public void Deserialize(DeserializeEvent e)
{
EntityID = e.Reader.ReadUInt32();
Path = e.Reader.ReadSerializable <SmoothPath>();
Speed = e.Reader.ReadSingle();
StoppingDistance = e.Reader.ReadSingle();
}
public TestSceneSliderPath()
{
Child = drawablePath = new SmoothPath
{
Anchor = Anchor.Centre,
Origin = Anchor.Centre
};
}
private void Start()
{
if (lineRenderer != null)
{
lineRenderer = GetComponent <LineRenderer>();
}
path = waypointMovement.Path;
}
public void TestSmoothPath()
{
AddStep("create path", () =>
{
Child = new SmoothPath
{
Anchor = Anchor.Centre,
Origin = Anchor.Centre,
PathRadius = 10,
Vertices = new List <Vector2>
{
Vector2.Zero,
new Vector2(200)
},
};
});
}
public ControlPointVisualiser()
{
RelativeSizeAxes = Axes.Both;
InternalChildren = new Drawable[]
{
path = new SmoothPath
{
PathRadius = 1,
Colour = Color4.Yellow.Opacity(0.5f)
},
new PointHandle
{
PointPosition = { BindTarget = PointPosition }
}
};
}
// Use this for initialization
void Start ()
{
path = new SmoothPath(14);
path.SetPoint(0, new Vector2(40.0f, 12.51211f));
path.SetPoint(1, new Vector2(27.31694f, 15.50579f));
path.SetPoint(2, new Vector2(0.0f, 13.1085f));
path.SetPoint(3, new Vector2(31.02438f, 8.70939f));
path.SetPoint(4, new Vector2(29.4586f, 4.315308f));
path.SetPoint(5, new Vector2(24.59858f, 4.947972f));
path.SetPoint(6, new Vector2(19.33292f, 4.624193f));
path.SetPoint(7, new Vector2(15.29456f, 4.902945f));
path.SetPoint(8, new Vector2(13.39676f, 6.435778f));
path.SetPoint(9, new Vector2(12.84386f, 8.886725f));
path.SetPoint(10, new Vector2(9.424064f, 8.247343f));
path.SetPoint(11, new Vector2(9.531949f, 4.741022f));
path.SetPoint(12, new Vector2(11.28376f, 1.784844f));
path.SetPoint(13, new Vector2(19.87172f, 1.2862f));
path.SetCurveRadius(0, 5.0f);
path.SetCurveRadius(1, 1.35f);
path.SetCurveRadius(2, 2.0f);
path.SetCurveRadius(3, 2.0f);
path.SetCurveRadius(4, 5.0f);
path.SetCurveRadius(5, 5.0f);
path.SetCurveRadius(6, 3.0f);
path.SetCurveRadius(7, 2.0f);
path.SetCurveRadius(8, 1.0f);
path.SetCurveRadius(9, 2.0f);
path.SetCurveRadius(10, 5.0f);
path.SetCurveRadius(11, 2.0f);
path.Init();
monsters = new List<Monster>();
GameObject go = Instantiate(goblin) as GameObject;
Monster monster = go.GetComponent<Monster>();
monster.path = path;
monster.terrainData = terrainCollider.terrainData;
monsters.Add(monster);
}
public static SmoothPath ComputeSmoothPath(Detour.dtNavMeshQuery navQuery, float[] startWorldPos, float[] endWorldPos, float distance = 10)
{
SmoothPath smoothPath = new SmoothPath();
if (navQuery == null)
{
return(smoothPath);
}
float[] extents = new float[3];
for (int i = 0; i < 3; ++i)
{
extents[i] = distance;
}
dtPolyRef startRef = 0;
dtPolyRef endRef = 0;
float[] startPt = new float[3];
float[] endPt = new float[3];
Detour.dtQueryFilter filter = new Detour.dtQueryFilter();
navQuery.findNearestPoly(startWorldPos, extents, filter, ref startRef, ref startPt);
navQuery.findNearestPoly(endWorldPos, extents, filter, ref endRef, ref endPt);
const int maxPath = SmoothPath.MAX_POLYS;
dtPolyRef[] path = new dtPolyRef[maxPath];
int pathCount = -1;
navQuery.findPath(startRef, endRef, startPt, endPt, filter, path, ref pathCount, maxPath);
smoothPath.m_nsmoothPath = 0;
if (pathCount > 0)
{
// Iterate over the path to find smooth path on the detail mesh surface.
