protected virtual void CreateNavigation()
{
m_Navmesh = new Navmesh();
m_Navigator = new NavigationEngine(m_Navmesh);
m_Explorer = new ExploreEngine.Nearest(m_Navmesh, m_Navigator);
m_Explorer.Enabled = false;
}
public TestBot(Navmesh navmesh, NavigationEngine navigator, ExplorationEngine explorer, Vec3 pos, float speed, float angular_speed, bool enableExplorer = true)
{
m_Navmesh = navmesh;
m_Navmesh.Verbose = true;
//m_Navigator = new NavigationEngine(navmesh);
m_Navigator = navigator;
m_Navigator.EnableThreatAvoidance = true;
m_Navigator.AddObserver(this);
m_Navigator.CurrentPos = pos;
//m_Navigator.EnableThreatAvoidance = true;
//m_Navigator.DefaultPrecision = 20;
//m_Navigator.Precision = 20;
//m_Navigator.PathNodesShiftDist = 20;
//m_Navigator.EnableAntiStuck = false;
//m_Navigator.DestinationGridsId = dest_grid_id != -1 ? new List<int>(new int[] { dest_grid_id }) : null;
//if (waypoints != null)
// m_Navigator.Waypoints = waypoints;
//m_Explorer = new Nav.ExploreEngine.Nearest(m_Navmesh, m_Navigator);
m_Explorer = explorer;
if (enableExplorer)
{
m_Explorer.Enabled = true;
}
m_Speed = speed;
m_AngularSpeed = angular_speed;
SimulateStuck = false;
Paused = false;
m_GotoPosUpdateTimer.Start();
}
protected virtual void CreateNavigation()
{
m_Navmesh = new Nav.Navmesh(false);
m_Navigator = new Nav.NavigationEngine(m_Navmesh);
m_Navmesh.RegionsMoveCostMode = Nav.Navmesh.RegionsMode.Mult;
m_Explorer = new Nav.ExploreEngine.Nearest(m_Navmesh, m_Navigator);
m_Explorer.Enabled = false;
}
public NavMeshViewer(string[] args, Navmesh navmesh = null, NavigationEngine navigator = null, ExplorationEngine explorer = null)
{
Thread.CurrentThread.CurrentCulture = CultureInfo.InvariantCulture;
BackColor = Color.LightGray;
m_Params = new Params(args);
m_Navmesh = navmesh;
m_Navigator = navigator;
m_Explorer = explorer;
CreateNavigation();
LoadDebugConfig();
if (m_Params.HasParam("load"))
{
m_Params.GetParam("load", out string file);
LoadData(file);
}
if (m_Params.HasParam("start"))
{
m_Params.GetParam("start", out string str);
m_Navigator.CurrentPos = new Vec3(str);
}
if (m_Params.HasParam("end"))
{
m_Params.GetParam("end", out string str);
m_Navigator.Destination = new destination(new Vec3(str));
}
if (m_Params.HasParam("load_waypoints"))
{
m_Params.GetParam("load_waypoints", out string file);
LoadWaypoints(file);
}
if (m_Params.HasParam("deserialize"))
{
m_Params.GetParam("deserialize", out string file);
m_Navmesh.Deserialize(file);
m_Navigator.Deserialize(file);
m_Explorer.Deserialize(file);
Vec3 initial_pos = m_Navigator.CurrentPos;
if (initial_pos.IsZero())
{
initial_pos = m_Navmesh.GetCenter();
}
m_RenderCenter.X = initial_pos.X;
m_RenderCenter.Y = initial_pos.Y;
}
InitializeComponents();
}
protected override void CreateNavigation()
{
m_MemoryContext = CreateMemoryContext();
m_Navmesh = Nav.D3.Navmesh.Create(m_MemoryContext, true);
m_Navigator = new Nav.NavigationEngine(m_Navmesh);
m_Navmesh.RegionsMoveCostMode = Nav.Navmesh.RegionsMode.Mult;
m_Explorer = new Nav.ExploreEngine.Nearest(m_Navmesh, m_Navigator);
m_Explorer.Enabled = false;
m_AutoClearOnLocationChange = true;
}
public ExplorationEngine(Navmesh navmesh, NavigationEngine navigator, int explore_cell_size = 90)
{
ExploreCellSize = explore_cell_size;
m_Navmesh = navmesh;
m_Navmesh.AddObserver(this);
m_Navigator = navigator;
m_Navigator.AddObserver(this);
m_Navigator.m_RoughtPathEstimator = m_Navigator.m_RoughtPathEstimator ?? this;
// generate exploration data from already existing grid cells
Reset();
UpdatesThread = new Thread(Updates);
UpdatesThread.Name = "Explorator-UpdatesThread";
UpdatesThread.Start();
}
public ExplorationEngine(Navmesh navmesh, NavigationEngine navigator, int explore_cell_size = 90)
{
ExploreCellSize = explore_cell_size;
MAX_AREA_TO_MARK_AS_SMALL = 2000;
ExploreDestPrecision = 20;
m_Navmesh = navmesh;
m_Navmesh.AddObserver(this);
m_Navigator = navigator;
m_Navigator.AddObserver(this);
// generate exploration data from already existing grid cells
Reset();
UpdatesThread = new Thread(Updates);
UpdatesThread.Name = "Explorator-UpdatesThread";
UpdatesThread.Start();
}
public Navmesh(ExplorationEngine explorator = null, bool verbose = false)
{
Log("[Nav] Creating navmesh...");
RegionsMoveCostMode = RegionsMode.Mult;
RegionsEnabled = true;
UpdatesThread = new Thread(Updates);
UpdatesThread.Name = "Navmesh-UpdatesThread";
UpdatesThread.Start();
Navigator = new NavigationEngine(this);
if (explorator != null)
{
explorator.AttachToNavmesh(this);
Explorator = explorator;
}
Verbose = verbose;
Log("[Nav] Navmesh created");
}