private bool IsPositionInTriangle(Vector3 pos, NavMeshTriangle triangle)
{
// Compute vectors
Vector3 v0 = triangle.vertex2.Position - triangle.vertex1.Position;
Vector3 v1 = triangle.vertex3.Position - triangle.vertex1.Position;
Vector3 v2 = pos - triangle.vertex1.Position;
// Compute dot products
float dot00 = Vector3.Dot(v0, v0);
float dot01 = Vector3.Dot(v0, v1);
float dot02 = Vector3.Dot(v0, v2);
float dot11 = Vector3.Dot(v1, v1);
float dot12 = Vector3.Dot(v1, v2);
// Compute barycentric coordinates
float invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
// Check if point is in triangle
if ((u >= 0) && (v >= 0) && (u + v < 1))
{
return(true);
}
return(false);
}
private void Start()
{
navMesh = new AStarNavMeshNavigation(navMeshHolder);
SelectedTriangle = navMeshHolder.GetRandomTriangle();
if (SelectedTriangle != null)
{
SelectedTriangle.isSelected = true;
}
}
public bool IsAdjacent(NavMeshTriangle tri)
{
// Check Vertex 1
bool vert1 = tri.vertex1.Equals(vertex1) || tri.vertex2.Equals(vertex1) || tri.vertex3.Equals(vertex1);
bool vert2 = tri.vertex1.Equals(vertex2) || tri.vertex2.Equals(vertex2) || tri.vertex3.Equals(vertex2);
bool vert3 = tri.vertex1.Equals(vertex3) || tri.vertex2.Equals(vertex3) || tri.vertex3.Equals(vertex3);
return(vert1 || vert2 || vert3);
}
public override void OnInspectorGUI()
{
serializedObject.Update();
if (GUILayout.Button("Update Generator Values"))
{
navMesh.UpdateInformation();
}
if (GUILayout.Button("Update Adjacent Triangles"))
{
navMesh.UpdateAdjacentTriangles();
}
SerializedProperty prop = serializedObject.FindProperty("m_Script");
EditorGUILayout.PropertyField(prop, true, new GUILayoutOption[0]);
showPosition = EditorGUILayout.Foldout(showPosition, "triangles");
if (showPosition)
{
GUIContent ShowButtonGUIContent = new GUIContent("Show Buttons");
showButton = EditorGUILayout.Toggle(ShowButtonGUIContent, showButton);
EditorGUI.indentLevel++;
for (int i = 0; i < navMesh.Triangles.Length; i++)
{
SerializedProperty triangle = triangles.GetArrayElementAtIndex(i);
GUIContent gUIContent = new GUIContent(triangle.FindPropertyRelative("ID").intValue + (triangle.FindPropertyRelative("isSelected").boolValue ? " Selected" : ""));
EditorGUILayout.PropertyField(triangle, gUIContent, true); // draw property with it's children
if (showButton && GUILayout.Button("Select Vertex"))
{
currentVertex = 0;
if (selectedTriangle != null)
{
selectedTriangle.isSelected = false;
}
selectedTriangle = navMesh.Triangles[i];
selectedTriangle.isSelected = true;
}
}
EditorGUI.indentLevel--;
if (GUILayout.Button("Insert Triangle"))
{
navMesh.AddNewTriangle();
}
}
if (GUI.changed)
{
EditorUtility.SetDirty(navMesh);
EditorSceneManager.MarkSceneDirty(navMesh.gameObject.scene);
}
////EditorGUILayout.LabelField(Selection.activeGameObject.name);
//EditorGUILayout.Space();
//DrawDefaultInspector();
EditorGUILayout.PropertyField(entrancePoints, true);
serializedObject.ApplyModifiedProperties();
}
public void CreateTriangle(Vertex vert1, Vertex vert2, Vertex vert3)
{
NavMeshTriangle tri = AddNewTriangle();
tri.vertex1 = vert1;
tri.vertex2 = vert2;
tri.vertex3 = vert3;
AddTriangleVertexesToAdjacencyList(tri);
AddAdjacentTriangles(tri);
}
private static void AddTriangleVertexesToAdjacencyList(NavMeshTriangle triangle)
{
AddVertexesToAdjacentList(triangle.vertex1, triangle.vertex2);
AddVertexesToAdjacentList(triangle.vertex1, triangle.vertex3);
AddVertexesToAdjacentList(triangle.vertex2, triangle.vertex1);
AddVertexesToAdjacentList(triangle.vertex2, triangle.vertex3);
AddVertexesToAdjacentList(triangle.vertex3, triangle.vertex1);
AddVertexesToAdjacentList(triangle.vertex3, triangle.vertex2);
}
public NavMeshTriangle AddNewTriangle()
{
NavMeshTriangle[] newTriangles = new NavMeshTriangle[triangles.Length + 1];
for (int i = 0; i < triangles.Length; i++)
{
newTriangles[i] = triangles[i];
}
