public void CreateAstarPath(AStarAgent agent, TSVector start, TSVector target, GridMap map, int curPosIdx)
{
if (agent._asm == null)
{
AStarMachine.AStarMachine asm = _pathPool.New();
GridAStarGoal goal = _goalPool.New();
goal.Ini(agent);
GridAStarStorage storage = _storagePool.New();
storage.Ini();
asm.Ini(agent, goal, storage, map);
agent._asm = asm;
StartFindingPath(asm, start, target, false, curPosIdx);
}
}
public AStarNode GetAStarNode(int x, int y, int pathId, IAStarMap map, bool isIgnored = false)
{
GridMap gMap = map as GridMap;
int idx = gMap.GetIdx(x, y);
GridNode nNode;
if (_gridNodes.TryGetValue(idx, out nNode) || gMap.IsWalkable(x, y) || isIgnored)
{
if (nNode == null)
{
nNode = _gridNodesPool.New();
_gridNodes[idx] = nNode;
}
if (nNode.pathId != pathId)
{
nNode.Reset();
nNode.NodeID = idx;
nNode.gridPos.x = x;
nNode.gridPos.y = y;
nNode.pathId = pathId;
}
return(nNode);
}
return(null);
}
public void UpdateGroup(IAgentBehaviour agent, int groupId)
{
if (agent.group != null)
{
RemoveAgent(agent);
}
AgentGroup group;
if (!_group.TryGetValue(groupId, out group))
{
group = s_groupPool.New();
group.groupId = groupId;
_group[groupId] = group;
}
group.AddAgent(agent);
}
IEnumerator SpawnUnit()
{
if (randomSeed == 0)
{
randomSeed = (int)System.DateTime.Now.Ticks;
}
UnityEngine.Random.InitState(randomSeed);
TSRandom random = TSRandom.instance;
while (true && countLimit > 0)
{
for (int i = 0; i < 10 && countLimit > 0; i++)
{
TestAgent tagent = GameObject.Instantiate <TestAgent>(agent);
PathFindingAgentBehaviour unit = s_AstarAgent.New();
if (unit != null)
{
tagent._testPathFinding = this;
tagent.unit = unit;
int camp = countLimit % campCount;
//start pos
Vector3 vPos = startObj[camp].transform.position
+ new Vector3(UnityEngine.Random.Range(0, 2.0f), 0, UnityEngine.Random.Range(0, 2.0f));
TSVector pos = TSVector.zero;
pos.Set(CustomMath.FloatToFP(vPos.x), CustomMath.FloatToFP(vPos.y), CustomMath.FloatToFP(vPos.z));
TSVector sPos = pos;
tagent.gameObject.transform.position = CustomMath.TsVecToVector3(sPos);
// Debug.Log(pos);
//target pos
Vector3 tpos = destObj[camp].transform.position; // new Vector3(48.0f, 0.0f, 46.8f);
pos.Set(CustomMath.FloatToFP(tpos.x), CustomMath.FloatToFP(tpos.y), CustomMath.FloatToFP(tpos.z));
//get center
int idx = _map.GetGridNodeId(pos);
pos = _map.GetWorldPosition(idx);
TSVector targetPos = pos;
FP attackRange = _atkRanges[countLimit % _atkRanges.Length];
FP range = TSMath.Max(attackRange + GridMap.GetNodeSize() * CustomMath.FPHalf, FP.One * 3 * GridMap.GetNodeSize());
AgentBaseData data = new AgentBaseData();
data.id = countLimit;
data.mapId = 0;
data.playerId = camp;
data.eAgentType = EAgentType.none; //data.id%5== 0? EAgentType.ingoreObstacle:
#if !USING_FLOW_FIELD
data.defaultTargetPos = TSVector.zero; //astar
#else
data.defaultTargetPos = targetPos;
#endif
data.loopCallback = tagent.Loop;
data.boidsType = (byte)EBoidsActiveType.all;
data.maxSpeed = FP.One * maxSpeed;
data.position = sPos;
data.collidesWithLayer = 1;
data.viewRadius = FP.One * 6 * GridMap.GetNodeSize();
data.neighbourRadius = range;
data.random = random;
data.colliderRadius = 0.5f; //test
data.pfm = _pfm;
data.groupId = (byte)(data.eAgentType == EAgentType.ingoreObstacle ? 1 : 0);
data.targetFailCallback = tagent.FailFindPathCallback;
unit.enabled = false;
unit.Init(data);
EAgentType agentType = EAgentType.astar;
#if USING_FLOW_FIELD
agentType = EAgentType.flowFiled;
#endif
unit.ChangeAgentType(data.eAgentType == EAgentType.ingoreObstacle? data.eAgentType
: agentType);
unit.agent.TargetPos = targetPos;
// unit.OnEnable();//?????????
tagent.attackRange = attackRange; // FP.One * UnityEngine.Random.Range(0.8f, 5);
tagent._attackRange = attackRange.AsFloat();
// unit.AgentType = EAgentType.flowFiled;
#if !USING_FLOW_FIELD
unit.ChangeAgentType(EAgentType.astar); //astar
#endif
if (groupCount > 0)
{
AgentGroupManager.instance.UpdateGroup(unit, countLimit % groupCount);
}
tagent.transform.GetChild(0).GetComponent <SpriteRenderer>().color = _campColor[camp];
// unit.agent.StartPos = unit.position;
// unit._agent.TargetPos = (TSVector)destination;
tagent.gameObject.name = "unit" + countLimit;
tagent.transform.SetParent(Units);
// unit.agent.TargetPos = targetPos;
// unit.agent._activeBoids = (byte)EBoidsActiveType.all;
_listAgents.Add(tagent);
// PathFindingManager.Instance.AddAgent(this);
//_pm.FindFastPath(unit._agent, unit._agent.StartPos, unit._agent.TargetPos);//, unit._agent._vecPath
// break;
if (unit.group != null && (unit.group.leader as PathFindingAgentBehaviour) == unit && unit.AgentType == EAgentType.astar)
{
_pm.FindQuickPath(unit.agent, 10, unit.agent.StartPos, unit.agent.TargetPos, unit.map, false);
}
//if(unit.group!=null)
//{
// unit.agent._activeBoids = (byte)EBoidsActiveType.alignment& (byte)EBoidsActiveType.cohesion & (byte)EBoidsActiveType.terrainSeperation
//}
countLimit--;
if (countLimit % 5 == 0)
{
yield return(_wait);
}
}
}
}
yield return(null);
}
