public override Goal Decompose(KinematicData character, Goal goal)
{
AStarPathfinding Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
// In goal, ends
if (Astar.StartNode.Equals(Astar.GoalNode))
{
return(goal);
}
// else, plan
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
// gets first node
goal.position = currentSolution.PathNodes[0].Position;
return(goal);
}
}
return(goal);
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
//float cost;
Gateway startGate;
Gateway endGate;
var pathfindingAlgorithm = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.gateways.Count];
for (int i = 0; i < clusterGraph.gateways.Count; i++)
{
var row = new GatewayDistanceTableRow();
row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
startGate = clusterGraph.gateways[i];
for (int j = 0; j < clusterGraph.gateways.Count; j++)
{
endGate = clusterGraph.gateways[j];
row.entries[j] = new GatewayDistanceTableEntry()
{
startGatewayPosition = startGate.Localize(),
endGatewayPosition = endGate.Localize()
};
if (i != j)
{
pathfindingAlgorithm.InitializePathfindingSearch(startGate.Localize(), endGate.Localize());
bool finished = pathfindingAlgorithm.Search(out solution);
if (finished && solution != null)
{
row.entries[j].shortestDistance = solution.Length;
}
else
{
row.entries[j].shortestDistance = float.MaxValue;
}
}
else
{
row.entries[j].shortestDistance = 0.0f;
}
}
clusterGraph.gatewayDistanceTable[i] = row;
}
//Debug.Log("Distance table with: " + clusterGraph.gatewayDistanceTable.Length + " rows and " + clusterGraph.gatewayDistanceTable[0].entries.Length + " columns.");
//string print = "[";
//for (int i = 0; i < clusterGraph.gatewayDistanceTable.Length; i++)
//{
// print += "[";
// for(int j= 0; j < clusterGraph.gatewayDistanceTable[i].entries.Length; j++)
// {
// print += clusterGraph.gatewayDistanceTable[i].entries[j].shortestDistance + ", ";
// }
// print += "]\n";
//}
//print += "]";
//Debug.Log(print);
//do not change this
var nodes = GetNodesHack(navMesh);
clusterGraph.nodesCluster = new Cluster[nodes.Count];
foreach (var n in nodes)
{
var pos = n.LocalPosition;
foreach (var c in clusterGraph.clusters)
{
if (pos.x >= c.min.x && pos.x <= c.max.x && pos.z >= c.min.z && pos.z <= c.max.z)
{
clusterGraph.nodesCluster[n.NodeIndex] = c;
break;
}
}
}
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.gateways.Count];
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
float cost;
Gateway startGate;
Gateway endGate;
Vector3 startGatewayPos;
Vector3 endGatewayPos;
var pathfindingManager = new PathfindingManager();
pathfindingManager.Initialize(navMesh, new NodeArrayAStarPathFinding(navMesh, new EuclideanHeuristic()));
AStarPathfinding pathfinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanHeuristic());
//TODO implement the rest of the algorithm here, i.e. build the GatewayDistanceTable
//GatewayDistanceTableRow row = new GatewayDistanceTableRow();
//OPTIMIZED VERSION
for (int i = 0; i < clusterGraph.gateways.Count; ++i)
{
GatewayDistanceTableRow row = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
row.entries[i] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
row.entries[i].startGatewayPosition = clusterGraph.gateways[i].center;
row.entries[i].endGatewayPosition = clusterGraph.gateways[i].center;
row.entries[i].shortestDistance = 0;
for (int j = i + 1; j < clusterGraph.gateways.Count; ++j)
{
startGatewayPos = clusterGraph.gateways[i].center;
endGatewayPos = clusterGraph.gateways[j].center;
pathfinding.InitializePathfindingSearch(startGatewayPos, endGatewayPos);
while (solution == null)
{
bool finished = pathfinding.Search(out solution, false);
}
List <Vector3> pathPos = solution.PathPositions;
cost = 0;
for (int k = 0; k < pathPos.Count - 1; ++k)
{
cost += (pathPos[k + 1] - pathPos[k]).magnitude;
}
solution = null;
row.entries[j] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
row.entries[j].startGatewayPosition = startGatewayPos;
row.entries[j].endGatewayPosition = endGatewayPos;
row.entries[j].shortestDistance = cost;
}
for (int k = 0; k < i; ++k)
{
row.entries[k] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
row.entries[k].startGatewayPosition = clusterGraph.gatewayDistanceTable[k].entries[i].endGatewayPosition;
row.entries[k].endGatewayPosition = clusterGraph.gatewayDistanceTable[k].entries[i].startGatewayPosition;
row.entries[k].shortestDistance = clusterGraph.gatewayDistanceTable[k].entries[i].shortestDistance;
Debug.Log(row.entries[k].shortestDistance + " " + clusterGraph.gatewayDistanceTable[k].entries[i].shortestDistance);
}
clusterGraph.gatewayDistanceTable[i] = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
clusterGraph.gatewayDistanceTable[i] = row;
}
//int j = 0;
//foreach (Gateway gate in clusterGraph.gateways)
//{
// GatewayDistanceTableRow row = ScriptableObject.CreateInstance<GatewayDistanceTableRow>();
// row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
// int i = 0;
// foreach (Gateway gate2 in clusterGraph.gateways)
// {
// if(!gate.center.Equals(gate2.center))
// {
// pathfinding.InitializePathfindingSearch(gate.center, gate2.center);
// while (solution == null)
// {
// bool finished = pathfinding.Search(out solution, false);