dtPolyRef[] polys = new dtPolyRef[SmoothPath.MAX_POLYS];
for (int i = 0; i < pathCount; ++i)
{
polys[i] = path[i];
}
int npolys = pathCount;
float[] iterPos = new float[3];
float[] targetPos = new float[3];
bool posOverPoly_dummy = false;
navQuery.closestPointOnPoly(startRef, startPt, iterPos, ref posOverPoly_dummy);
navQuery.closestPointOnPoly(polys[npolys - 1], endPt, targetPos, ref posOverPoly_dummy);
const float STEP_SIZE = 0.5f;
const float SLOP = 0.01f;
smoothPath.m_nsmoothPath = 0;
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, iterPos, 0);
smoothPath.m_nsmoothPath++;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (npolys != 0 && smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
// Find location to steer towards.
float[] steerPos = new float[3];
byte steerPosFlag = 0;
dtPolyRef steerPosRef = 0;
if (!getSteerTarget(navQuery, iterPos, targetPos, SLOP,
polys, npolys, steerPos, ref steerPosFlag, ref steerPosRef))
{
break;
}
bool endOfPath = (steerPosFlag & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_END) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ? true : false;
// Find movement delta.
float[] delta = new float[3]; //, len;
float len = .0f;
Detour.dtVsub(delta, steerPos, iterPos);
len = (float)Mathf.Sqrt(Detour.dtVdot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{
len = 1;
}
else
{
len = STEP_SIZE / len;
}
float[] moveTgt = new float[3];
Detour.dtVmad(moveTgt, iterPos, delta, len);
// Move
float[] result = new float[3];
dtPolyRef[] visited = new dtPolyRef[16];
int nvisited = 0;
navQuery.moveAlongSurface(polys[0], iterPos, moveTgt, filter,
result, visited, ref nvisited, 16);
npolys = fixupCorridor(polys, npolys, SmoothPath.MAX_POLYS, visited, nvisited);
npolys = fixupShortcuts(polys, npolys, navQuery);
float h = 0;
dtStatus getHeightStatus = navQuery.getPolyHeight(polys[0], result, ref h);
result[1] = h;
if ((getHeightStatus & Detour.DT_FAILURE) != 0)
{
Debug.LogError("Failed to getPolyHeight " + polys[0] + " pos " + result[0] + " " + result[1] + " " + result[2] + " h " + h);
}
Detour.dtVcopy(iterPos, result);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(iterPos, 0, steerPos, 0, SLOP, 1.0f))
{
// Reached end of path.
Detour.dtVcopy(iterPos, targetPos);
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, iterPos, 0);
smoothPath.m_nsmoothPath++;
}
break;
}
else if (offMeshConnection && inRange(iterPos, 0, steerPos, 0, SLOP, 1.0f))
{
// Reached off-mesh connection.
float[] startPos = new float[3]; //, endPos[3];
float[] endPos = new float[3];
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0, polyRef = polys[0];
int npos = 0;
while (npos < npolys && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = polys[npos];
npos++;
}
for (int i = npos; i < npolys; ++i)
{
polys[i - npos] = polys[i];
}
npolys -= npos;
// Handle the connection.
dtStatus status = navQuery.getAttachedNavMesh().getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (Detour.dtStatusSucceed(status))
{
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, startPos, 0);
smoothPath.m_nsmoothPath++;
// Hack to make the dotted path not visible during off-mesh connection.
if ((smoothPath.m_nsmoothPath & 1) != 0)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, startPos, 0);
smoothPath.m_nsmoothPath++;
}
}
// Move position at the other side of the off-mesh link.
