public void GenerateObstacleInfo(CellManager cellMgr)
{
//标记所有格子为阻挡
for (int row = 0; row < cellMgr.GetMaxRow(); row++)
{
for (int col = 0; col < cellMgr.GetMaxCol(); col++)
{
cellMgr.SetCellStatus(row, col, BlockType.STATIC_BLOCK);
}
}
//打开可行走区
foreach (TiledData data in walk_area_list_)
{
List <Vector3> pts = data.GetPoints();
MapDataUtil.MarkObstacleArea(pts, cellMgr, BlockType.NOT_BLOCK);
}
//标记阻挡区
foreach (TiledData data in obstacle_area_list_)
{
List <Vector3> pts = data.GetPoints();
MapDataUtil.MarkObstacleArea(pts, cellMgr, BlockType.STATIC_BLOCK);
}
//标记阻挡线
foreach (TiledData data in obstacle_line_list_)
{
List <Vector3> pts = data.GetPoints();
MarkObstacleLine(pts, cellMgr, BlockType.STATIC_BLOCK);
}
}
public void Init(CellManager cellMgr)
{
m_CellMgr = cellMgr;
m_Map = cellMgr.cells_arr_;
m_MaxRows = cellMgr.GetMaxRow();
m_MaxCols = cellMgr.GetMaxCol();
m_PreprocessData = null;
}
public void PreprocessMap(CellManager cellMgr, string filename)
{
m_Width = cellMgr.GetMaxCol();
m_Height = cellMgr.GetMaxRow();
byte[,] map = cellMgr.cells_arr_;
using (FileStream fs = new FileStream(filename, FileMode.Create)) {
// init
fs.WriteByte((byte)(m_Width & 0x0ff));
fs.WriteByte((byte)((m_Width & 0x0ff00) >> 8));
fs.WriteByte((byte)(m_Height & 0x0ff));
fs.WriteByte((byte)((m_Height & 0x0ff00) >> 8));
int size = map.Length;
m_Tree = new TreeNode[size];
m_PreTree = new PreTreeNode[size];
for (int i = 0; i < size; ++i)
{
m_PreTree[i].Wall = BlockType.GetBlockType(map[i / m_Width, i % m_Width]) == 0;
m_Tree[i].OpToParent = (byte)OperationEnum.NO_OP;
m_PreTree[i].Visited = false;
m_PreTree[i].CostF = float.MaxValue;
m_Tree[i].CostI = (byte)255;
}
// Create Trees (multiple roots are possible)
for (int i = 0; i < size; ++i)
{
if (m_PreTree[i].Wall && !m_PreTree[i].Visited)
{
CreateTree(i);
}
}
// Compact
for (int i = 0; i < size; ++i)
{
// Round up to ensure that only the root node gets a cost of 0.
double scaledCostF = Math.Min(254.0, Math.Ceiling(m_PreTree[i].CostF / 5.0));
int scaledCostI = (int)scaledCostF;
m_Tree[i].CostI = (byte)scaledCostI;
}
for (int i = 0; i < size; ++i)
{
fs.WriteByte(m_Tree[i].CostI);
fs.WriteByte(m_Tree[i].OpToParent);
}
fs.Close();
}
m_PreTree = null;
m_Tree = null;
}
public void GenerateObstacleInfoWithNavmesh(CellManager cellMgr)
{
//标记所有格子为阻挡
for (int row = 0; row < cellMgr.GetMaxRow(); row++)
{
for (int col = 0; col < cellMgr.GetMaxCol(); col++)
{
cellMgr.SetCellStatus(row, col, BlockType.STATIC_BLOCK);
}
}
//打开可行走区
foreach (TriangleNode node in navmesh_triangle_list)
{
List <Vector3> pts = new List <Vector3>(node.Points);
MapDataUtil.MarkObstacleArea(pts, cellMgr, BlockType.NOT_BLOCK);
}
}
