public void StartRobot()
{
BuildPathMap();
int vbsize = RecastMove.get_vb_size();
float[] vb = new float[vbsize];
RecastMove.get_vb(vb);
Dbgrendermesh.Clear();
for (int i = 0; i < vbsize;)
{
#if UNITY_EDITOR
Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
GameObject tempQie = AssetDatabase.LoadAssetAtPath("Assets/Models/obstacle_perfab/CubeOBBOX.prefab", typeof(GameObject)) as GameObject;
GameObject tempQie2 = (GameObject)GameObject.Instantiate(tempQie);
tempQie2.GetComponent <MeshRenderer>().enabled = true;
tempQie2.GetComponent <BoxCollider>().enabled = false;
tempQie2.AddComponent <RobotMove>();
tempQie2.GetComponent <RobotMove>().PathMap = PathMap;
tempQie2.GetComponent <RobotMove>().max = Dbgrendermesh.m_Mesh.bounds.max;
tempQie2.GetComponent <RobotMove>().min = Dbgrendermesh.m_Mesh.bounds.min;
//tempQie2.AddComponent<>();
tempQie2.transform.position = a;
tempQie2.name = i.ToString();
RobotList.Add(tempQie2);
i += 3;
#endif
}
}
public bool LoadOB(string _path)
{
IntPtr _ptr = Marshal.StringToHGlobalAnsi(_path);
RecastMove.maploadob_bin(_ptr);
RecastMove.load_ob_bin(_path);
//for (int i = 0; i < vbsize;)
//{
// Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
//
// GameObject tempQie = AssetDatabase.LoadAssetAtPath("Assets/Models/obstacle_perfab/CubeOBBOX.prefab", typeof(GameObject)) as GameObject;
// //GameObject tempQie = Resources.Load("perfab/CubeOBBOX") as GameObject;//通过prefab获取gameobject
// GameObject tempQie2 = (GameObject)GameObject.Instantiate(tempQie);
// tempQie2.transform.position = a;
// tempQie2.name = i.ToString();
// i += 3;
//}
return(false);
}
public void ShowRecastNavmesh(DbgRenderMesh renderMesh)
{
renderMesh.Clear();
int vbsize = RecastMove.get_vb_size();
vbsize = RecastMove.get_tri_vert_count() * 3;
float[] vb = new float[vbsize];
//RecastMove.get_vb(vb);
RecastMove.get_tri_vert_pos(vb);
Dbgrendermesh.Clear();
for (int i = 0; i < vbsize;)
{
Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
Vector3 b = new Vector3(vb[i + 3], vb[i + 4], vb[i + 5]);
Vector3 c = new Vector3(vb[i + 6], vb[i + 7], vb[i + 8]);
Dbgrendermesh.AddTriangle(new DbgRenderTriangle(a, b, c, _vcolor));
i += 9;
}
renderMesh.Rebuild();
renderMesh.ComputeBounds();
_Bounds = new Bounds(renderMesh.m_BBCenter, renderMesh.m_Max - renderMesh.m_Min);
int obsize = RecastMove.get_ob_count() * 3;
float[] op = new float[obsize];
RecastMove.get_ob_info(op);
for (int i = 0; i != obsize;)
{
if (first)
{
break;
}
first = true;
Vector3 pos = new Vector3(op[i++], op[i++], op[i++]);
// radius 1.0f, height 2.0f
GameObject tempQie = AssetDatabase.LoadAssetAtPath("Assets/Models/obstacle_perfab/CubeOBBOX.prefab", typeof(GameObject)) as GameObject;
GameObject tempQie2 = (GameObject)GameObject.Instantiate(tempQie);
tempQie2.transform.position = pos;
}
}
public void ShowRecastNavmesh(DbgRenderMesh renderMesh)
{
renderMesh.Clear();
int vbsize = RecastMove.get_vb_size();
float[] vb = new float[vbsize];
RecastMove.get_vb(vb);
Dbgrendermesh.Clear();
for (int i = 0; i < vbsize;)
{
Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
