private bool HandlePlanning(bool retargetPos, bool retargetGoal)
{
/*
* Design notes:
*
* Tries to do a corridor move on the position and/or target.
* A replan is only triggered if the move(s) fail to reach the desired polygon(s).
*
* It is important to note that the replan may fail to reach the goal. But that is a
* problem for the AI, not the planner.
*/
bool needsFullReplan = false;
// Convenience vars. Only used for input. Not updated.
NavmeshPoint goal = agent.data.plannerGoal;
NavmeshPoint pos = agent.data.desiredPosition;
PathCorridor corridor = agent.corridor;
if (retargetGoal && retargetPos)
{
corridor.Move(pos.point, goal.point);
retargetGoal = (goal.polyRef != corridor.Target.polyRef ||
pos.polyRef != corridor.Position.polyRef);
}
else if (retargetPos)
{
corridor.MovePosition(pos.point);
needsFullReplan = (pos.polyRef != corridor.Position.polyRef);
}
else if (retargetGoal)
{
corridor.MoveTarget(goal.point);
needsFullReplan = (goal.polyRef != corridor.Target.polyRef);
}
if (needsFullReplan)
{
// Debug.Log("Full Replan");
if (agent.PlanCorridor(pos, goal) <= 0)
{
Debug.LogError(agent.transform.name + ": Could not replan corridor.");
return(false);
}
}
else if (retargetPos || retargetGoal)
{
// Debug.Log("Optimize Only");
// Any chagnes are likely to be larger than normal. So force an optimization.
agent.corridor.OptimizePathTopology(true);
mOptimizationTimer = OptimizationFrequency;
}
agent.data.desiredPosition = agent.corridor.Position;
agent.data.plannerGoal = agent.corridor.Target;
return(true);
}
//这个方法是真的移动计划的移动方法
//根据路线进行移动(注意，这个Agent目标移动数据的修改)
private bool HandlePlanning(bool retargetPos, bool retargetGoal)
{
bool needsFullReplan = false;
//获取记录下来的这些信息
NavmeshPoint goal = theAgent.plannerGoal;
NavmeshPoint pos = theAgent.desiredPosition;
//获取路线引用
PathCorridor corridor = theAgent.corridor;
if (retargetGoal && retargetPos)
{
//此处调用CritterAI的PathCorridor,进而调用PathCorridorEx走recast
//从当前的位置转移到希望运动到的位置，另外将目标移动到希望移动到的目标
corridor.Move(pos.point, goal.point);
retargetGoal = (goal.polyRef != corridor.Target.polyRef || pos.polyRef != corridor.Position.polyRef);
}
else if (retargetPos)
{
//此处调用CritterAI的PathCorridor,进而调用PathCorridorEx走recast
//从当前的位置转移到希望运动到的位置
corridor.MovePosition(pos.point);
needsFullReplan = (pos.polyRef != corridor.Position.polyRef);
}
else if (retargetGoal)
{
//此处调用CritterAI的PathCorridor,进而调用PathCorridorEx走recast
//将目标移动到希望移动到的目标
corridor.MoveTarget(goal.point);
needsFullReplan = (goal.polyRef != corridor.Target.polyRef);
}
if (needsFullReplan)
{
//完全重新计算路径
if (theAgent.PlanCorridor(pos, goal) <= 0)
{
//Debug.LogError(theAgent.transform.name + ": Could not replan corridor.");
SetPathInformation(pos, goal);
return(false);
}
}
else if (retargetPos || retargetGoal)
{
//CritterAI作者加的强制优化
theAgent.corridor.OptimizePathTopology(true);
mOptimizationTimer = OptimizationFrequency;
}
//最后重新记录位置就可以了
theAgent.desiredPosition = theAgent.corridor.Position;
theAgent.plannerGoal = theAgent.corridor.Target;
return(true & SetPathInformation(theAgent.desiredPosition, theAgent.plannerGoal));
}
public PathCorridor GeneratePathCorridor(Vector3 start, Vector3 end)
{
if (NavUtil.Failed(GetNavMeshPoint(start, new oVector3(0.3f, 2, 0.3f), out NavmeshPoint origin)) || origin.point == new oVector3())
{
return(null);
}
if (NavUtil.Failed(GetNavMeshPoint(end, new oVector3(0.3f, 2, 0.3f), out NavmeshPoint destination)) || destination.point == new oVector3())
{
return(null);
}
uint[] path = new uint[250];
int pathCount;
if (origin.polyRef == destination.polyRef)
{
pathCount = 1;
path[0] = origin.polyRef;
}
else
{
NavStatus status = _query.FindPath(origin, destination, _filter, path, out pathCount);
if (NavUtil.Failed(status) || pathCount == 0)
{
// Handle pathfinding failure.
throw new Exception("path failed: " + status);
}
else if (destination.polyRef != path[pathCount - 1])
{
//Chat.WriteLine("Unable to generate full path: " + status);
//throw new Exception("Unable to generate full path: " + status);
//return null;
}
}
_pathCorridor.SetCorridor(end.ToCAIVector3(), path, pathCount);
_pathCorridor.Move(start.ToCAIVector3(), end.ToCAIVector3());
return(_pathCorridor);
}