Detour.dtVcopy(iterPos, endPos);
float eh = 0.0f;
navQuery.getPolyHeight(polys[0], iterPos, ref eh);
iterPos[1] = eh;
}
}
// Store results.
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, iterPos, 0);
smoothPath.m_nsmoothPath++;
}
}
}
return(smoothPath);
}
private void Awake()
{
path = GetComponent <WaypointMovement>().Path;
}
public CurveVisualiser()
{
easingFunction = new CustomEasingFunction {
EasingVertices = { BindTarget = easingVertices }
};
Container gridContainer;
InternalChildren = new Drawable[]
{
new Container
{
RelativeSizeAxes = Axes.Both,
Masking = true,
BorderColour = Color4.White,
BorderThickness = 2,
Child = new Box
{
RelativeSizeAxes = Axes.Both,
Alpha = 0,
AlwaysPresent = true
}
},
gridContainer = new Container {
RelativeSizeAxes = Axes.Both
},
path = new SmoothPath
{
PathRadius = 1
},
controlPointContainer = new Container <ControlPointVisualiser> {
RelativeSizeAxes = Axes.Both
},
sideTracker = new SpriteIcon
{
Anchor = Anchor.TopRight,
Origin = Anchor.BottomCentre,
RelativePositionAxes = Axes.Y,
Size = new Vector2(10),
X = 2,
Colour = Color4.SkyBlue,
Rotation = 90,
Icon = FontAwesome.Solid.MapMarker,
},
verticalTracker = new Box
{
Origin = Anchor.CentreLeft,
RelativeSizeAxes = Axes.X,
RelativePositionAxes = Axes.Y,
Height = 1,
Colour = Color4.SkyBlue
},
horizontalTracker = new Box
{
Origin = Anchor.TopCentre,
RelativeSizeAxes = Axes.Y,
RelativePositionAxes = Axes.X,
Width = 1,
Colour = Color4.SkyBlue
}
};
for (int i = 0; i <= 10; i++)
{
gridContainer.Add(new Box
{
Origin = Anchor.CentreLeft,
RelativeSizeAxes = Axes.X,
RelativePositionAxes = Axes.Y,
Height = 2,
Y = 0.1f * i,
Colour = Color4.White.Opacity(0.1f)
});
gridContainer.Add(new Box
{
Origin = Anchor.TopCentre,
RelativeSizeAxes = Axes.Y,
RelativePositionAxes = Axes.X,
Width = 2,
X = 0.1f * i,
Colour = Color4.White.Opacity(0.1f)
});
}
controlPointContainer.Add(new ControlPointVisualiser
{
PointPosition = { Value = new Vector2(100, 100) }
});
}
public static SmoothPath ComputeSmoothPath(Detour.dtNavMeshQuery navQuery, float[] startWorldPos, float[] endWorldPos)
{
SmoothPath smoothPath = new SmoothPath();
if (navQuery == null){
return smoothPath;
}
float[] extents = new float[3];
for (int i=0;i<3;++i){
extents[i] = 10.0f;
}
dtPolyRef startRef = 0;
dtPolyRef endRef = 0;
float[] startPt = new float[3];
float[] endPt = new float[3];
Detour.dtQueryFilter filter = new Detour.dtQueryFilter();
navQuery.findNearestPoly(startWorldPos, extents, filter, ref startRef, ref startPt);
navQuery.findNearestPoly(endWorldPos, extents, filter, ref endRef, ref endPt);
const int maxPath = SmoothPath.MAX_POLYS;
dtPolyRef[] path = new dtPolyRef[maxPath];
int pathCount = -1;
navQuery.findPath(startRef, endRef, startPt, endPt, filter, path, ref pathCount, maxPath );
smoothPath.m_nsmoothPath = 0;
if (pathCount > 0)
{
// Iterate over the path to find smooth path on the detail mesh surface.
