public TestBoss()
{
agentParams = new SharpNav.Crowds.AgentParams();
SetAgentParams();
var tpos = new SharpNav.Geometry.Vector3(3f, -4.62f, 65.35f);
World.Instance.crowd.GetAgent(agentID).Position = tpos;
}
public void SetTargetPosition(Vector3 position)
{
NavMeshQuery q = new NavMeshQuery(World.Instance.navMesh, 2048);
var poly = q.FindNearestPoly(position, new Vector3(5, 5, 5));
SharpNav.Geometry.Vector3 v = SharpNav.Geometry.Vector3.Zero;
q.ClosestPointOnPoly(poly.Polygon, position, ref v);
Agent.RequestMoveTarget(poly.Polygon, v);
}
bool Hit(SVector3 position, SVector3 direction, SVector3 enemyPosition)
{
if ((enemyPosition - position).Length() <= 3f)
{
var enDirection = (enemyPosition - position).Normalized();
var dot = SVector3.Dot(direction, enDirection);
if (dot >= Math.Sin(180 * 60 / Math.PI))
{
return(true);
}
}
return(false);
}
private bool GetSteerTarget(NavMeshQuery navMeshQuery, SVector3 startPos, SVector3 endPos, float minTargetDist, SharpNav.Pathfinding.Path path,
ref SVector3 steerPos, ref StraightPathFlags steerPosFlag, ref NavPolyId steerPosRef)
{
StraightPath steerPath = new StraightPath();
navMeshQuery.FindStraightPath(startPos, endPos, path, steerPath, 0);
int nsteerPath = steerPath.Count;
if (nsteerPath == 0)
{
return(false);
}
//find vertex far enough to steer to
int ns = 0;
while (ns < nsteerPath)
{
if ((steerPath[ns].Flags & StraightPathFlags.OffMeshConnection) != 0 ||
!InRange(steerPath[ns].Point.Position, startPos, minTargetDist, 1000.0f))
{
break;
}
ns++;
}
//failed to find good point to steer to
if (ns >= nsteerPath)
{
return(false);
}
steerPos = steerPath[ns].Point.Position;
steerPos.Y = startPos.Y;
steerPosFlag = steerPath[ns].Flags;
if (steerPosFlag == StraightPathFlags.None && ns == (nsteerPath - 1))
{
steerPosFlag = StraightPathFlags.End; // otherwise seeks path infinitely!!!
}
steerPosRef = steerPath[ns].Point.Polygon;
return(true);
}
public override void Update()
{
base.Update();
if (targetPlayer != -1)
{
if (SVector3.Subtract(Agent.Position, World.Instance.players[targetPlayer].position).Length() < 3f)
{
SetTargetPosition(Agent.Position);
}
else
{
SetTargetPosition(World.Instance.players[targetPlayer].position);
}
}
else
{
GetTarget();
}
}
public Vector2[] GetPath(Vector2 start, Vector2 end)
{
NavPoint startPt = navMeshQuery.FindNearestPoly(new SVector3(-start.X, 0, start.Y), new SharpNav.Geometry.Vector3(2f, 2f, 2f));
NavPoint endPt = navMeshQuery.FindNearestPoly(new SVector3(-end.X, 0, end.Y), new SharpNav.Geometry.Vector3(2f, 2f, 2f));
Path path = new Path();
navMeshQuery.FindPath(ref startPt, ref endPt, new NavQueryFilter(), path);
List <SVector3> smoothPath;
//find a smooth path over the mesh surface
int npolys = path.Count;
SVector3 iterPos = new SVector3();
SVector3 targetPos = new SVector3();
navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos);
navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos);
smoothPath = new List <SVector3>(2048);
smoothPath.Add(iterPos);
float STEP_SIZE = 0.5f;
float SLOP = 0.01f;
while (npolys > 0 && smoothPath.Count < smoothPath.Capacity)
{
//find location to steer towards
SVector3 steerPos = new SVector3();
StraightPathFlags steerPosFlag = 0;
