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 Navmesh();
m_Navigator = new NavigationEngine(m_Navmesh);
m_Explorer = new ExploreEngine.Nearest(m_Navmesh, m_Navigator);
m_Explorer.Enabled = false;
}
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 NavigationEngine(Navmesh navmesh)
{
m_Navmesh = navmesh;
m_Navmesh.AddObserver(this);
UpdatesThread = new Thread(Updates);
UpdatesThread.Name = "Navigator-UpdatesThread";
UpdatesThread.Start();
}
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();
}
public static void Render(Nav.Navmesh navmesh, Nav.ExploreCell cell, List <Nav.ExploreCell> all_cells, PointF trans, PaintEventArgs e, bool draw_id)
{
foreach (ExploreCell other_cell in all_cells)
{
if (cell.Id == other_cell.Id)
{
continue;
}
DrawLine(e.Graphics, Pens.Gray, trans, cell.Position, other_cell.Position);
//DrawString(e.Graphics, Brushes.Black, trans, (cell.Position + other_cell.Position) * 0.5f, Math.Round(navmesh.Explorator.ExploreDistance(cell, other_cell)).ToString(), 8);
}
}
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 NavigationEngine(Navmesh navmesh)
{
m_Navmesh = navmesh;
UpdatesThread = new Thread(Updates);
UpdatesThread.Name = "Navigator-UpdatesThread";
UpdatesThread.Start();
Precision = 8;
GridCellPrecision = 40;
ExploreCellPrecision = 25;
PathRandomCoeff = 0;
PathNodesShiftDist = 5;
CurrentPosDiffRecalcThreshold = 20;
UpdatePathInterval = -1;
EnableAntiStuck = false;
IsStandingOnPurpose = true;
MovementFlags = MovementFlag.Walk;
}
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 TestBot(Nav.Navmesh navmesh, NavigationEngine navigator, ExplorationEngine explorer, Vec3 pos, Vec3 dest, bool explore = false, bool simulate_stuck = false, int dest_grid_id = -1, List <Vec3> waypoints = null)
{
m_Navmesh = navmesh;
//m_Navigator = new NavigationEngine(navmesh);
//m_Navigator.AddObserver(this);
m_Navigator = navigator;
m_Navigator.CurrentPos = pos;
m_Navigator.Precision = 2;
m_Navigator.EnableAntiStuck = true;
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;
m_Explorer.Enabled = explore;
Destination = dest;
SimulateStuck = simulate_stuck;
Paused = false;
m_GotoPosUpdateTimer.Start();
}
public void AttachToNavmesh(Navmesh nav_mesh)
{
Navmesh = nav_mesh;
Navmesh.Navigator.AddListener(this);
}
public UnexploredSelector(List <AABB> contraints, Func <ExploreCell, bool> filter, bool ignore_small, Vec3 agent_pos, Navmesh navmesh)
{
this.constraints = contraints;
this.filter = filter;
this.ignore_small = ignore_small;
this.agent_pos = agent_pos;
this.navmesh = navmesh;
}