newTriangles[newTriangles.Length - 1] = new NavMeshTriangle();
newTriangles[newTriangles.Length - 1].adjacentTriangles = new List <int>();
triangles = newTriangles;
return(newTriangles[newTriangles.Length - 1]);
}
private void Update()
{
if (getRandomPoint)
{
SelectedTriangle.isSelected = false;
SelectedTriangle = navMeshHolder.GetRandomTriangle();
if (SelectedTriangle != null)
{
SelectedTriangle.isSelected = true;
}
}
path = navMesh.GetPathFromTo(this.transform.position, getRandomPoint ? navMeshHolder.GetRandomPointInTriangle(SelectedTriangle) : end.position);
}
public Vector3 GetRandomPointInTriangle(NavMeshTriangle triangle)
{
float x = Random.value;
float y = Random.value;
while (x + y > 1)
{
x = Random.value;
y = Random.value;
}
Vector3 insideTriangle = (triangle.vertex2.Position - triangle.vertex1.Position) * x + (triangle.vertex3.Position - triangle.vertex1.Position) * y;
return(triangle.vertex1.Position + insideTriangle);
}
public List <NavMeshMovementLine> SmoothPath(List <NavMeshMovementLine> oldPath)
{
if (oldPath.Count <= 2)
{
return(oldPath);
}
NavMeshTriangle triangle = null;
for (int i = 0; i < oldPath.Count - 2; i++)
{
if (oldPath[i] == null)
{
continue;
}
currentPoint = oldPath[i];
for (int j = i + 2; j - (i + 2) <= 5 && j < oldPath.Count; j++)
{
if (oldPath[j] == null)
{
continue;
}
bool canRemove = true;
Vector3 nextStep = Vector3.Lerp(currentPoint.point, oldPath[j].point, 0);
for (int k = 1; k < numberOfSteps; k++)
{
triangle = navMesh.GetContainingTriangle(nextStep);
if (triangle == null)
{
canRemove = false;
break;
}
nextStep = Vector3.Lerp(currentPoint.point, oldPath[j].point, k / (float)numberOfSteps);
}
if (canRemove)
{
oldPath[j - 1] = null;
}
}
}
List <NavMeshMovementLine> newPath = new List <NavMeshMovementLine>();
oldPath.ForEach((item) => { if (item != null)
{
newPath.Add(item);
}
});
//List<NavMeshMovementLine> newPath = AvoidWalls(newPath);
return(newPath);
}
public override void OnInspectorGUI()
{
serializedObject.Update();
// Add script drawer
SerializedProperty prop = serializedObject.FindProperty("m_Script");
EditorGUILayout.PropertyField(prop, true, new GUILayoutOption[0]);
//if (GUILayout.Button("Add Adjacent Tris"))
//{
// navMesh.UpdateAdjacentTris();
// EditorUtility.SetDirty(navMesh);
// EditorSceneManager.MarkSceneDirty(navMesh.gameObject.scene);
//}
showPosition = EditorGUILayout.Foldout(showPosition, "triangles");
if (showPosition)
{
EditorGUI.indentLevel++;
for (int i = 0; i < navMesh.Triangles.Length; i++)
{
SerializedProperty triangle = triangles.GetArrayElementAtIndex(i);
GUIContent gUIContent = new GUIContent(triangle.FindPropertyRelative("ID").intValue + (triangle.FindPropertyRelative("isSelected").boolValue ? " Selected" : ""));
EditorGUILayout.PropertyField(triangle, gUIContent, true); // draw property with it's children
if (GUILayout.Button("Select Triangle"))
{
currentVertex = 0;
if (selectedTriangle != null)
{
selectedTriangle.isSelected = false;
}
selectedTriangle = navMesh.Triangles[i];
selectedTriangle.isSelected = true;
}
}
EditorGUI.indentLevel--;
}
serializedObject.ApplyModifiedProperties();
}
private void AddAdjacentTriangles(NavMeshTriangle tri)
{
tri.adjacentTriangles.Clear();
// Check if a duo of verts share more than 1 adjacent vertex
NavMeshTriangle triangle = GetAdjacentTriangle(tri.vertex1, tri.vertex2, tri.vertex3);
if (triangle != null)
{
tri.adjacentTriangles.Add(triangle.ID);
}
triangle = GetAdjacentTriangle(tri.vertex2, tri.vertex3, tri.vertex1);
if (triangle != null)
{
tri.adjacentTriangles.Add(triangle.ID);
}
triangle = GetAdjacentTriangle(tri.vertex3, tri.vertex1, tri.vertex2);
if (triangle != null)
{
tri.adjacentTriangles.Add(triangle.ID);
}
}
// override object.Equals
public override bool Equals(object obj)
{
//
// See the full list of guidelines at
// http://go.microsoft.com/fwlink/?LinkID=85237
// and also the guidance for operator== at
