//根据目标点来转换目标，vector3 -> NavmeshPoint
private NavmeshPoint GetNavPoint(Vector3 point)
{
if (mNavAgent == null)
{
return(default(NavmeshPoint));
}
return(mNavAgent.GetPointSearch(point));
}
//实际上这是一个不断开闭的过程
//循环过程中也会不断Enter
public override bool Enter()
{
if (theAgent.navGroup.query == null)
{
return(false);
}
//在导航网格上找到自己的位置
NavmeshPoint pos = theAgent.GetPointSearch(theAgent.position);
if (pos.polyRef == 0)
{
//Debug.LogError(string.Format("{0}: Could not constrain position to navigation mesh. {1}", theAgent.transform.name, pos.ToString()));
return(false);
}
//在导航网格上找到目标的位置
NavmeshPoint goal = theAgent.GetPointSearch(theAgent.goal);
if (goal.polyRef == 0)
{
//Debug.LogError(string.Format("{0}: Could not constrain goal to navigation mesh. {1}", theAgent.transform.name, goal.ToString()));
return(false);
}
theAgent.RemoveFromCrowd();
theAgent.SetCorridorAssets(true);
theAgent.SetPathAssets(true);
//agent自己寻路，发现没有路就报错
if (theAgent.PlanCorridor(pos, goal) <= 0)
{
//Debug.LogError(string.Format("{0}: Could not plan corridor on enter.", theAgent.transform.name));
theAgent.flags &= ~NavFlag.CorridorInUse;
return(false);
}
//存储寻路之后的结果
theAgent.desiredPosition = theAgent.corridor.Position;
theAgent.plannerGoal = theAgent.corridor.Target;
theAgent.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
//设定速度和重置计数器
mSpeed = Mathf.Sqrt(theAgent.desiredSpeedSq);
mOptimizationTimer = OptimizationFrequency;
return(true);
}
//进入到状态
public override bool Enter()
{
if (theAgent == null || theAgent.navGroup.query == null || theAgent.navGroup.crowd == null)
{
return(false);
}
//当前的位置映射到navmesh的位置
NavmeshPoint pos = theAgent.GetPointSearch(theAgent.position);
if (pos.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain position to navigation mesh. {1}"
, theAgent.transform.name, pos.ToString()));
return(false);
}
//目标映射到navmesh的位置
NavmeshPoint goal = theAgent.GetPointSearch(theAgent.goal);
if (goal.polyRef == 0)
{
Debug.LogError(string.Format("{0}: Could not constrain goal to navigation mesh. {1}"
, theAgent.transform.name, goal.ToString()));
return(false);
}
//NavAgent开始进入到crowd
if (theAgent.AddToCrowd(pos.point) == null)
{
Debug.LogError(string.Format("{0}: Could not add agent to the crowd.", theAgent.transform.name));
return(false);
}
theAgent.desiredPosition = pos;
theAgent.plannerGoal = goal;
theAgent.flags &= ~(NavFlag.HasNewPosition | NavFlag.HasNewGoal);
theAgent.SetCorridorAssets(false);
theAgent.SetPathAssets(true);
return(HandlePositionFeedback());
}
//在Start里面进行的初始化
public bool MakeInitialize()
{
//NavManager.ActiveManager的获取还需要一个更好的设计
if (!enabled)
{
Debug.LogError(this.name + ": is not enabled ");
return(false);
}
if (NavManager.ActiveManager == null)
{
Debug.LogError(this.name + ": no activeManager ");
return(false);
}
mNavManager = NavManager.ActiveManager;
//建立navAgent,这是真正用于移动的agent
mNavAgent = mNavManager.CreateAgent(agentGroup, transform);
mNavAgent.moveSpeed = this.moveSpeed;
if (mNavAgent == null)
{
Debug.LogError(this.name + ": agent create failed");
enabled = false;
return(false);
}
mNavAgent.rotation = transform.rotation;
mNavAgent.position = mNavAgent.GetPointSearch(transform.position);
if (mNavAgent.position.polyRef == 0)
{
mNavAgent = null;
Debug.LogError(this.name + ": take agent into navmesh failed: " + mNavAgent.position);
enabled = false;
return(false);
}
//planner是底层计算推进（可以考虑多线程）
//mover是unity位置改变，只能在主线程
planner = new NavPlanner(mNavAgent);
//用于表现，也就是修改Unity中的移动的move
//UnitySimpleMovePlan unityMovePlan = new UnitySimpleMovePlan();
UnityMoveWithFixdRoute unityMovePlan = new UnityMoveWithFixdRoute();
unityMovePlan.SetNavAgent(mNavAgent);
unityMovePlan.yAxisFreeze = this.yAxisFreeze;
mover = unityMovePlan;
mManagerIndex = mNavManager.AddAgent(planner, unityMovePlan);
if (mManagerIndex == -1)
{
Debug.LogError(this.name + ": add agent to navigation manager failed");
enabled = false;
return(false);
}
Stop();
return(true);
}