private void AddGraphObstacles(Simulator sim, INavmesh ng)
{
int[] uses = new int[3];
Dictionary <int, int> outline = new Dictionary <int, int>();
Dictionary <int, Int3> vertexPositions = new Dictionary <int, Int3>();
HashSet <int> hasInEdge = new HashSet <int>();
ng.GetNodes(delegate(GraphNode _node)
{
TriangleMeshNode triangleMeshNode = _node as TriangleMeshNode;
uses[0] = (uses[1] = (uses[2] = 0));
if (triangleMeshNode != null)
{
for (int i = 0; i < triangleMeshNode.connections.Length; i++)
{
TriangleMeshNode triangleMeshNode2 = triangleMeshNode.connections[i].node as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
int num = triangleMeshNode.SharedEdge(triangleMeshNode2);
if (num != -1)
{
uses[num] = 1;
}
}
}
for (int j = 0; j < 3; j++)
{
if (uses[j] == 0)
{
int i2 = j;
int i3 = (j + 1) % triangleMeshNode.GetVertexCount();
outline[triangleMeshNode.GetVertexIndex(i2)] = triangleMeshNode.GetVertexIndex(i3);
hasInEdge.Add(triangleMeshNode.GetVertexIndex(i3));
vertexPositions[triangleMeshNode.GetVertexIndex(i2)] = triangleMeshNode.GetVertex(i2);
vertexPositions[triangleMeshNode.GetVertexIndex(i3)] = triangleMeshNode.GetVertex(i3);
}
}
}
});
List <Vector3> vertices = ListPool <Vector3> .Claim();
RVONavmesh.CompressContour(outline, hasInEdge, delegate(List <int> chain, bool cycle)
{
for (int i = 0; i < chain.Count; i++)
{
vertices.Add((Vector3)vertexPositions[chain[i]]);
}
this.obstacles.Add(sim.AddObstacle(vertices.ToArray(), this.wallHeight, cycle));
vertices.Clear();
});
ListPool <Vector3> .Release(vertices);
}
public void AddGraphObstacles(Simulator sim, NavGraph graph)
{
if (this.obstacles.Count > 0 && this.lastSim != null && this.lastSim != sim)
{
Debug.LogError("Simulator has changed but some old obstacles are still added for the previous simulator. Deleting previous obstacles.");
this.RemoveObstacles();
}
this.lastSim = sim;
INavmesh navmesh = graph as INavmesh;
if (navmesh == null)
{
return;
}
int[] uses = new int[20];
navmesh.GetNodes(delegate(GraphNode _node)
{
TriangleMeshNode triangleMeshNode = _node as TriangleMeshNode;
uses[0] = (uses[1] = (uses[2] = 0));
if (triangleMeshNode != null)
{
for (int i = 0; i < triangleMeshNode.connections.Length; i++)
{
TriangleMeshNode triangleMeshNode2 = triangleMeshNode.connections[i] as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
int num = triangleMeshNode.SharedEdge(triangleMeshNode2);
if (num != -1)
{
uses[num] = 1;
}
}
}
for (int j = 0; j < 3; j++)
{
if (uses[j] == 0)
{
Vector3 a = (Vector3)triangleMeshNode.GetVertex(j);
Vector3 b = (Vector3)triangleMeshNode.GetVertex((j + 1) % triangleMeshNode.GetVertexCount());
float val = Math.Abs(a.y - b.y);
val = Math.Max(val, 5f);
this.obstacles.Add(sim.AddObstacle(a, b, this.wallHeight));
}
}
}
return(true);
});
}
public void AddGraphObstacles(Simulator sim, NavGraph graph)
{
if (this.obstacles.get_Count() > 0 && this.lastSim != null && this.lastSim != sim)
{
this.RemoveObstacles();
}
this.lastSim = sim;
INavmesh navmesh = graph as INavmesh;
if (navmesh == null)
{
return;
}
int[] uses = new int[20];
navmesh.GetNodes(delegate(GraphNode _node)
{
TriangleMeshNode triangleMeshNode = _node as TriangleMeshNode;
uses[0] = (uses[1] = (uses[2] = 0));
if (triangleMeshNode != null)
{
for (int i = 0; i < triangleMeshNode.connections.Length; i++)
{
TriangleMeshNode triangleMeshNode2 = triangleMeshNode.connections[i] as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
int num = triangleMeshNode.SharedEdge(triangleMeshNode2);
if (num != -1)
{
uses[num] = 1;
}
}
}
for (int j = 0; j < 3; j++)
{
if (uses[j] == 0)
{
VInt3 vertex = triangleMeshNode.GetVertex(j);
