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));
}
//回收这个通道（目前都是在NavAgent里面处理的）
public void ReturnCorridor(PathCorridor corridor)
{
if (mCorridors.Count >= mMaxCorridors || corridor == null || corridor.IsDisposed ||
corridor.MaxPathSize != mMaxPathSize ||
corridor.MaxCorners != mMaxStraightPathSize)
{
return;
}
PathCorridor.ReleaseLocals(corridor);
mCorridors.Push(corridor);
}
public Pathfinder(Navmesh navMesh)
{
_navMesh = navMesh;
_filter = new NavmeshQueryFilter();
if (NavUtil.Failed(NavmeshQuery.Create(_navMesh, 1000, out _query)))
{
throw new Exception("NavQuery failed");
}
_pathCorridor = new PathCorridor(1000, 1000, _query, _filter);
}
public static PathCorridor CreateAgent(int maxPathSize = 10, int maxCorners = 10, NavmeshQueryFilter filter = null)
{
if (m_Map == null)
{
return(null);
}
if (filter == null)
{
filter = m_Map.DefaultQueryFilter;
}
PathCorridor ret = new PathCorridor(maxPathSize, maxCorners, m_Map.Query, filter);
return(ret);
}
//从池子里面获取通道，如果没有就需要建立一个（目前都是在NavAgent里面处理的）
public PathCorridor GetCorridor(NavmeshPoint position, NavmeshQuery query, NavmeshQueryFilter filter)
{
if (mCorridors.Count > 0)
{
PathCorridor corr = mCorridors.Pop();
if (PathCorridor.LoadLocals(corr, position, query, filter))
{
return(corr);
}
return(null);
}
return(new PathCorridor(mMaxPathSize, mMaxStraightPathSize, query, filter));
}
private void HandlePathBufferResize()
{
mCorridor = new PathCorridor(
mPath.MaxElementCount, mCornerPolys.MaxElementCount, mGroup.query, mGroup.filter);
mCorridorData = new PathCorridorData(mPath.MaxElementCount);
if (mPathEnd.polyRef != 0)
{
FindPath();
}
else if (mPathStart.polyRef != 0)
{
mCorridor.Reset(mPathStart);
}
}
//设置道路资源，目前来看是一个必要的过程
//主要是为了操作group
public void SetCorridorAssets(bool enabled)
{
if (enabled)
{
if (corridor == null)
{
corridor = agentGroup.GetCorridor(position, navGroup.query, navGroup.filter);
}
flags |= NavFlag.CorridorInUse;
}
else
{
agentGroup.ReturnCorridor(corridor);
corridor = null;
flags &= ~NavFlag.CorridorInUse;
}
}
/// <summary>
/// Sets up the corridor assets.
/// </summary>
/// <remarks>
/// <para>
/// Notes: Resets the corridor to the current navigation position. So the position
/// should be valid before getting the corridor.
/// </para>
/// <ul>
/// <li>This operation sets/unsets the corridor in-use flag as appropriate.</li>
/// <li>Re-uses existing assests as appropriate.</li>
/// <li>Utilizes the agent group pool.</li>
/// </ul>
/// </remarks>
/// <param name="enabled">
/// True if the corridor assets should be made ready to use. False to release all corridor
/// assets.
/// </param>
public void SetCorridorAssets(bool enabled)
{
if (enabled)
{
if (corridor == null)
{
corridor =
agentGroup.GetCorridor(data.position, navGroup.query, navGroup.filter);
}
data.flags |= NavFlag.CorridorInUse;
}
else
{
agentGroup.ReturnCorridor(corridor);
corridor = null;
data.flags &= ~NavFlag.CorridorInUse;
}
}
/// <summary>
/// Returns a corridor to the pool. (If there is room.)
/// </summary>
/// <remarks>
/// <para>
/// Invalid corridors are rejected. (E.g. Disposed or the wrong size.)
/// </para>
/// </remarks>
/// <param name="corridor">The corridor to add to the pool.</param>
public void ReturnCorridor(PathCorridor corridor)
{
if (mCorridors.Count >= mMaxCorridors || corridor == null || corridor.IsDisposed
|| corridor.MaxPathSize != mMaxPathSize
|| corridor.MaxCorners != mMaxStraightPathSize)
{
return;
}
PathCorridor.ReleaseLocals(corridor);
mCorridors.Push(corridor);
}