dtPolyRef[] polys = new dtPolyRef[SmoothPath.MAX_POLYS];
for (int i=0;i<pathCount;++i){
polys[i] = path[i];
}
int npolys = pathCount;
float[] iterPos = new float[3];
float[] targetPos = new float[3];
bool posOverPoly_dummy = false;
navQuery.closestPointOnPoly(startRef, startPt, iterPos, ref posOverPoly_dummy);
navQuery.closestPointOnPoly(polys[npolys-1], endPt, targetPos, ref posOverPoly_dummy);
const float STEP_SIZE = 0.5f;
const float SLOP = 0.01f;
smoothPath.m_nsmoothPath = 0;
Detour.dtVcopy(smoothPath.m_smoothPath,smoothPath.m_nsmoothPath*3, iterPos, 0);
smoothPath.m_nsmoothPath++;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (npolys != 0 && smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
// Find location to steer towards.
float[] steerPos = new float[3];
byte steerPosFlag = 0;
dtPolyRef steerPosRef = 0;
if (!getSteerTarget(navQuery, iterPos, targetPos, SLOP,
polys, npolys, steerPos, ref steerPosFlag, ref steerPosRef))
break;
bool endOfPath = (steerPosFlag & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_END) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ? true : false;
// Find movement delta.
float[] delta = new float[3];//, len;
float len = .0f;
Detour.dtVsub(delta, steerPos, iterPos);
len = (float)Mathf.Sqrt(Detour.dtVdot(delta,delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
float[] moveTgt = new float[3];
Detour.dtVmad(moveTgt, iterPos, delta, len);
// Move
float[] result = new float[3];
dtPolyRef[] visited = new dtPolyRef[16];
int nvisited = 0;
navQuery.moveAlongSurface(polys[0], iterPos, moveTgt, filter,
result, visited, ref nvisited, 16);
npolys = fixupCorridor(polys, npolys, SmoothPath.MAX_POLYS, visited, nvisited);
npolys = fixupShortcuts(polys, npolys, navQuery);
float h = 0;
dtStatus getHeightStatus = navQuery.getPolyHeight(polys[0], result, ref h);
result[1] = h;
if ((getHeightStatus & Detour.DT_FAILURE) != 0) {
Debug.LogError("Failed to getPolyHeight " + polys[0] + " pos " + result[0] + " " + result[1] + " " + result[2] + " h " + h);
}
Detour.dtVcopy(iterPos, result);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(iterPos, 0, steerPos, 0, SLOP, 1.0f))
{
// Reached end of path.
Detour.dtVcopy(iterPos, targetPos);
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath,smoothPath.m_nsmoothPath*3, iterPos, 0);
smoothPath.m_nsmoothPath++;
}
break;
}
else if (offMeshConnection && inRange(iterPos, 0, steerPos, 0, SLOP, 1.0f))
{
// Reached off-mesh connection.
float[] startPos = new float[3];//, endPos[3];
float[] endPos = new float[3];
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0, polyRef = polys[0];
int npos = 0;
while (npos < npolys && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = polys[npos];
npos++;
}
for (int i = npos; i < npolys; ++i)
polys[i-npos] = polys[i];
npolys -= npos;
// Handle the connection.
dtStatus status = navQuery.getAttachedNavMesh().getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (Detour.dtStatusSucceed(status))
{
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath,smoothPath.m_nsmoothPath*3, startPos, 0);
smoothPath.m_nsmoothPath++;
// Hack to make the dotted path not visible during off-mesh connection.
if ((smoothPath.m_nsmoothPath & 1) != 0)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, startPos, 0);
smoothPath.m_nsmoothPath++;
}
}
// Move position at the other side of the off-mesh link.
Detour.dtVcopy(iterPos, endPos);
float eh = 0.0f;
navQuery.getPolyHeight(polys[0], iterPos, ref eh);
iterPos[1] = eh;
}
}
// Store results.
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, iterPos, 0);
smoothPath.m_nsmoothPath++;
}
}
}
return smoothPath;
}
public UpdateFollowPathWithAstar(FollowPathOfPoints Follow, PathFindAStar AStar, obstacle_data[] obstacles)
{
follow = Follow;
aStar = AStar;
smoothPath = new SmoothPath(obstacles);
}