public PNavEdge(PNavEdge edge) { selfPolygonIndex = edge.selfPolygonIndex; otherPolygonIndex = edge.otherPolygonIndex; distance = edge.distance; width = edge.width; hasOther = edge.hasOther; pointA = edge.pointA; pointB = edge.pointB; }
static void BuildEdges(PNavPolygonGraph graph, int[] indices, int count, PNavPolygon polygon, Dictionary <long, PNavEdge> edgeMap) { int previous = 0; Fix64Vec2 previousVector2 = Fix64Vec2.zero; for (int i = 0; i < count; i++) { int current = indices[i]; Fix64Vec2 currentVector2 = polygon.verts[i]; if (i != 0) { long key = KeyForIndices(previous, current); if (edgeMap.ContainsKey(key)) { PNavEdge edge = edgeMap[key]; edge.otherPolygonIndex = polygon.index; edge.hasOther = true; PNavPolygon self = graph.polygons[edge.selfPolygonIndex]; edge.distance = Fix64Vec2.Distance(self.centroid, polygon.centroid); PNavEdge newEdge = new PNavEdge(edge); newEdge.SwapDirection(); polygon.edges.Add(newEdge); } else { PNavEdge edge = new PNavEdge(); edge.selfPolygonIndex = polygon.index; edge.width = Fix64Vec2.Distance(previousVector2, currentVector2); edge.pointA = previousVector2; edge.pointB = currentVector2; edgeMap[key] = edge; polygon.edges.Add(edge); } } previous = current; previousVector2 = currentVector2; } int lastCurrent = indices[0]; long lastKey = KeyForIndices(previous, lastCurrent); if (edgeMap.ContainsKey(lastKey)) { PNavEdge edge = edgeMap[lastKey]; edge.otherPolygonIndex = polygon.index; edge.hasOther = true; PNavPolygon self = graph.polygons[edge.selfPolygonIndex]; edge.distance = Fix64Vec2.Distance(self.centroid, polygon.centroid); PNavEdge newEdge = new PNavEdge(edge); newEdge.SwapDirection(); polygon.edges.Add(newEdge); } else { PNavEdge edge = new PNavEdge(); edge.selfPolygonIndex = polygon.index; edge.width = Fix64Vec2.Distance(previousVector2, polygon.verts[0]); edge.pointA = previousVector2; edge.pointB = polygon.verts[0]; edgeMap[lastKey] = edge; polygon.edges.Add(edge); } }
public bool NextCorner1(Fix64Vec3 position, Fix64 width, ref Fix64Vec3 corner, ref int index) { //if corner not found stay at current position corner = position; if (Status != ParallelNavMeshPathStatus.Valid) { return(false); } if (index < 0) { index = startIndex; } if (index == MAX_CORNER_COUNT) { //reached last polygon, invalidate path index = -1; Status = ParallelNavMeshPathStatus.Invalid; return(false); } Fix64Vec2 testPosition = new Fix64Vec2(position.x, position.z); int polygonIndex = polygonIndexes[index]; PNavPolygon currentPolygon = island.graph.polygons[polygonIndex]; int nextIndex = index + 1; if (nextIndex >= MAX_CORNER_COUNT) { //reached final polygon index = MAX_CORNER_COUNT; corner = Destination; return(false); } int nextPolygonIndex = polygonIndexes[nextIndex]; PNavPolygon nextPolygon = island.graph.polygons[nextPolygonIndex]; PNavEdge edge = FindEdge(currentPolygon, nextPolygon, width); if (edge != null) { Fix64Vec2 pointOnEdge = Fix64Math.FindNearestPointOnLine(testPosition, edge.pointA, edge.pointB); Fix64 distanceToA = Fix64Vec2.Distance(pointOnEdge, edge.pointA); Fix64 distanceToB = edge.width - distanceToA; Fix64Vec2 ba = edge.pointB - edge.pointA; ba = ba.normalized; Fix64 halfWidth = width / Fix64.two; if (distanceToA < halfWidth) { pointOnEdge = edge.pointA + ba * halfWidth; } else if (distanceToB < halfWidth) { pointOnEdge = edge.pointB - ba * halfWidth; } corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y); index = nextIndex; return(true); } return(false); }
