public List <Vector3> FindPath(Vector3 from, Vector3 to, int bodysize)
{
List <Vector3> result = new List <Vector3>();
CellPos start, end;
ICellMapView view = cell_manager_.GetCellMapView(bodysize);
CellPos start0;
view.GetCell(from, out start0.row, out start0.col);
view.GetCell(to, out end.row, out end.col);
start = view.GetFirstWalkableCell(from, to);
if (start.row >= 0 && start.col >= 0)
{
List <CellPos> path = PathFinder.FindPath(cell_manager_.GetCellMapView(bodysize), start, end);
if (start0.row != start.row || start0.col != start.col)
{
result.Add(view.GetCellCenter(start0.row, start0.col));
}
for (int ix = path.Count - 1; ix >= 0; --ix)
{
CellPos pos = path[ix];
result.Add(view.GetCellCenter(pos.row, pos.col));
}
}
else
{
result.Add(view.GetCellCenter(start0.row, start0.col));
result.Add(view.GetCellCenter(end.row, end.col));
}
return(result);
}
public List <Vector3> FindPath(Vector3 from, Vector3 to, int scope, int bodysize)
{
List <Vector3> result = new List <Vector3>();
CellPos
start = new CellPos(),
end = new CellPos(),
minCell = new CellPos(),
maxCell = new CellPos();
ICellMapView view = cell_manager_.GetCellMapView(bodysize);
CellPos start0 = new CellPos();
view.GetCell(from, out start0.row, out start0.col);
view.GetCell(to, out end.row, out end.col);
start = view.GetFirstWalkableCell(from, to);
if (start.row >= 0 && start.col >= 0)
{
minCell.row = Math.Min(start.row, end.row) - scope;
minCell.col = Math.Min(start.col, end.col) - scope;
maxCell.row = Math.Max(start.row, end.row) + scope;
maxCell.col = Math.Max(start.col, end.col) + scope;
if (minCell.row < 0)
{
minCell.row = 0;
}
if (minCell.col < 0)
{
minCell.col = 0;
}
if (maxCell.row >= view.MaxRowCount)
{
maxCell.row = view.MaxRowCount - 1;
}
if (maxCell.col >= view.MaxColCount)
{
maxCell.col = view.MaxColCount - 1;
}
List <CellPos> path = PathFinder.FindPath(cell_manager_.GetCellMapView(bodysize), start, end, minCell, maxCell);
if (start0.row != start.row || start0.col != start.col)
{
result.Add(view.GetCellCenter(start0.row, start0.col));
}
for (int ix = path.Count - 1; ix >= 0; --ix)
{
CellPos pos = path[ix];
result.Add(view.GetCellCenter(pos.row, pos.col));
}
}
return(result);
}
public static CellPos GetFirstWalkableCell(ICellMapView view, Vector3 from, Vector3 to)
{
CellPos
start = new CellPos(-1, -1),
end = new CellPos(-1, -1),
ret = new CellPos(-1, -1);
view.GetCell(from, out start.row, out start.col);
if (view.CanPass(start.row, start.col))
{
ret = start;
}
else
{
view.GetCell(to, out end.row, out end.col);
from = view.GetCellCenter(start.row, start.col);
to = view.GetCellCenter(end.row, end.col);
from.Y = 0; to.Y = 0;
float step = view.RadiusLength * 2;
float angle = Geometry.GetYAngle(new Vector2(from.X, from.Z), new Vector2(to.X, to.Z));
float xstep = step * (float)Math.Sin(angle);
float zstep = step * (float)Math.Cos(angle);
int count = (int)((to - from).Length() / step);
for (int ix = 0; ix < count; ++ix)
{
from.X += xstep;
from.Z += zstep;
int row, col;
view.GetCell(from, out row, out col);
if (view.CanPass(row, col))
{
ret.row = row;
ret.col = col;
break;
}
}
}
return(ret);
}
public static bool IsWalkable(ICellMapView view, Vector3 srcPos, Vector3 dir)
{
int row = 0;
int col = 0;
view.GetCell(srcPos, out row, out col);
float r = view.RadiusLength * 2;
Vector3 targetPos = view.GetCellCenter(row, col);
dir.Normalize();
targetPos.X += r * dir.X;
targetPos.Z += r * dir.Z;
int oRow = 0;
int oCol = 0;
view.GetCell(targetPos, out oRow, out oCol);
bool ret = true;
if (oRow != row || oCol != col)
{
ret = view.CanPass(oRow, oCol);
}
return(ret);
}
public static bool GetWalkablePosition(ICellMapView view, Vector3 targetPos, Vector3 srcPos, ref Vector3 pos)
{
bool ret = false;
const int c_MaxCheckCells = 3;
int row = 0;
int col = 0;
view.GetCell(targetPos, out row, out col);
float radian = Geometry.GetYAngle(new Vector2(targetPos.X, targetPos.Z), new Vector2(srcPos.X, srcPos.Z));
if (radian >= Math.PI / 4 && radian < Math.PI * 3 / 4)//右边
{
for (int ci = 1; ci <= c_MaxCheckCells; ++ci)
{
for (int ri = 0; ri <= c_MaxCheckCells; ++ri)
{
int row_ = row + ri;
int col_ = col + ci;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
if (ri > 0)
{
row_ = row - ri;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
}
}
}
}
else if (radian >= Math.PI * 3 / 4 && radian < Math.PI * 5 / 4)//上边
{
for (int ri = 1; ri <= c_MaxCheckCells; ++ri)
{
for (int ci = 0; ci <= c_MaxCheckCells; ++ci)
{
int row_ = row - ri;
int col_ = col + ci;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
if (ci > 0)
{
col_ = col - ci;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
}
}
}
}
else if (radian >= Math.PI * 5 / 4 && radian < Math.PI * 7 / 4)//左边
{
for (int ci = 1; ci <= c_MaxCheckCells; ++ci)
{
for (int ri = 0; ri <= c_MaxCheckCells; ++ri)
{
int row_ = row + ri;
int col_ = col - ci;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
if (ri > 0)
{
row_ = row - ri;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
}
}
}
}
else//下边
{
for (int ri = 1; ri <= c_MaxCheckCells; ++ri)
{
for (int ci = 0; ci <= c_MaxCheckCells; ++ci)
{
int row_ = row + ri;
int col_ = col + ci;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
if (ci > 0)
{
col_ = col - ci;
if (view.IsCellValid(row_, col_))
{
if (view.CanPass(row_, col_))
{
pos = view.GetCellCenter(row_, col_);
ret = true;
goto exit;
}
}
}
}
}
}
exit:
return(ret);
}