public float checkTrav(float posx, float posz)
{
return(terrainInfo.traversability[terrainInfo.get_i_index(posx), terrainInfo.get_j_index(posz)]);
}
public void makeMap()
{
terrain_manager = terrain_manager_game_object.GetComponent <TerrainManager>();
print(terrain_manager);
terrainInfo = terrain_manager.myInfo;
print(terrainInfo);
float[, ] traversability = terrainInfo.traversability;
terrainInfo = terrain_manager.myInfo;
float tileXSize = (terrainInfo.x_high - terrainInfo.x_low) / terrainInfo.x_N;
float tileZSize = (terrainInfo.z_high - terrainInfo.z_low) / terrainInfo.z_N;
float factor = 4.5f;
float[, ] newTerrain = new float[(int)Mathf.Floor(tileXSize * tileXSize / factor), (int)Mathf.Floor(tileZSize * tileZSize / factor)];
stepx = (terrainInfo.x_high - terrainInfo.x_low) / newTerrain.GetLength(0);
stepz = (terrainInfo.z_high - terrainInfo.z_low) / newTerrain.GetLength(1);
for (int i = 0; i < newTerrain.GetLength(0); i++)
{
float posx = terrainInfo.x_low + stepx / 2 + stepx * i;
for (int j = 0; j < newTerrain.GetLength(1); j++)
{
float posz = terrainInfo.z_low + stepz / 2 + stepz * j;
newTerrain[i, j] = terrainInfo.traversability[terrainInfo.get_i_index(posx), terrainInfo.get_j_index(posz)];
}
}
int xLen = newTerrain.GetLength(0);
int zLen = newTerrain.GetLength(1);
nodeIdMatrix = new int[xLen, zLen];
mapGraph = new Graph();
int nodeId;
float wallMargin = 2.0f;
for (int i = 0; i < xLen; i++)
{
float posx = terrainInfo.x_low + stepx / 2 + stepx * i;
for (int j = 0; j < zLen; j++)
{
float posz = terrainInfo.z_low + stepz / 2 + stepz * j;
if (newTerrain[i, j] == 0.0f && 0.0f == checkTrav(posx, posz + wallMargin) && 0.0f == checkTrav(posx, posz - wallMargin) && 0.0f == checkTrav(posx + wallMargin, posz) && 0.0f == checkTrav(posx - wallMargin, posz))
{
/*GameObject cube = GameObject.CreatePrimitive (PrimitiveType.Cube);
* Collider c = cube.GetComponent<Collider> ();
* c.enabled = false;
* cube.transform.localScale = new Vector3 (0.5f, 0.5f, 0.5f);
* cube.transform.position = new Vector3 (posx, 0, posz);*/
nodeIdMatrix[i, j] = mapGraph.addNode(new Node(posx, posz));
mapGraph.getNode(nodeIdMatrix[i, j]).setIndex(i, j);
}
else
{
nodeIdMatrix[i, j] = -1;
}
}
}
float timeDraw = 1;
LayerMask mask = LayerMask.GetMask("Wall");
RaycastHit hit;
for (int i = 0; i < xLen; i++)
{
for (int j = 0; j < zLen; j++)
{
if (nodeIdMatrix[i, j] != -1)
{
nodeId = nodeIdMatrix[i, j];
if (nodeIdMatrix[i, j + 1] != -1)
{
Debug.DrawLine(mapGraph.getNode(nodeId).getPosition(), mapGraph.getNode(nodeIdMatrix[i, j + 1]).getPosition(), Color.cyan, timeDraw);
mapGraph.addEdge(nodeId, nodeIdMatrix[i, j + 1]);
}
if (nodeIdMatrix[i, j - 1] != -1)
{
Debug.DrawLine(mapGraph.getNode(nodeId).getPosition(), mapGraph.getNode(nodeIdMatrix[i, j - 1]).getPosition(), Color.cyan, timeDraw);
mapGraph.addEdge(nodeId, nodeIdMatrix[i, j - 1]);
}
if (nodeIdMatrix[i + 1, j] != -1)
{
Debug.DrawLine(mapGraph.getNode(nodeId).getPosition(), mapGraph.getNode(nodeIdMatrix[i + 1, j]).getPosition(), Color.cyan, timeDraw);
mapGraph.addEdge(nodeId, nodeIdMatrix[i + 1, j]);
}
if (nodeIdMatrix[i - 1, j] != -1)
{
Debug.DrawLine(mapGraph.getNode(nodeId).getPosition(), mapGraph.getNode(nodeIdMatrix[i - 1, j]).getPosition(), Color.cyan, timeDraw);
mapGraph.addEdge(nodeId, nodeIdMatrix[i - 1, j]);
}
Vector3 from = mapGraph.getNode(nodeId).getPosition();
/*
* if(nodeIdMatrix[i-1,j-1] != -1 && !Physics.Raycast(from , mapGraph.getNode(nodeIdMatrix[i-1,j-1]).getPosition()-from, out hit,Vector3.Distance(mapGraph.getNode(nodeIdMatrix[i-1,j-1]).getPosition(),from) , mask)){