NavPolyId steerPosRef = NavPolyId.Null;
if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef))
{
break;
}
bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false;
//find movement delta
SVector3 delta = steerPos - iterPos;
float len = (float)Math.Sqrt(SVector3.Dot(delta, delta));
//if steer target is at end of path or off-mesh link
//don't move past location
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{
len = 1;
}
else
{
len = STEP_SIZE / len;
}
SVector3 moveTgt = new SVector3();
VMad(ref moveTgt, iterPos, delta, len);
//move
SVector3 result = new SVector3();
List <NavPolyId> visited = new List <NavPolyId>(16);
NavPoint startPoint = new NavPoint(path[0], iterPos);
navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited);
path.FixupCorridor(visited);
npolys = path.Count;
float h = 0;
navMeshQuery.GetPolyHeight(path[0], result, ref h);
result.Y = h;
iterPos = result;
//handle end of path when close enough
if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f))
{
//reached end of path
iterPos = targetPos;
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(iterPos);
}
break;
}
//store results
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(iterPos);
}
}
return(smoothPath.Select(x => new Vector2(-x.X, x.Z)).ToArray());
}
private void VMad(ref SVector3 dest, SVector3 v1, SVector3 v2, float s)
{
dest.X = v1.X + v2.X * s;
dest.Y = v1.Y + v2.Y * s;
dest.Z = v1.Z + v2.Z * s;
}
void AddTerrainTriangles(List <Triangle3> triangles, Terrain terrain)
{
var data = terrain.terrainData;
var terrainSize = data.size;
var terrainWidth = data.heightmapWidth;
var terrainHeight = data.heightmapHeight;
var terrainScale = data.heightmapScale;
int incrementX = Mathf.Max(1, Mathf.RoundToInt(terrainCellSize / terrainScale.x));
int incrementZ = Mathf.Max(1, Mathf.RoundToInt(terrainCellSize / terrainScale.z));
var multiplierX = terrainSize.x / (terrainWidth - 1);
var multiplierZ = terrainSize.z / (terrainHeight - 1);
var heights = data.GetHeights(0, 0, terrainWidth, terrainHeight);
var optimizedWidth = Mathf.Floor(terrainWidth / incrementX);
var optimizedHeight = Mathf.Floor(terrainHeight / incrementZ);
var worldHeights = new SVector3[terrainWidth, terrainHeight];
var resolution = terrain.terrainData.size.y;
int ox = 0;
for (var hx = 0; hx < terrainWidth; hx += incrementX)
{
int oz = 0;
for (var hz = 0; hz < terrainHeight; hz += incrementZ)
{
var x = hx * multiplierX + terrain.transform.position.x;
var z = hz * multiplierZ + terrain.transform.position.z;
var y = heights[hx, hz] * resolution + terrain.transform.position.y;
worldHeights[ox, oz] = new SVector3(z, y, x);
oz++;
}
ox++;
}
var vertices = new SVector3[4];
for (var hx = 0; hx < optimizedWidth - 1; hx++)
{
for (var hz = 0; hz < optimizedHeight - 1; hz++)
{
vertices[0] = worldHeights[hx, hz];
vertices[1] = worldHeights[hx, hz + 1];
vertices[2] = worldHeights[hx + 1, hz + 1];
vertices[3] = worldHeights[hx + 1, hz];
triangles.Add(new Triangle3(
vertices[0],
vertices[1],
vertices[2]
));
triangles.Add(new Triangle3(
vertices[2],
vertices[3],
vertices[0]
));
}
}
}
// Copyright (c) 2013-2016 Robert Rouhani <*****@*****.**> and other contributors (see CONTRIBUTORS file).
