private bool HandlePlanning(bool retargetPos, bool retargetGoal)
{
/*
* Design notes:
*
* Tries to do a corridor move on the position and/or target.
* A replan is only triggered if the move(s) fail to reach the desired polygon(s).
*
* It is important to note that the replan may fail to reach the goal. But that is a
* problem for the AI, not the planner.
*/
bool needsFullReplan = false;
// Convenience vars. Only used for input. Not updated.
NavmeshPoint goal = agent.data.plannerGoal;
NavmeshPoint pos = agent.data.desiredPosition;
PathCorridor corridor = agent.corridor;
if (retargetGoal && retargetPos)
{
corridor.Move(pos.point, goal.point);
retargetGoal = (goal.polyRef != corridor.Target.polyRef ||
pos.polyRef != corridor.Position.polyRef);
}
else if (retargetPos)
{
corridor.MovePosition(pos.point);
needsFullReplan = (pos.polyRef != corridor.Position.polyRef);
}
else if (retargetGoal)
{
corridor.MoveTarget(goal.point);
needsFullReplan = (goal.polyRef != corridor.Target.polyRef);
}
if (needsFullReplan)
{
// Debug.Log("Full Replan");
if (agent.PlanCorridor(pos, goal) <= 0)
{
Debug.LogError(agent.transform.name + ": Could not replan corridor.");
return(false);
}
}
else if (retargetPos || retargetGoal)
{
// Debug.Log("Optimize Only");
// Any chagnes are likely to be larger than normal. So force an optimization.
agent.corridor.OptimizePathTopology(true);
mOptimizationTimer = OptimizationFrequency;
}
agent.data.desiredPosition = agent.corridor.Position;
agent.data.plannerGoal = agent.corridor.Target;
return(true);
}
//这个方法是真的移动计划的移动方法
//根据路线进行移动(注意，这个Agent目标移动数据的修改)
private bool HandlePlanning(bool retargetPos, bool retargetGoal)
{
bool needsFullReplan = false;
//获取记录下来的这些信息
NavmeshPoint goal = theAgent.plannerGoal;
NavmeshPoint pos = theAgent.desiredPosition;
//获取路线引用
PathCorridor corridor = theAgent.corridor;
if (retargetGoal && retargetPos)
{
//此处调用CritterAI的PathCorridor,进而调用PathCorridorEx走recast
//从当前的位置转移到希望运动到的位置，另外将目标移动到希望移动到的目标
corridor.Move(pos.point, goal.point);
retargetGoal = (goal.polyRef != corridor.Target.polyRef || pos.polyRef != corridor.Position.polyRef);
}
else if (retargetPos)
{
//此处调用CritterAI的PathCorridor,进而调用PathCorridorEx走recast
//从当前的位置转移到希望运动到的位置
corridor.MovePosition(pos.point);
needsFullReplan = (pos.polyRef != corridor.Position.polyRef);
}
else if (retargetGoal)
{
//此处调用CritterAI的PathCorridor,进而调用PathCorridorEx走recast
//将目标移动到希望移动到的目标
corridor.MoveTarget(goal.point);
needsFullReplan = (goal.polyRef != corridor.Target.polyRef);
}
if (needsFullReplan)
{
//完全重新计算路径
if (theAgent.PlanCorridor(pos, goal) <= 0)
{
//Debug.LogError(theAgent.transform.name + ": Could not replan corridor.");
SetPathInformation(pos, goal);
return(false);
}
}
else if (retargetPos || retargetGoal)
{
//CritterAI作者加的强制优化
theAgent.corridor.OptimizePathTopology(true);
mOptimizationTimer = OptimizationFrequency;
}
//最后重新记录位置就可以了
theAgent.desiredPosition = theAgent.corridor.Position;
theAgent.plannerGoal = theAgent.corridor.Target;
return(true & SetPathInformation(theAgent.desiredPosition, theAgent.plannerGoal));
}
/// <summary>
/// Finds a path from the start point to the end point and loads it into the corridor.
/// </summary>
/// <remarks>
/// <para>
/// <b>Warning</b>: The corridor must be available before calling this method.