// }
// cost = solution.Length;
// solution = null;
// row.entries[i] = ScriptableObject.CreateInstance<GatewayDistanceTableEntry>();
// row.entries[i].startGatewayPosition = gate.center;
// row.entries[i].endGatewayPosition = gate2.center;
// row.entries[i].shortestDistance = cost;
// //Debug.Log("======================================!!!!!!!!!!!!!!!!!!!!" + row.entries[i].startGatewayPosition + gate.center);
// //Debug.Log("======================================\\\\\\\\\\\\\\\\\\\\" + row.entries[i].endGatewayPosition);
// }
// else
// {
// row.entries[i] = ScriptableObject.CreateInstance<GatewayDistanceTableEntry>();
// row.entries[i].startGatewayPosition = gate.center;
// row.entries[i].endGatewayPosition = gate2.center;
// row.entries[i].shortestDistance = 0;
// }
// i++;
// }
// clusterGraph.gatewayDistanceTable[j] = ScriptableObject.CreateInstance<GatewayDistanceTableRow>();
// clusterGraph.gatewayDistanceTable[j] = row;
// //Debug.Log("j======== " + j);
// if (j > 0)
// {
// Debug.Log("aaaaaaaaaaaaaaaaaaaa====== " + clusterGraph.gatewayDistanceTable[1].entries[2].startGatewayPosition + row.entries[2].startGatewayPosition);
// }
// j++;
//}
//foreach (var a in clusterGraph.gatewayDistanceTable)
//{
// foreach(var b in a.entries)
// {
// Debug.Log("shortestDistance = " + b.shortestDistance);
// Debug.Log("startGatewayPosition = " + b.startGatewayPosition);
// Debug.Log("endGatewayPosition = " + b.endGatewayPosition);
// }
// Debug.Log("ACABOU ENTRYYYYYYYYYYYYYYYY\n\n");
//}
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//sort by name to be able to manually create the master clusters
Array.Sort(clusters, CompareObNames);
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
//Creating master clusters
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[1], clusterGraph.clusters[2]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[3], clusterGraph.clusters[4], clusterGraph.clusters[5], clusterGraph.clusters[18]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[19], clusterGraph.clusters[20], clusterGraph.clusters[21], clusterGraph.clusters[22], clusterGraph.clusters[23]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[24], clusterGraph.clusters[25], clusterGraph.clusters[26], clusterGraph.clusters[27], clusterGraph.clusters[28], clusterGraph.clusters[29]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[7], clusterGraph.clusters[8], clusterGraph.clusters[9], clusterGraph.clusters[10], clusterGraph.clusters[11], clusterGraph.clusters[12], clusterGraph.clusters[13], clusterGraph.clusters[14]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[6], clusterGraph.clusters[16], clusterGraph.clusters[17]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[0]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[15]));
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
float cost;
Gateway startGate;
Gateway endGate;
int gatewaysCount = gateways.Length;
int k, j;
var pathfindingAlgorithm = new NodeArrayAStarPathFinding(navMesh, new EuclidianHeuristic());
GatewayDistanceTableRow[] distanceTable = new GatewayDistanceTableRow[gatewaysCount];
for (k = 0; k < gatewaysCount; k++)
{
GatewayDistanceTableRow distanceTableRow = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
distanceTableRow.Initialize(gatewaysCount);
startGate = clusterGraph.gateways[k];
for (j = 0; j < gatewaysCount; j++)
{
endGate = clusterGraph.gateways[j];
if (startGate == endGate)
{
cost = 0;
}
else
{
pathfindingAlgorithm.InitializePathfindingSearch(startGate.Localize(), endGate.Localize());
pathfindingAlgorithm.Search(out solution);
solution.CalculateLength();
cost = solution.Length;
}
GatewayDistanceTableEntry entry = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
entry.Initialize(startGate.Localize(), endGate.Localize(), cost);
distanceTableRow.AddEntry(entry, j);
}
distanceTable[k] = distanceTableRow;
}
clusterGraph.gatewayDistanceTable = distanceTable;
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
float cost;
Gateway startGate;
Gateway endGate;
var pathfindingAlgorithm = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
//TODO implement the rest of the algorithm here, i.e. build the GatewayDistanceTable
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.gateways.Count];
for (int i = 0; i < clusterGraph.gateways.Count; i++)
{
startGate = clusterGraph.gateways[i];
clusterGraph.gatewayDistanceTable[i] = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
clusterGraph.gatewayDistanceTable[i].entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
for (int j = 0; j < clusterGraph.gateways.Count; j++)
{
endGate = clusterGraph.gateways[j];
pathfindingAlgorithm.InitializePathfindingSearch(startGate.center, endGate.center);
pathfindingAlgorithm.Search(out solution);
cost = solution.Length;
clusterGraph.gatewayDistanceTable[i].entries[j] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
clusterGraph.gatewayDistanceTable[i].entries[j].startGatewayPosition = startGate.center;
clusterGraph.gatewayDistanceTable[i].entries[j].endGatewayPosition = endGate.center;
clusterGraph.gatewayDistanceTable[i].entries[j].shortestDistance = cost;
}
}
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}