( visited );
npolys = path.Count;
float h = 0;
navMeshQuery.GetPolyHeight( path[ 0 ], result, ref h );
result.Y = h;
iterPos = result;
//handle end of path when close enough
if( endOfPath && InRange( iterPos, steerPos, slop, 1.0f ) )
{
//reached end of path
iterPos = targetPos;
if( smoothPath.Count < smoothPath.Capacity )
smoothPath.Add( iterPos );
break;
}
//store results
if( smoothPath.Count < smoothPath.Capacity )
smoothPath.Add( iterPos );
}
pathResult = new Vector3[ smoothPath.Count ];
for( int n = 0; n < pathResult.Length; n++ )
pathResult[ n ] = ToEngine( smoothPath[ n ] );
//if( pathCount > 0 )
//{
// path = new Vec3[ pathCount ];
// //!!!!double support
// for( int n = 0; n < pathCount; n++ )
// path[ n ] = ToEngineVec3( pathPointer[ n ] );
//}
//else
// path = new Vec3[] { context.Start };
}
context.Path = pathResult;
}
catch( Exception e )
{
context.Error = e.Message;
}
}
else
context.Error = "No NavMesh";
context.Finished = true;
}
public void GeneratePathfinding()
{
/* 生成路径寻找
* 1. 根据polymesh
*
*/
Random rand = new Random();
NavQueryFilter filter = new NavQueryFilter();
//1.
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
OutMesh();
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
//Find random start and end points on the poly mesh
/*int startRef;
* navMeshQuery.FindRandomPoint(out startRef, out startPos);*/
SVector3 c = new SVector3(21.4f, 0, -122f);
SVector3 e = new SVector3(5, 5, 5);
navMeshQuery.FindNearestPoly(ref c, ref e, out startPt);
//navMeshQuery.FindRandomPointAroundCircle(ref startPt, 1000, out endPt);
//endPt = new NavPoint(new NavPolyId(20), new SVector3(-10, -2, 10));
c = new SVector3(150.7f, 0, -59f);
e = new SVector3(5, 5, 5);
navMeshQuery.FindNearestPoly(ref c, ref e, out endPt);
//calculate the overall path, which contains an array of polygon references
int MAX_POLYS = 256;
path = new SharpNav.Pathfinding.Path();
navMeshQuery.FindPath(ref startPt, ref endPt, filter, path);
//find a smooth path over the mesh surface
int npolys = path.Count;
SVector3 iterPos = new SVector3();
SVector3 targetPos = new SVector3();
navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos);
navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos);
//smoothPath = new List<SVector3>(2048);
//smoothPath.Add(iterPos);
//float STEP_SIZE = 5f;
//float SLOP = 0.01f;
//while (npolys > 0 && smoothPath.Count < smoothPath.Capacity)
//{
// //find location to steer towards
// SVector3 steerPos = new SVector3();
// StraightPathFlags steerPosFlag = 0;
// NavPolyId steerPosRef = NavPolyId.Null;
// if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef))
// break;
// bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false;
// bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false;
// //find movement delta
// SVector3 delta = steerPos - iterPos;
// float len = (float)Math.Sqrt(SVector3.Dot(delta, delta));
// //if steer target is at end of path or off-mesh link
// //don't move past location
// if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
// len = 1;
// else
// len = STEP_SIZE / len;
// SVector3 moveTgt = new SVector3();
// VMad(ref moveTgt, iterPos, delta, len);
// //move
// SVector3 result = new SVector3();
// List<NavPolyId> visited = new List<NavPolyId>(16);
// NavPoint startPoint = new NavPoint(path[0], iterPos);
// navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited);
// path.FixupCorridor(visited);
// npolys = path.Count;
// float h = 0;
// navMeshQuery.GetPolyHeight(path[0], result, ref h);
// result.Y = h;
// iterPos = result;
// //handle end of path when close enough
// if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f))
// {
// //reached end of path
// iterPos = targetPos;
// if (smoothPath.Count < smoothPath.Capacity)
// {
// smoothPath.Add(iterPos);
// }
// break;
// }
// //store results
// if (smoothPath.Count < smoothPath.Capacity)
// {
// smoothPath.Add(iterPos);
// }
//}
StraightPath corners = new StraightPath();
FindCorners(startPt.Position, endPt.Position, corners, navMeshQuery);
}
private void GeneratePathfinding()
{
if (!hasGenerated)
{
return;
}
NavQueryFilter filter = new NavQueryFilter();
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
for (int i = 0; i < tiledNavMesh.Tiles.Count; ++i)
{
for (int j = 0; j < tiledNavMesh.Tiles[i].Verts.Length; ++j)
{
if (j < tiledNavMesh.Tiles[i].Verts.Length - 1)
{
Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(tiledNavMesh.Tiles[i].Verts[j]), ExportNavMeshToObj.ToUnityVector(tiledNavMesh.Tiles[i].Verts[j + 1]), Color.blue, 99);
}
}
}
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
//Find random start and end points on the poly mesh
/*int startRef;
* navMeshQuery.FindRandomPoint(out startRef, out startPos);*/
//SVector3 c = new SVector3(10, 0, 0);
//SVector3 e = new SVector3(5, 5, 5);
//navMeshQuery.FindNearestPoly(ref c, ref e, out startPt);
//navMeshQuery.FindRandomPointAroundCircle(ref startPt, 1000, out endPt);
startPt = navMeshQuery.FindRandomPoint();
endPt = navMeshQuery.FindRandomPoint();
//calculate the overall path, which contains an array of polygon references
int MAX_POLYS = 256;
path = new Path();
navMeshQuery.FindPath(ref startPt, ref endPt, filter, path);
//find a smooth path over the mesh surface
int npolys = path.Count;
SVector3 iterPos = new SVector3();
SVector3 targetPos = new SVector3();
navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos);
navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos);
smoothPath = new List <SVector3>(2048);
smoothPath.Add(iterPos);
float STEP_SIZE = 0.5f;
float SLOP = 0.01f;
while (npolys > 0 && smoothPath.Count < smoothPath.Capacity)
{
//find location to steer towards
SVector3 steerPos = new SVector3();
StraightPathFlags steerPosFlag = 0;
NavPolyId steerPosRef = NavPolyId.Null;
if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef))
{
break;
}
bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false;
//find movement delta
SVector3 delta = steerPos - iterPos;
float len = (float)Math.Sqrt(SVector3.Dot(delta, delta));
//if steer target is at end of path or off-mesh link
//don't move past location
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{
len = 1;
}
else
{
len = STEP_SIZE / len;
}
SVector3 moveTgt = new SVector3();
VMad(ref moveTgt, iterPos, delta, len);
//move
SVector3 result = new SVector3();
List <NavPolyId> visited = new List <NavPolyId>(16);
NavPoint startPoint = new NavPoint(path[0], iterPos);
navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited);
path.FixupCorridor(visited);
npolys = path.Count;
float h = 0;
navMeshQuery.GetPolyHeight(path[0], result, ref h);
result.Y = h;
iterPos = result;
//handle end of path when close enough
if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f))
{
//reached end of path
iterPos = targetPos;
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(iterPos);
}
break;
}
//store results
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(iterPos);
}
}
for (int i = 0; i < smoothPath.Count; i++)
{
if (i < smoothPath.Count - 1)
{
Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(smoothPath[i]), ExportNavMeshToObj.ToUnityVector(smoothPath[i + 1]), Color.red, 99);
}
}
}
