// navmesh
public static bool CanSee(actors.area.Zone zone, float x1, float y1, float z1, float x2, float y2, float z2)
{
// todo: prolly shouldnt raycast
var navMesh = zone.tiledNavMesh;
if (navMesh != null)
{
var navMeshQuery = zone.navMeshQuery;
NavPoint startPt, endPt;
SharpNav.Pathfinding.Path path = new SharpNav.Pathfinding.Path();
RaycastHit hit = new RaycastHit();
SharpNav.Geometry.Vector3 c = new SharpNav.Geometry.Vector3(x1, y1, z1);
SharpNav.Geometry.Vector3 ep = new SharpNav.Geometry.Vector3(x2, y2, z2);
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);
if (navMeshQuery.Raycast(ref startPt, ref ep, RaycastOptions.None, out hit, path))
{
return(true);
}
return(false);
}
return(true);
}
// 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);
}
public static List <Vector3> GetPath(actors.area.Zone zone, float x, float y, float z, float targetX, float targetY, float targetZ, float stepSize = 0.70f, int pathSize = 45, float polyRadius = 0.0f, bool skipToTarget = false)
{
return(GetPath(zone, new Vector3(x, y, z), new Vector3(targetX, targetY, targetZ), stepSize, pathSize, polyRadius, skipToTarget));
}