VInt3 vertex2 = triangleMeshNode.GetVertex((j + 1) % triangleMeshNode.GetVertexCount());
this.obstacles.Add(sim.AddObstacle(vertex, vertex2, this.wallHeight));
}
}
}
return(true);
});
}
/** Adds obstacles for a graph */
public void AddGraphObstacles(Pathfinding.RVO.Simulator sim, NavGraph graph)
{
if (obstacles.Count > 0 && lastSim != null && lastSim != sim)
{
Debug.LogError("Simulator has changed but some old obstacles are still added for the previous simulator. Deleting previous obstacles.");
RemoveObstacles();
}
//Remember which simulator these obstacles were added to
lastSim = sim;
INavmesh ng = graph as INavmesh;
if (ng == null)
{
return;
}
//Assume less than 20 vertices per node (actually assumes 3, but I will change that some day)
int[] uses = new int[20];
ng.GetNodes(delegate(GraphNode _node) {
TriangleMeshNode node = _node as TriangleMeshNode;
uses[0] = uses[1] = uses[2] = 0;
if (node != null)
{
//Find out which edges are shared with other nodes
for (int j = 0; j < node.connections.Length; j++)
{
TriangleMeshNode other = node.connections[j] as TriangleMeshNode;
// Not necessarily a TriangleMeshNode
if (other != null)
{
int a = node.SharedEdge(other);
if (a != -1)
{
uses[a] = 1;
}
}
}
//Loop through all edges on the node
for (int j = 0; j < 3; j++)
{
//The edge is not shared with any other node
//I.e it is an exterior edge on the mesh
if (uses[j] == 0)
{
//The two vertices of the edge
Vector3 v1 = (Vector3)node.GetVertex(j);
Vector3 v2 = (Vector3)node.GetVertex((j + 1) % node.GetVertexCount());
//I think node vertices always should be clockwise, but it's good to be certain
/*if (!Polygon.IsClockwise (v1,v2,(Vector3)node.GetVertex((j+2) % node.GetVertexCount()))) {
* Vector3 tmp = v2;
* v2 = v1;
* v1 = tmp;
* }*/
#if ASTARDEBUG
Debug.DrawLine(v1, v2, Color.red);
Debug.DrawRay(v1, Vector3.up * wallHeight, Color.red);
#endif
//Find out the height of the wall/obstacle we are about to add
float height = System.Math.Abs(v1.y - v2.y);
height = System.Math.Max(height, 5);
//Add the edge as a line obstacle
obstacles.Add(sim.AddObstacle(v1, v2, wallHeight));
}
}
}
return(true);
});
}
public void AddGraphObstacles(Simulator sim, INavmesh ng)
{
if (this.obstacles.Count > 0 && this.lastSim != null && this.lastSim != sim)
{
Debug.LogError("Simulator has changed but some old obstacles are still added for the previous simulator. Deleting previous obstacles.");
this.RemoveObstacles();
}
this.lastSim = sim;
int[] uses = new int[20];
Dictionary <int, int> outline = new Dictionary <int, int>();
Dictionary <int, Int3> vertexPositions = new Dictionary <int, Int3>();
HashSet <int> hasInEdge = new HashSet <int>();
ng.GetNodes(delegate(GraphNode _node)
{
TriangleMeshNode triangleMeshNode = _node as TriangleMeshNode;
uses[0] = (uses[1] = (uses[2] = 0));
if (triangleMeshNode != null)
{
for (int j = 0; j < triangleMeshNode.connections.Length; j++)
{
TriangleMeshNode triangleMeshNode2 = triangleMeshNode.connections[j] as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
int num3 = triangleMeshNode.SharedEdge(triangleMeshNode2);
if (num3 != -1)
{
uses[num3] = 1;
}
}
}
for (int k = 0; k < 3; k++)
{
if (uses[k] == 0)
{
int i2 = k;
int i3 = (k + 1) % triangleMeshNode.GetVertexCount();
outline[triangleMeshNode.GetVertexIndex(i2)] = triangleMeshNode.GetVertexIndex(i3);
hasInEdge.Add(triangleMeshNode.GetVertexIndex(i3));
vertexPositions[triangleMeshNode.GetVertexIndex(i2)] = triangleMeshNode.GetVertex(i2);
vertexPositions[triangleMeshNode.GetVertexIndex(i3)] = triangleMeshNode.GetVertex(i3);
}
}
}
return(true);
});
for (int i = 0; i < 2; i++)
{
bool flag = i == 1;