/// </para>
/// <para>
/// The input points are all expected to be valid. (E.g. polyRef != 0)
/// </para>
/// </remarks>
/// <param name="start">
/// A valid navigation mesh point representing the start of the path.
/// </param>
/// <param name="end">
/// A valid navigation mesh point representing the end of the path.
/// </param>
/// <returns>The length of the path, or -1 on failure.</returns>
public int PlanCorridor(NavmeshPoint start, NavmeshPoint end)
{
// Note: Don't try to re-use the current corridor. Unlike
// paths, the corridor is more likely to become malformed
// over time.
int pathCount;
if (start.polyRef == 0 || end.polyRef == 0 || corridor == null)
{
return(-1);
}
if (start.polyRef == end.polyRef)
{
corridor.Reset(start);
corridor.MoveTarget(end.point);
data.navStatus = NavStatus.Sucess;
return(1);
}
else
{
data.navStatus = navGroup.query.FindPath(start
, end
, navGroup.filter
, agentGroup.pathBuffer
, out pathCount);
}
corridor.Reset(start);
if (pathCount > 0)
{
corridor.SetCorridor(end.point
, agentGroup.pathBuffer
, pathCount);
}
return(pathCount);
}
//寻找路线：查找从起点到终点的路径，并将其加载到道路中
public int PlanCorridor(NavmeshPoint start, NavmeshPoint end)
{
//原作标识：不要尝试重用corridor，这个东西有更多的可能性变得很畸形
int pathCount;
//如果点不可用就会直接失败
if (start.polyRef == 0 || end.polyRef == 0 || corridor == null)
{
return(-1);
}
//如果相同点直接结束，navStatus更新
if (start.polyRef == end.polyRef)
{
corridor.Reset(start);
corridor.MoveTarget(end.point);
navStatus = NavStatus.Sucess;
return(1);
}
else
{
//调用NavmeshQuery的方法进行寻路，然后内部走NavmeshQueryEx类调用dll
//最后初步猜测调用Detour的DetourNavMeshQuery（有待考证）
navStatus = navGroup.query.FindPath(start, end, navGroup.filter, agentGroup.pathBuffer, out pathCount);
}
corridor.Reset(start);
if (pathCount > 0)
{
corridor.SetCorridor(end.point, agentGroup.pathBuffer, pathCount);
}
return(pathCount);
}
private void HandleHit(RaycastHit hit)
{
if (Input.GetKeyDown(StdButtons.SelectA))
{
if (mPathStart.polyRef == 0 || mPathEnd.polyRef == 0)
{
NavmeshPoint point = GetNavmeshPoint(hit.point);
if (point.polyRef == 0)
{
return;
}
if (mPathStart.polyRef == 0)
{
mPathStart = point;
mCorridor.Reset(mPathStart);
return;
}
else
{
mPathEnd = point;
FindPath();
return;
}
}
else if (mPathCount > 0)
{
mCorridor.MovePosition(hit.point);
return;
}
}
else if (mPathCount > 0)
{
if (Input.GetKeyDown(StdButtons.SelectB))
{
mCorridor.MoveTarget(hit.point);
return;
}
else if (Input.GetKeyDown(StdButtons.SetA))
{
NavmeshPoint point = GetNavmeshPoint(hit.point);
if (point.polyRef != 0)
{
mPathEnd = point;
FindPath();
}
return;
}
else if (Input.GetKeyDown(StdButtons.SetB))
{
NavmeshPoint point = GetNavmeshPoint(hit.point);
if (point.polyRef != 0)
{
mPathStart = point;
FindPath();
}
return;
}
else if (Input.GetKeyDown(StdButtons.SetC))
{
NavmeshPoint point = GetNavmeshPoint(hit.point);
if (point.polyRef != 0)
{
mCorridor.OptimizePathVisibility(point.point, optimizationRange, true);
mOptimizeStart = mCorridor.Position.point;
mOptimizeEnd = point.point;
mOptimizeTimer = TimerLength;
}
}
}
}
