public void ComputeWayPoints()
{
path = new Vector3[32];
numPoints = 0;
if (steering != null)
{
start = planning.currentStateTransform.position;
end = planning.goalStateTransform.position;
numPoints = steering.FindPath(start, end, path, MaxNumberOfWaypoints);
//Debug.Log("Path found? " + numPoints);
}
if (numPoints > 0)
{
if (numPoints == 1)
{
return;
}
else
{
currentWaypoint = 1;
planning.currentGoal = path[currentWaypoint];
}
}
}
public static void CalculateNavigationMeshPath(Vector3 startPosition, Vector3 goalPosition, int passableMask)
{
ClearNavigationMeshPath();
switch (navigationMeshChoice)
{
default:
case NavigationMeshChoice.USE_UNITY:
NavMeshPath unityPath = new NavMeshPath();
NavMesh.CalculatePath(startPosition, goalPosition, passableMask, unityPath);
pathStatus = unityPath.status;
if (pathStatus == NavMeshPathStatus.PathInvalid)
{
numberOfNodes = 0;
}
else
{
if (unityPath.corners.Length >= maxNumberOfNodes)
{
Debug.LogWarning("Navigation mesh path greater than maximum number of nodes");
numberOfNodes = maxNumberOfNodes;
pathStatus = NavMeshPathStatus.PathPartial;
}
else
{
numberOfNodes = unityPath.corners.Length;
}
for (int i = 0; i < numberOfNodes; i++)
{
// MAKING SURE LAST WAYPOINT IS THE GOAL
if (i == numberOfNodes - 1)
{
path[i] = goalPosition;
}
else
{
path[i] = unityPath.corners[i];
}
// computing path cost
if (i == 0)
{
pathCost[i] = 0.0f;
}
else
{
// assuming that all off mesh links will override cost
if (CentralizedManager.IsOffMeshLink(path[i]))
{
pathCost[i] = CentralizedManager.GetOffMeshLinkInformation(path[i]).offMeshLink.costOverride;
}
else
{
pathCost[i] = Vector3.Distance(path[i], path[i - 1]);
}
}
totalPathCost += pathCost[i];
}
}
break;
case NavigationMeshChoice.USE_RECAST:
if (recastSteeringManager == null)
{
recastSteeringManager = GameObject.Find("ADAPTPrefab").GetComponentInChildren <SteeringManager>();
}
numberOfNodes = recastSteeringManager.FindPath(startPosition, goalPosition, path, maxNumberOfNodes);
if (numberOfNodes > 0)
{
path[numberOfNodes - 1] = goalPosition;
}
// computing path cost
for (int i = 1; i < numberOfNodes; i++)
{
// TODO : incorporate number of obstacles from centralized manager here
pathCost[i] = Vector3.Distance(path[i], path[i - 1]);
totalPathCost += pathCost[i];
}
if (numberOfNodes == 0)
{
pathStatus = NavMeshPathStatus.PathInvalid;
}
else if (numberOfNodes == maxNumberOfNodes)
{
pathStatus = NavMeshPathStatus.PathPartial;
}
else
{
pathStatus = NavMeshPathStatus.PathComplete;
}
break;
}
}