* Debug.DrawLine(from,mapGraph.getNode(nodeIdMatrix[i-1,j-1]).getPosition(),Color.cyan,timeDraw);
* mapGraph.addEdge(nodeId,nodeIdMatrix[i-1,j-1]);}
*
*
* if(nodeIdMatrix[i-1,j+1] != -1 && !Physics.Raycast(from , mapGraph.getNode(nodeIdMatrix[i-1,j+1]).getPosition()-from, out hit,Vector3.Distance(mapGraph.getNode(nodeIdMatrix[i-1,j+1]).getPosition(),from) , mask)){
* Debug.DrawLine(from,mapGraph.getNode(nodeIdMatrix[i-1,j+1]).getPosition(),Color.cyan,timeDraw);
* mapGraph.addEdge(nodeId,nodeIdMatrix[i-1,j+1]);}
*
*
* if(nodeIdMatrix[i+1,j-1] != -1 && !Physics.Raycast(from , mapGraph.getNode(nodeIdMatrix[i+1,j-1]).getPosition()-from, out hit,Vector3.Distance(mapGraph.getNode(nodeIdMatrix[i+1,j-1]).getPosition(),from) , mask)){
* Debug.DrawLine(from,mapGraph.getNode(nodeIdMatrix[i+1,j-1]).getPosition(),Color.cyan,timeDraw);
* mapGraph.addEdge(nodeId,nodeIdMatrix[i+1,j-1]);}
*
*
* if(nodeIdMatrix[i+1,j+1] != -1 && !Physics.Raycast(from , mapGraph.getNode(nodeIdMatrix[i+1,j+1]).getPosition()-from, out hit,Vector3.Distance(mapGraph.getNode(nodeIdMatrix[i+1,j+1]).getPosition(),from) , mask)){
* Debug.DrawLine(from,mapGraph.getNode(nodeIdMatrix[i+1,j+1]).getPosition(),Color.cyan,timeDraw);
* mapGraph.addEdge(nodeId,nodeIdMatrix[i+1,j+1]);}*/
}
}
}
}
public List <Vector3> getV3Path()
{
int indexI = get_i_index(rawTerrainInfo.get_x_pos(mDFSPath[0].Item1));
int indexJ = get_j_index(rawTerrainInfo.get_z_pos(mDFSPath[0].Item2));
List <Vector3> path = new List <Vector3>();
var neigbour = getNeigbour(indexI, indexJ);
int mOffsetType = neigbour[0];
indexI += mOffset[mOffsetType, 0];
indexJ += mOffset[mOffsetType, 1];
path.Add(new Vector3(get_x_pos(indexI), 0f, get_z_pos(indexJ)));
traversability[indexI, indexJ] = 1f;
remainArea--;
int whileCounter = 0;
while (remainArea > 0 && whileCounter < 10000)
{
whileCounter++;
neigbour = getNeigbour(indexI, indexJ);
if (neigbour.Count == 1)
{
mOffsetType = neigbour[0];
indexI += mOffset[mOffsetType, 0];
indexJ += mOffset[mOffsetType, 1];
path.Add(new Vector3(get_x_pos(indexI), 0f, get_z_pos(indexJ)));
traversability[indexI, indexJ] = 1f;
remainArea--;
}
else if (neigbour.Count > 1)
{
bool ifAddPoint = false;
foreach (var t in neigbour)
{
int pIndexI_P1 = rawTerrainInfo.get_i_index(get_x_pos(indexI));
int pIndexJ_P1 = rawTerrainInfo.get_j_index(get_z_pos(indexJ));
int pIndexI_P2 = rawTerrainInfo.get_i_index(get_x_pos(indexI + mOffset[t, 0]));
int pIndexJ_P2 = rawTerrainInfo.get_j_index(get_z_pos(indexJ + mOffset[t, 1]));
if (pIndexI_P1 == pIndexI_P2 && pIndexJ_P1 == pIndexJ_P2)
{
indexI += mOffset[t, 0];
indexJ += mOffset[t, 1];
mOffsetType = t;
path.Add(new Vector3(get_x_pos(indexI), 0f, get_z_pos(indexJ)));
traversability[indexI, indexJ] = 1f;
remainArea--;
ifAddPoint = true;
break;
}
}
if (!ifAddPoint && neigbour.Exists(x => x == mOffsetType))
{
indexI += mOffset[mOffsetType, 0];
indexJ += mOffset[mOffsetType, 1];
path.Add(new Vector3(get_x_pos(indexI), 0f, get_z_pos(indexJ)));
traversability[indexI, indexJ] = 1f;
remainArea--;
ifAddPoint = true;
}
}
else
{
break;
}
}
path = splitPath(path);
for (int i = 0; i < path.Count; i++)
{
float ori_center_x = rawTerrainInfo.get_x_pos(rawTerrainInfo.get_i_index(path[i].x));
float ori_center_z = rawTerrainInfo.get_z_pos(rawTerrainInfo.get_j_index(path[i].z));
Vector3 centerV3 = new Vector3(ori_center_x, 0f, ori_center_z);
path[i] += (centerV3 - path[i]) * 0.5f;
}
return(path);
}