// Licensed under the MIT License - https://raw.github.com/Robmaister/SharpNav/master/LICENSE
public static List <Vector3> GetPath(actors.area.Zone zone, Vector3 startVec, Vector3 endVec, float stepSize = 0.70f, int pathSize = 45, float polyRadius = 0.0f, bool skipToTarget = false)
{
var navMesh = zone.tiledNavMesh;
var navMeshQuery = zone.navMeshQuery;
// no navmesh loaded, run straight to player
if (navMesh == null)
{
return(new List <Vector3>()
{
endVec
});
}
// no need to waste cycles finding path to same point
if (startVec.X == endVec.X && startVec.Y == endVec.Y && startVec.Z == endVec.Z && polyRadius == 0.0f)
{
return(null);
}
var smoothPath = new List <Vector3>(pathSize)
{
};
NavQueryFilter filter = new NavQueryFilter();
NavPoint startPt, endPt;
try
{
SharpNav.Geometry.Vector3 c = new SharpNav.Geometry.Vector3(startVec.X, startVec.Y, startVec.Z);
SharpNav.Geometry.Vector3 ep = new SharpNav.Geometry.Vector3(endVec.X, endVec.Y, endVec.Z);
SharpNav.Geometry.Vector3 e = new SharpNav.Geometry.Vector3(5, 5, 5);
navMeshQuery.FindNearestPoly(ref c, ref e, out startPt);
navMeshQuery.FindNearestPoly(ref ep, ref e, out endPt);
//calculate the overall path, which contains an array of polygon references
int MAX_POLYS = 256;
var path = new SharpNav.Pathfinding.Path();
navMeshQuery.FindPath(ref startPt, ref endPt, filter, path);
//find a smooth path over the mesh surface
int npolys = path.Count;
SharpNav.Geometry.Vector3 iterPos = new SharpNav.Geometry.Vector3();
SharpNav.Geometry.Vector3 targetPos = new SharpNav.Geometry.Vector3();
navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos);
navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos);
// set target to random point at end of path
if (polyRadius != 0.0f)
{
var randPoly = navMeshQuery.FindRandomPointAroundCircle(endPt, polyRadius);
targetPos = randPoly.Position;
}
if (skipToTarget)
{
return(new List <Vector3>()
{
new Vector3(targetPos.X, targetPos.Y, targetPos.Z)
});
}
smoothPath.Add(new Vector3(iterPos.X, iterPos.Y, iterPos.Z));
//float STEP_SIZE = 0.70f;
float SLOP = 0.15f;
while (npolys > 0 && smoothPath.Count < smoothPath.Capacity)
{
//find location to steer towards
SharpNav.Geometry.Vector3 steerPos = new SharpNav.Geometry.Vector3();
StraightPathFlags steerPosFlag = 0;
NavPolyId steerPosRef = NavPolyId.Null;
if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef))
{
break;
}
bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false;
//find movement delta
SharpNav.Geometry.Vector3 delta = steerPos - iterPos;
float len = (float)Math.Sqrt(SharpNav.Geometry.Vector3.Dot(delta, delta));
//if steer target is at end of path or off-mesh link
//don't move past location
if ((endOfPath || offMeshConnection) && len < stepSize)
{
len = 1;
}
else
{
len = stepSize / len;
}
SharpNav.Geometry.Vector3 moveTgt = new SharpNav.Geometry.Vector3();
VMad(ref moveTgt, iterPos, delta, len);
//move
SharpNav.Geometry.Vector3 result = new SharpNav.Geometry.Vector3();
List <NavPolyId> visited = new List <NavPolyId>(pathSize);
NavPoint startPoint = new NavPoint(path[0], iterPos);
navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited);
path.FixupCorridor(visited);
npolys = path.Count;
float h = 0;
navMeshQuery.GetPolyHeight(path[0], result, ref h);
result.Y = h;
iterPos = result;
//handle end of path when close enough
if (endOfPath && InRange(iterPos, steerPos, SLOP, 1000.0f))
{
//reached end of path
iterPos = targetPos;
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(new Vector3(iterPos.X, iterPos.Y, iterPos.Z));
}
break;
}
//store results
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(new Vector3(iterPos.X, iterPos.Y, iterPos.Z));
}
}
}
catch (Exception e)
{
Program.Log.Error(e.Message);
Program.Log.Error("Start pos {0} {1} {2} end pos {3} {4} {5}", startVec.X, startVec.Y, startVec.Z, endVec.X, endVec.Y, endVec.Z);
// todo: probably log this
return(new List <Vector3>()
{
endVec
});
}
return(smoothPath);
}
/// <summary>
/// Scaled vector addition
/// </summary>
/// <param name="dest">Result</param>
/// <param name="v1">Vector 1</param>
/// <param name="v2">Vector 2</param>
/// <param name="s">Scalar</param>
private static void VMad(ref SharpNav.Geometry.Vector3 dest, SharpNav.Geometry.Vector3 v1, SharpNav.Geometry.Vector3 v2, float s)
{
dest.X = v1.X + v2.X * s;
dest.Y = v1.Y + v2.Y * s;
dest.Z = v1.Z + v2.Z * s;
}
public static Vector3 ToV3(SharpNav.Geometry.Vector3 v)
{
return(new Vector3(v.X, v.Y, v.Z));
}
public static Vector3 ToV3(SVector3 v)
{
return(new Vector3(v.X, v.Y, v.Z));
}
