public PathFinder(List <Vector3> points, Dictionary <int, Poly> polys, Dictionary <int, List <NodeEdge> > edges, float left, float bottom, float tileSize, int width, int height, int componentCount, List <int>[,] aoiList, List <int>[,] pths = null)
{
this.points = points;
this.edges = edges;
this.polys = polys;
this.componentCount = componentCount;
navAOI = new NavAOI(left, bottom, width, height, tileSize, aoiList);
this.isPathPreCalculate = (pths != null);
if (pths != null)
{
this.paths = pths;
}
}
/// <summary>
/// 得到处理过后的导航文件,包含信息(顶点、多边形、多边形连接、预计算路径信息、多边形的AOI信息)
/// </summary>
/// <param name="fileName"></param>
/// <param name="ifPreCalculatePath"></param>
public static void WriteProcessedNavFile(NavMesh navMesh, string fileName, bool ifPreCalculatePath)
{
if (File.Exists(fileName))
{
File.Delete(fileName);
}
StreamWriter sw = new StreamWriter(fileName);
StringBuilder lBuilder;
for (int i = 0; i < navMesh.Points.Count; i++)//顶点信息
{
lBuilder = new StringBuilder("v").Append(navMesh.Points[i].x.ToString()).Append(" ").Append(navMesh.Points[i].y.ToString()).Append(" ").Append(navMesh.Points[i].z);
sw.WriteLine(lBuilder.ToString());
}
SortedDictionary <int, Poly> .Enumerator polyIter = navMesh.Polys.GetEnumerator();
while (polyIter.MoveNext()) //Poly 信息
{
lBuilder = new StringBuilder("p").Append(polyIter.Current.Key.ToString()).Append(" ");
Poly p = polyIter.Current.Value;
foreach (GeoEdge e in p.Edges)
{
lBuilder.Append("|").Append(e.A.ToString()).Append(" ").Append(e.B);
}
sw.WriteLine(lBuilder.ToString());
}
polyIter.Dispose();
SortedDictionary <int, HashSet <PolyConnection> > .Enumerator iter = navMesh.NearPolys.GetEnumerator();
while (iter.MoveNext())//Poly connection信息
{
//有连接的poly的序号
lBuilder = new StringBuilder("c ").Append(iter.Current.Key.ToString());
HashSet <PolyConnection> cons = iter.Current.Value;
foreach (PolyConnection con in cons)
{
lBuilder.Append(" ").Append(con.Other(iter.Current.Key).ToString()).Append(" ").Append(con.Weight.ToString()).Append(" ").Append(con.ConnectionEdge.A.ToString()).Append(" ").Append(con.ConnectionEdge.B.ToString());
//每个连接有4个数据，分别是:连向的Poly的序号、此连接的权重、对应此连接的边的两个顶点
}
sw.WriteLine(lBuilder.ToString());
}
iter.Dispose();
if (ifPreCalculatePath)
{//预存储的路径信息, 存在文件的后部
List <int>[,] paths = navMesh.Paths;
for (int m = 0; m < navMesh.Polys.Count; m++)
{
for (int n = 0; n < navMesh.Polys.Count; n++)
{
List <int> pth = paths[m, n];
if (pth != null && pth.Count > 0)
{
lBuilder = new StringBuilder("from ").Append(m.ToString()).Append(" to ").Append(n.ToString());
for (int x = 0; x < pth.Count; x++)
{
lBuilder.Append(" ").Append(pth[x].ToString());
}
sw.WriteLine(lBuilder.ToString());
}
}
}
}
sw.WriteLine("componentCount " + navMesh.ComponentCount);
//这里把AOI信息也写进来
NavAOI navAOI = NavAOIProcesser.ProcessPolyAOI(navMesh.Polys, navMesh);
sw.WriteLine("navAOI:");
lBuilder = new StringBuilder("AOIInfo ").Append(navAOI.Left.ToString()).Append(" ").Append(navAOI.Bottom).Append(" ").Append(navAOI.TileSize).Append(" ").Append(navAOI.Width).Append(" ").Append(navAOI.Height);
sw.WriteLine(lBuilder.ToString());
for (int i = 0; i < navAOI.Width; i++)
{
for (int j = 0; j < navAOI.Height; j++)
{
List <int> aoiList = navAOI.NavPolyAOI[i, j];
if (aoiList != null)
{
lBuilder = new StringBuilder(i.ToString()).Append(",").Append(j.ToString()).Append(":");
for (int k = 0; k < aoiList.Count; k++)
{
lBuilder.Append(" ").Append(aoiList[k]);
}
sw.WriteLine(lBuilder.ToString());
}
}
}
sw.Close();
sw.Dispose();
}
public static NavAOI ProcessPolyAOI(SortedDictionary <int, Poly> polys, NavMesh mesh)
{
float l = Mathf.Infinity;
float r = Mathf.NegativeInfinity;
float b = Mathf.Infinity;
float t = Mathf.NegativeInfinity;
float area = 0f;
SortedDictionary <int, Poly> .Enumerator polyIter = polys.GetEnumerator();
while (polyIter.MoveNext())
{//Poly 信息
Poly poly = polyIter.Current.Value;
foreach (int pIndex in poly.GetPoints())
{
Vector3 point = mesh.Point(pIndex);
if (point.x < l)
{
l = point.x;
}
if (point.z < b)
{
b = point.z;
}
if (point.x > r)
{
r = point.x;
}
if (point.z > t)
{
t = point.z;
}
}
area += poly.GetGeo2D().GetArea();
}
polyIter.Dispose();
area /= polys.Count;
left = l;
bottom = b;
width = r - l;
height = t - b;
tileSize = Mathf.Sqrt(area);
int w = Mathf.CeilToInt(width / tileSize);
int h = Mathf.CeilToInt(height / tileSize);
NavAOI navAOI = new NavAOI(left, bottom, width, height, tileSize);
polyIter = polys.GetEnumerator();
while (polyIter.MoveNext())
{
Poly poly = polyIter.Current.Value;
Geo2D geo2D = poly.GetGeo2D();
int xStart = Mathf.FloorToInt(geo2D.MinX / tileSize);
int xEnd = Mathf.CeilToInt(geo2D.MaxX / tileSize);
int yStart = Mathf.FloorToInt(geo2D.MinY / tileSize);
int yEnd = Mathf.CeilToInt(geo2D.MaxY / tileSize);
for (int i = xStart; i < xEnd; i++)
{
for (int j = yStart; j < yEnd; j++)
{
if (IsIntersect(poly, i, j))
{
navAOI.AddPolyToAOI(i, j, polyIter.Current.Key);
}
}
}
}
polyIter.Dispose();
return(navAOI);
}
