private void GeneratePathfinding()
{
if (!hasGenerated)
{
return;
}
NavQueryFilter filter = new NavQueryFilter();
buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
tiledNavMesh = new TiledNavMesh(buildData);
for (int i = 0; i < tiledNavMesh.Tiles.Count; ++i)
{
for (int j = 0; j < tiledNavMesh.Tiles[i].Verts.Length; ++j)
{
//if (j < tiledNavMesh.Tiles[i].Verts.Length - 1)
// Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(tiledNavMesh.Tiles[i].Verts[j]), ExportNavMeshToObj.ToUnityVector(tiledNavMesh.Tiles[i].Verts[j + 1]), Color.blue, 99);
}
}
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);
startPt = navMeshQuery.FindRandomPoint();
endPt = navMeshQuery.FindRandomPoint();
//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);
}
}
for (int i = 0; i < smoothPath.Count; i++)
{
//if (i < smoothPath.Count - 1)
// Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(smoothPath[i]), ExportNavMeshToObj.ToUnityVector(smoothPath[i + 1]), Color.red, 99);
}
}
//为了使接口适应而附加的
public List <Vector2> SmothPathfinding(Vector2 start, Vector2 target)
{
Random rand = new Random();
SVector3 startVector = new SVector3(start.x_, 0, start.y_);
SVector3 endVector = new SVector3(target.x_, 0, target.y_);
NavQueryFilter filter = new NavQueryFilter();
//buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings);
//tiledNavMesh = new TiledNavMesh(buildData);
//navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048);
SVector3 extents = new SVector3(5, 5, 5);
navMeshQuery.FindNearestPoly(ref startVector, ref extents, out startPt);
navMeshQuery.FindNearestPoly(ref endVector, ref extents, out endPt);
path = new SharpNav.Pathfinding.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 = 2f;
float SLOP = 0.1f;
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);
}
}
List <Vector2> _path = new List <Vector2>();
for (int i = 0; i < smoothPath.Count; i++)
{
_path.Add(new Vector2(smoothPath[i].X, smoothPath[i].Z));
}
return(_path);
}
private void GeneratePathfinding()
{
if (!hasGenerated)
{
return;
}
Random rand = new Random();
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(startPt, 1000, out endPt);
//calculate the overall path, which contains an array of polygon references
int MAX_POLYS = 256;
path = new List <PolyId>(MAX_POLYS);
navMeshQuery.FindPath(ref startPt, ref endPt, path);
//find a smooth path over the mesh surface
int npolys = path.Count;
PolyId[] polys = path.ToArray();
SVector3 iterPos = new SVector3();
SVector3 targetPos = new SVector3();
navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos);
navMeshQuery.ClosestPointOnPoly(polys[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();
int steerPosFlag = 0;
PolyId steerPosRef = PolyId.Null;
if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, polys, npolys, ref steerPos, ref steerPosFlag, ref steerPosRef))
{
break;
}
bool endOfPath = (steerPosFlag & PathfindingCommon.STRAIGHTPATH_END) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & PathfindingCommon.STRAIGHTPATH_OFFMESH_CONNECTION) != 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 <PolyId> visited = new List <PolyId>(16);
navMeshQuery.MoveAlongSurface(new NavPoint(polys[0], iterPos), moveTgt, ref result, visited);
npolys = FixupCorridor(polys, npolys, MAX_POLYS, visited);
float h = 0;
navMeshQuery.GetPolyHeight(polys[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);
}
}
}
public Microsoft.Xna.Framework.Vector2[] GetPath(Microsoft.Xna.Framework.Vector2 start, Microsoft.Xna.Framework.Vector2 end)
{
NavPoint startPt = navMeshQuery.FindNearestPoly(new SVector3(-start.X, 0, start.Y), new SharpNav.Geometry.Vector3(2f, 2f, 2f));
NavPoint endPt = navMeshQuery.FindNearestPoly(new SVector3(-end.X, 0, end.Y), new SharpNav.Geometry.Vector3(2f, 2f, 2f));
Path path = new Path();
navMeshQuery.FindPath(ref startPt, ref endPt, new NavQueryFilter(), path);
List <SVector3> smoothPath;
//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);
}
}
return(smoothPath.Select(x => new Microsoft.Xna.Framework.Vector2(-x.X, x.Z)).ToArray());
}