foreach (int num in new List <int>(outline.Keys))
{
if (flag || !hasInEdge.Contains(num))
{
int key = num;
List <Vector3> list = new List <Vector3>();
list.Add((Vector3)vertexPositions[key]);
while (outline.ContainsKey(key))
{
int num2 = outline[key];
outline.Remove(key);
Vector3 item = (Vector3)vertexPositions[num2];
list.Add(item);
if (num2 == num)
{
break;
}
key = num2;
}
if (list.Count > 1)
{
sim.AddObstacle(list.ToArray(), this.wallHeight, flag);
}
}
}
}
}
private static void SearchReflectionPointFromIndex(Vector3d startPosi, int index, FixedABPath path, List <Vector3d> points)
{
var graph = AstarPath.active.graphs[0] as RecastGraph;
bool findStartPoint = true;
Vector3d left = new Vector3d();
Vector3d right = new Vector3d();
int leftIndex = -1;
int rightIndex = -1;
int startPosiIndex = -1;
for (int i = index; i < path.path.Count; i++)
{
if (i != 0)
{
TriangleMeshNode prenode = path.path[i - 1] as TriangleMeshNode;
TriangleMeshNode curnode = path.path[i] as TriangleMeshNode;
int a, b;
a = prenode.SharedEdge(curnode);
b = a == 2?0:a + 1;
Int3 l = new Int3(); Int3 r = new Int3();
if (a != -1)
{
l = prenode.GetVertex(a);
}
if (b != -1)
{
r = prenode.GetVertex(b);
}
if (findStartPoint)
{
left = Int3.ToVector3D(l);
right = Int3.ToVector3D(r);
leftIndex = i;
rightIndex = i;
findStartPoint = false;
}
else
{
var tempL = Int3.ToVector3D(l);
var tempR = Int3.ToVector3D(r);
var relationL = GetRelation(left - startPosi, right - startPosi, tempL - startPosi);
var relationR = GetRelation(left - startPosi, right - startPosi, tempR - startPosi);
//寻找拐点
if (relationR == VectorRelation.Left && relationL == VectorRelation.Left)
{
bool add = AddPoint(left, points);
startPosi = left;
startPosiIndex = leftIndex;
if (add)
{
SpawnGO(left, i);
}
break;
}
else if (relationR == VectorRelation.Right && relationL == VectorRelation.Right)
{
bool add = AddPoint(right, points);
startPosi = right;
startPosiIndex = rightIndex;
if (add)
{
SpawnGO(right, i);
}
break;
}
else if (relationR == VectorRelation.Equal && relationL == VectorRelation.Right)
{
bool add = AddPoint(right, points);
startPosi = right;
startPosiIndex = rightIndex;
if (add)
{
SpawnGO(right, i);
}
break;
}
else if (relationR == VectorRelation.Equal && relationL == VectorRelation.Left)
{
bool add = AddPoint(left, points);
startPosi = left;
startPosiIndex = leftIndex;
if (add)
{
SpawnGO(left, i);
}
break;
}
//else if (relationL == VectorRelation.Equal && relationR == VectorRelation.Left)
//{
// bool add = AddPoint(left, points);
// startPosi = left;
// startPosiIndex = i;
// if (add)
// SpawnGO(left, i);
// break;
//}
//else if (relationL == VectorRelation.Equal && relationR == VectorRelation.Right)
//{
// bool add = AddPoint(right, points);
// startPosi = right;
// startPosiIndex = i;
// if(add)
// SpawnGO(right, i);
// break;
//}
//改变左右
if (relationR == VectorRelation.Inside && relationL == VectorRelation.Inside)
{
left = tempL;
right = tempR;
leftIndex = i;
rightIndex = i;
}
if (relationL == VectorRelation.Inside || relationL == VectorRelation.Equal)
{
left = tempL;
leftIndex = i;
}
if (relationR == VectorRelation.Inside || relationR == VectorRelation.Equal)
{
right = tempR;
rightIndex = i;
}
if (i == path.path.Count - 1)
{
var relationEndPoint = GetRelation(left - startPosi, right - startPosi,
path.EndPoint - startPosi);
if (relationEndPoint == VectorRelation.Left)
{
AddPoint(left, points);
SpawnGO(left, i);
}
else if (relationEndPoint == VectorRelation.Right)
{
AddPoint(right, points);
SpawnGO(right, i);
}
}
}
}
}
if (startPosiIndex != -1)
{
startPosiIndex++;
SearchReflectionPointFromIndex(startPosi, startPosiIndex, path, points);
}
}