Vector3 b = new Vector3(vb[i + 3], vb[i + 4], vb[i + 5]);
Vector3 c = new Vector3(vb[i + 6], vb[i + 7], vb[i + 8]);
Dbgrendermesh.AddTriangle(new DbgRenderTriangle(a, b, c, _vcolor));
i += 9;
}
renderMesh.Rebuild();
}
public void InputUpdate()
{
bool leftClick = Input.GetMouseButtonDown(0);
bool rightClick = Input.GetMouseButtonDown(1);
if (leftClick || rightClick)
{
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (Physics.Raycast(ray.origin, ray.direction, out hit, 1000.0f))
{
if (rightClick)
{
print(hit.point);
float[] _ray = new float[3];
_ray[0] = ray.origin.x;
_ray[1] = ray.origin.y;
_ray[2] = ray.origin.z;
float[] _end = new float[3];
_end[0] = hit.point.x;
_end[1] = hit.point.y;
_end[2] = hit.point.z;
RecastMove.removeboxobstacle(_ray, _end);
}
else if (leftClick)
{
print(hit.point);
float[] pmin = new float[3];
pmin[0] = hit.point.x - ObstaclesSize.x * 0.5f;
pmin[1] = hit.point.y - ObstaclesSize.y * 0.5f;
pmin[2] = hit.point.z - ObstaclesSize.z * 0.5f;
float[] pmax = new float[3];
pmax[0] = hit.point.x + ObstaclesSize.x * 0.5f;
pmax[1] = hit.point.y + ObstaclesSize.y * 0.5f;
pmax[2] = hit.point.z + ObstaclesSize.z * 0.5f;
RecastMove.addboxobstacle(pmin, pmax);
}
}
}
}
public bool LoadBin(string _path)
{
IntPtr _ptr = Marshal.StringToHGlobalAnsi(_path);
RecastMove.mapload_bin(_ptr);
RecastMove.load_map_bin(_path);
//int vbsize = RecastMove.get_vb_size();
//float[] vb = new float[vbsize];
//RecastMove.get_vb(vb);
//m_DbgRenderMesh.Clear();
//for (int i = 0; i < vbsize;)
//{
// Vector3 a = new Vector3(vb[i], vb[i + 1], vb[i + 2]);
// Vector3 b = new Vector3(vb[i + 3], vb[i + 4], vb[i + 5]);
// Vector3 c = new Vector3(vb[i + 6], vb[i + 7], vb[i + 8]);
//
// m_DbgRenderMesh.AddTriangle(new DbgRenderTriangle(a, b, c, _vcolor));
// i += 9;
//}
return(false);
}
void restarcomput()
{
pathlist.Clear();
Vector3 point = PathMap[Random.Range(0, PathMap.Count - 1)];
while (!RecastMove.is_valid_point(point.x, point.y, point.z))
{
point = PathMap[Random.Range(0, PathMap.Count - 1)];
//point = new Vector3(Random.Range(min.x, max.x), 0.0f, Random.Range(min.z, max.z));
}
float[] start = new float[3];
start[0] = this.transform.position.x;
start[1] = this.transform.position.y;
start[2] = this.transform.position.z;
float[] end = new float[3];
end[0] = point.x;
end[1] = point.y;
end[2] = point.z;
int maxPoint = 256 * 3 * 3;
float[] _path = new float[maxPoint];
int patchcount = 0;
RecastMove.findPath(start, end, _path, ref patchcount);
for (int i = 0; i < patchcount * 3;)
{
Vector3 _i = new Vector3(_path[i], _path[i + 1], _path[i + 2]);
pathlist.Add(_i);
i += 3;
}
_endpos = this.transform.position;
}
public void ClearAllTempObstacles()
{
RecastMove.clearAllTempObstacles();
}
public void SaveObstacles(string _path)
{
IntPtr _ptr = Marshal.StringToHGlobalAnsi(_path);
RecastMove.saveObstaclesAll(_ptr);
}
// Update is called once per frame
void Update()
{
RecastMove.updateobstacle();
DebugViewUpdate();
InputUpdate();
}
protected virtual void OnDisable()
{
RecastMove.release_explorer();
}