//http://digestingduck.blogspot.com/2010/03/simple-stupid-funnel-algorithm.html void ProcessNextPolygon() { //Debug.Log($"ProcessNextPolygon {_pathPolygonIndex}"); Fix64Vec2 pos = _waypoints[_waypoints.Count - 1]; if (_pathPolygonIndex == 128) { //Debug.Log("LAST POLYGON"); if (_minLeftVector == Fix64Vec2.zero) { //Debug.Log("GO to destination directly"); _waypoints.Add(_path.Destination2D); ResetPathValues(); return; } Fix64Vec2 destinationVector = _path.Destination2D - pos; bool destinationLeftOfMinLeft = Fix64Vec2.Cross(_minLeftVector, destinationVector) > Fix64.zero; bool destinationRightOfMinRight = Fix64Vec2.Cross(_minRightVector, destinationVector) < Fix64.zero; bool lastRecalculate = false; bool useLeft = true; if (destinationLeftOfMinLeft && destinationRightOfMinRight) { //when both are too be added //use the one that is closer to pos Fix64 leftDis = Fix64Vec2.Distance(_minLeft, pos); Fix64 rightDis = Fix64Vec2.Distance(_minRight, pos); if (leftDis > rightDis) { useLeft = false; } } if (destinationLeftOfMinLeft && useLeft) { _waypoints.Add(_minLeft); pos = _minLeft; _pathPolygonIndex = _leftPolygonIndex; _previousPolygon = _leftPreviousPolygon; lastRecalculate = true; } if (destinationRightOfMinRight && !lastRecalculate) { _waypoints.Add(_minRight); pos = _minRight; _pathPolygonIndex = _rightPolygonIndex; _previousPolygon = _rightPreviousPolygon; lastRecalculate = true; } if (!lastRecalculate) { //Debug.Log("GO to destination directly"); _waypoints.Add(_path.Destination2D); ResetPathValues(); } else { _minLeftVector = Fix64Vec2.zero; } return; } if (_finishedProcessing) { return; } int polygonIndex = _path.polygonIndexes[_pathPolygonIndex]; PNavPolygon currentPolygon = _path.island.graph.polygons[polygonIndex]; PNavEdge edge = _path.FindEdge(_previousPolygon, currentPolygon, Fix64.zero); if (edge == null) { Debug.LogError("No Edge found"); return; } _previousPolygon = currentPolygon; _pathPolygonIndex++; Fix64Vec2 ab = edge.pointB - edge.pointA; Fix64Vec2 ba = edge.pointA - edge.pointB; Fix64Vec2 pa = edge.pointA + ab.normalized * error; Fix64Vec2 pb = edge.pointB + ba.normalized * error; Fix64Vec2 vA = pa - pos; Fix64Vec2 vB = pb - pos; Fix64 c = Fix64Vec2.Cross(vA, vB); Fix64Vec2 left = pb; Fix64Vec2 right = pa; if (c > Fix64.zero) { //Debug.Log($"POSITVE: pointA is on the right. pA={pa} pB={pb} pos={pos}"); } else { //Debug.Log($"NEGTIVE: pointA is on the left. pA={pa} pB={pb} pos={pos}"); right = pb; left = pa; } if (_minLeftVector == Fix64Vec2.zero) { _minLeft = left; _minRight = right; _minLeftVector = left - pos; _minRightVector = right - pos; _leftPolygonIndex = _pathPolygonIndex; _rightPolygonIndex = _pathPolygonIndex; _leftPreviousPolygon = _previousPolygon; _rightPreviousPolygon = _previousPolygon; return; } Fix64Vec2 newLeftVector = left - pos; Fix64Vec2 newRightVector = right - pos; bool newLeftIsRightToOldRight = Fix64Vec2.Cross(_minRightVector, newLeftVector) < Fix64.zero; bool newRightIsLeftToOldLeft = Fix64Vec2.Cross(_minLeftVector, newRightVector) > Fix64.zero; bool recalculateNewVectors = false; if (newLeftIsRightToOldRight) { //move to old right and recalculate _waypoints.Add(_minRight); pos = _minRight; _pathPolygonIndex = _rightPolygonIndex; _previousPolygon = _rightPreviousPolygon; recalculateNewVectors = true; } if (newRightIsLeftToOldLeft && !recalculateNewVectors) { //move to old left and recalculate _waypoints.Add(_minLeft); pos = _minLeft; _pathPolygonIndex = _leftPolygonIndex; _previousPolygon = _leftPreviousPolygon; recalculateNewVectors = true; } if (recalculateNewVectors) { _minLeftVector = Fix64Vec2.zero; return; } else { bool newLeftIsOk = Fix64Vec2.Cross(_minLeftVector, newLeftVector) <= Fix64.zero; bool newRightIsOk = Fix64Vec2.Cross(_minRightVector, newRightVector) >= Fix64.zero; if (newLeftIsOk) { _minLeft = left; _minLeftVector = newLeftVector; _leftPolygonIndex = _pathPolygonIndex; _leftPreviousPolygon = _previousPolygon; } if (newRightIsOk) { _minRight = right; _minRightVector = newRightVector; _rightPolygonIndex = _pathPolygonIndex; _rightPreviousPolygon = _previousPolygon; } } }
public bool NextCorner(Fix64Vec3 position, Fix64 width, ref Fix64Vec3 corner, ref int index) { //if corner not found stay at current position corner = position; if (Status != ParallelNavMeshPathStatus.Valid) { return(false); } index = BoundaryCheckIndex(index); if (index == -1) { Status = ParallelNavMeshPathStatus.Invalid; return(false); } Fix64Vec2 testPosition = new Fix64Vec2(position.x, position.z); Fix64Vec2 pa = Fix64Vec2.zero; Fix64Vec2 pb = Fix64Vec2.zero; bool pointABSet = false; if (polygonIndexes == null) { //destination polygon and start polygon is the same index = MAX_CORNER_COUNT; } while (index <= MAX_CORNER_COUNT) { if (index == MAX_CORNER_COUNT) { //reached final polygon if (pointABSet) { //check if destination is in the span of pa and pb Fix64Vec2 des = new Fix64Vec2(Destination.x, Destination.z); Fix64Vec2 vd = des - testPosition; Fix64Vec2 va = pa - testPosition; Fix64Vec2 vb = pb - testPosition; bool desInSpan = Fix64Math.InSpan(vd, va, vb); if (!desInSpan) { Fix64Vec2 pointOnEdge = FindNearestPointOnEdge(testPosition, pa, pb, width); index--; corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y); return(true); } } corner = Destination; break; } int nextIndex = index + 1; int polygonIndex = polygonIndexes[index]; PNavPolygon currentPolygon = island.graph.polygons[polygonIndex]; int nextPolygonIndex = polygonIndexes[nextIndex]; PNavPolygon nextPolygon = island.graph.polygons[nextPolygonIndex]; PNavEdge edge = FindEdge(currentPolygon, nextPolygon, width); if (edge != null) { if (!pointABSet) { pa = edge.pointA; pb = edge.pointB; pointABSet = true; } else { Fix64Vec2 va = pa - testPosition; Fix64Vec2 vb = pb - testPosition; Fix64 AXB = Fix64Vec2.Cross(va, vb); Fix64 BXA = Fix64Vec2.Cross(vb, va); Fix64Vec2 pa1 = edge.pointA; Fix64Vec2 pb1 = edge.pointB; Fix64Vec2 va1 = pa1 - testPosition; Fix64Vec2 vb1 = pb1 - testPosition; Fix64 A1XB1 = Fix64Vec2.Cross(va1, vb1); bool sameDirection = A1XB1 * AXB > Fix64.zero; bool va1InsideOfSpan = Fix64Math.InSpan(va1, va, vb); bool vb1InsideOfSpan = Fix64Math.InSpan(vb1, va, vb); if (va1InsideOfSpan) { if (sameDirection) { bool valid = IsValidEdgePoint(testPosition, pb, pa1, width); if (valid) { pa = pa1; } else { va1InsideOfSpan = false; } } else { bool valid = IsValidEdgePoint(testPosition, pa, pa1, width); if (valid) { pb = pa1; } else { va1InsideOfSpan = false; } } } if (vb1InsideOfSpan) { if (sameDirection) { bool valid = IsValidEdgePoint(testPosition, pa, pb1, width); if (valid) { pb = pb1; } else { vb1InsideOfSpan = false; } } else { bool valid = IsValidEdgePoint(testPosition, pb, pb1, width); if (valid) { pa = pb1; } else { vb1InsideOfSpan = false; } } } if (!va1InsideOfSpan && !vb1InsideOfSpan) { Fix64Vec2 pointOnEdge = FindNearestPointOnEdge(testPosition, pa, pb, width); corner = new Fix64Vec3(pointOnEdge.x, position.y, pointOnEdge.y); index--; return(true); } } } else { break; } index = BoundaryCheckIndex(nextIndex); } return(false); }