/// <summary>
/// Initializes a new instance of the <see cref="NavMeshQuery"/> class.
/// </summary>
/// <param name="nav">The navigation mesh to query.</param>
/// <param name="maxNodes">The maximum number of nodes that can be queued in a query.</param>
/// <param name="rand">A random number generator for use in methods like <see cref="NavMeshQuery.FindRandomPoint()"/></param>
public NavMeshQuery(TiledNavMesh nav, int maxNodes, Random rand)
{
this.nav = nav;
nodePool = new NodePool(maxNodes/*, MathHelper.NextPowerOfTwo(maxNodes / 4)*/);
tinyNodePool = new NodePool(64/*, 32*/);
openList = new PriorityQueue<NavNode>(maxNodes);
this.rand = rand;
this.query = new QueryData();
}
/// <summary>
/// Initializes a new instance of the <see cref="NavMeshQuery"/> class.
/// </summary>
/// <param name="nav">The navigation mesh to query.</param>
/// <param name="maxNodes">The maximum number of nodes that can be queued in a query.</param>
/// <param name="rand">A random number generator for use in methods like <see cref="NavMeshQuery.FindRandomPoint()"/></param>
public NavMeshQuery(TiledNavMesh nav, int maxNodes, Random rand)
{
this.nav = nav;
areaCost = new float[byte.MaxValue + 1];
for (int i = 0; i < areaCost.Length; i++)
areaCost[i] = 1.0f;
nodePool = new NodePool(maxNodes/*, MathHelper.NextPowerOfTwo(maxNodes / 4)*/);
tinyNodePool = new NodePool(64/*, 32*/);
openList = new PriorityQueue<Node>(maxNodes);
this.rand = rand;
}
private void LoadNavMeshFromFile(string path)
{
try
{
tiledNavMesh = new NavMeshJsonSerializer().Deserialize(path);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
hasGenerated = true;
displayMode = DisplayMode.NavMesh;
}
catch (Exception e)
{
if (!interceptExceptions)
throw;
else
{
hasGenerated = false;
tiledNavMesh = null;
navMeshQuery = null;
Console.WriteLine("Navmesh loading failed with exception:" + Environment.NewLine + e.ToString());
}
}
}
private void GeneratePathfinding()
{
if (!hasGenerated)
return;
Random rand = new Random();
NavQueryFilter filter = new NavQueryFilter();
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
//Find random start and end points on the poly mesh
/*int startRef;
navMeshQuery.FindRandomPoint(out startRef, out startPos);*/
SVector3 c = new SVector3(10, 0, 0);
SVector3 e = new SVector3(5, 5, 5);
navMeshQuery.FindNearestPoly(ref c, ref e, out startPt);
navMeshQuery.FindRandomPointAroundCircle(ref startPt, 1000, out endPt);
//calculate the overall path, which contains an array of polygon references
int MAX_POLYS = 256;
path = new Path();
navMeshQuery.FindPath(ref startPt, ref endPt, filter, path);
//find a smooth path over the mesh surface
int npolys = path.Count;
SVector3 iterPos = new SVector3();
SVector3 targetPos = new SVector3();
navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos);
navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos);
smoothPath = new List<SVector3>(2048);
smoothPath.Add(iterPos);
float STEP_SIZE = 0.5f;
float SLOP = 0.01f;
while (npolys > 0 && smoothPath.Count < smoothPath.Capacity)
{
//find location to steer towards
SVector3 steerPos = new SVector3();
StraightPathFlags steerPosFlag = 0;
NavPolyId steerPosRef = NavPolyId.Null;
if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef))
break;
bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false;
//find movement delta
SVector3 delta = steerPos - iterPos;
float len = (float)Math.Sqrt(SVector3.Dot(delta, delta));
//if steer target is at end of path or off-mesh link
//don't move past location
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
SVector3 moveTgt = new SVector3();
VMad(ref moveTgt, iterPos, delta, len);
//move
SVector3 result = new SVector3();
List<NavPolyId> visited = new List<NavPolyId>(16);
NavPoint startPoint = new NavPoint(path[0], iterPos);
navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited);
path.FixupCorridor(visited);
npolys = path.Count;
float h = 0;
navMeshQuery.GetPolyHeight(path[0], result, ref h);
result.Y = h;
iterPos = result;
//handle end of path when close enough
if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f))
{
//reached end of path
iterPos = targetPos;
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(iterPos);
}
break;
}
//store results
if (smoothPath.Count < smoothPath.Capacity)
{
smoothPath.Add(iterPos);
}
}
}
private void LoadNavMeshFromFile(string path)
{
tiledNavMesh = new NavMeshJsonSerializer().Deserialize(path);
displayMode = DisplayMode.NavMesh;
}
/// <summary> /// Serialize navigation mesh into external file /// </summary> /// <param name="path">path of file to serialize into</param> /// <param name="mesh">mesh to serialize</param> public abstract void Serialize(string path, TiledNavMesh mesh);
/// <summary>
/// Initializes a new instance of the <see cref="NavMeshQuery"/> class.
/// </summary>
/// <param name="nav">The navigation mesh to query.</param>
/// <param name="maxNodes">The maximum number of nodes that can be queued in a query.</param>
public NavMeshQuery(TiledNavMesh nav, int maxNodes)
: this(nav, maxNodes, new Random())
{
}
private void LoadNavMeshFromFile(string path)
{
tiledNavMesh = new NavMeshJsonSerializer().Deserialize(path);
navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
hasGenerated = true;
displayMode = DisplayMode.NavMesh;
}