// http://go.microsoft.com/fwlink/?LinkId=85238
//
if (obj == null || GetType() != obj.GetType())
{
return(false);
}
NavMeshTriangle tri = obj as NavMeshTriangle;
if (tri == null)
{
return(false);
}
return((tri.vertex1 != null && tri.vertex1.Equals(this.vertex1)) &&
(tri.vertex2 != null && tri.vertex2.Equals(this.vertex2)) &&
(tri.vertex3 != null && tri.vertex3.Equals(this.vertex3)));
}
public List <NavMeshMovementLine> GetPathFromTo(Vector3 from, Vector3 to)
{
if (actualPoints.Length == 0)
{
return(new List <NavMeshMovementLine>());
}
for (int i = 0; i < actualPoints.Length; i++)
{
actualPoints[i].inClosed = false;
actualPoints[i].f = 0;
actualPoints[i].g = 0;
actualPoints[i].h = 0;
actualPoints[i].parent = null;
}
triStart = navMesh.GetContainingTriangle(from);
if (triStart == null)
{
return(new List <NavMeshMovementLine>());
}
triEnd = navMesh.GetContainingTriangle(to);
if (triEnd == null)
{
return(new List <NavMeshMovementLine>());
}
path.Clear();
// If the points are on the same triangle, send back a straight line between both points
if (triStart.ID == triEnd.ID)
{
path.Add(new NavMeshMovementLine {
point = from
});
path.Add(new NavMeshMovementLine {
point = to
});
return(path);
}
open.Clear();
// Add the starting triangle vertexes to the open list
open.Add(UpdateAStarPoint(GetPointValue(triStart.vertex1.ID), 0, 0, to));
open.Add(UpdateAStarPoint(GetPointValue(triStart.vertex2.ID), 0, 0, to));
open.Add(UpdateAStarPoint(GetPointValue(triStart.vertex3.ID), 0, 0, to));
// The starting point does not need to be kept in the closed list
while (open.Count > 0)
{
open.Sort((a, b) => a.f.CompareTo(b.f));
current = open[0];
if (current.vert.ID == (triEnd.vertex1.ID) ||
current.vert.ID == (triEnd.vertex2.ID) ||
current.vert.ID == (triEnd.vertex3.ID))
{
return(ReconstructPath(current, to, from));
}
open.RemoveAt(0);
current.inClosed = true;
if (open.Count > 4000)
{
break;
}
for (int i = 0; i < current.vert.Count; i++)
{
AStarPoint aStarPointExisting = GetPointValue(current.vert.GetAdjacentVertex(i).ID);
if (aStarPointExisting.inClosed)
{
continue;
}
float cost = current.g + (current.vert.Position - current.vert.GetAdjacentVertex(i).Position).magnitude;
AStarPoint aStarPoint = open.Find((item) => item.vert.Equals(current.vert.GetAdjacentVertex(i)));
if (aStarPoint == null)
{
aStarPoint = UpdateAStarPoint(aStarPointExisting, current.g, (Mathf.Pow((current.vert.Position.x - current.vert.GetAdjacentVertex(i).Position.x), 2) + Mathf.Pow((current.vert.Position.y - current.vert.GetAdjacentVertex(i).Position.y), 2)), to, current);
open.Add(aStarPoint);
}
else
{
if (cost < aStarPoint.g)
{
aStarPoint.g = cost;
aStarPoint.f = aStarPoint.g + aStarPoint.h;
aStarPoint.parent = current;
}
}
}
}
return(path);
}
private void HandleKeyboard()
{
Event current = Event.current;
if (current.type != EventType.KeyDown)
{
return;
}
EditorGUI.BeginChangeCheck();
switch (current.keyCode)
{
case KeyCode.DownArrow:
switch (currentVertex)
{
case 0:
selectedTriangle.vertex1 = Selection.activeGameObject.GetComponent <Vertex>();
break;
case 1:
selectedTriangle.vertex2 = Selection.activeGameObject.GetComponent <Vertex>();
break;
case 2:
selectedTriangle.vertex3 = Selection.activeGameObject.GetComponent <Vertex>();
break;
default:
break;
}
currentVertex++;
if (currentVertex >= 3)
{
currentVertex = 0;
}
current.Use();
break;
case KeyCode.UpArrow:
currentVertex = 0;
if (selectedTriangle != null)
{
selectedTriangle.isSelected = false;
}
selectedTriangle = navMesh.AddNewTriangle();
selectedTriangle.isSelected = true;
current.Use();
break;
case KeyCode.Return:
case KeyCode.KeypadEnter:
current.Use();
break;
case KeyCode.LeftArrow:
case KeyCode.Backspace:
//current.Use();
break;
case KeyCode.RightArrow:
//current.Use();
break;
case KeyCode.Escape:
current.Use();
break;
}
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "Changed triangle Vertex");
}
}
