/*public void Start ()
* {
* setupInitialValues ();
* writeNavigationMeshToFile ();
* }*/
/*
* setupInitialValue will set up the initial values for the instance variables
* Parameter: none
* Return: none
*/
void setupInitialValues()
{
positionToStart = -1;
//goalPosition = GameObject.FindGameObjectWithTag ("Goal").transform.TransformPoint (new Vector3 (0f, 0f, 0f));
//listOfObjects = GameObject.FindGameObjectsWithTag ("Surface");
//staticObjects = GameObject.FindGameObjectsWithTag ("Obstacle");
// GameObject agent = GameObject.FindGameObjectWithTag ("Player");
//agentStart = agent.transform.position;
//agentDiameter = agent.GetComponent<CapsuleCollider> ().radius * 2;
// agentDiameter = agent.GetComponent<CapsuleCollider> ().radius;
//objectMesh = new Mesh[listOfObjects.Length];
//staticObjectMesh = new Mesh[staticObjects.Length];
//objectsArray = new AIObjects[staticObjects.Length];
surfacePolygonHolders = new AIPolygonHolder();
//allSearchs = new string[9];
//allSearchs [0] = "A*";
//allSearchs [1] = "A* Optimal";
//allSearchs [2] = "Bi-Directional";
//allSearchs [3] = "Bi-Directional Optimal";
//allSearchs [4] = "FringeSearch";
//allSearchs [5] = "Beam Search";
//allSearchs [6] = "Dynamic Weighted A*";
//allSearchs [7] = "Dynamic Weighted BDBOP";
//allSearchs [8] = "Dynamic Weighted BDOP";
//getObjectsArray ();
getSurfacePolygonHolders();
//mergeSurfacePolygonHolders ();
}
/*
* mergePolygonHolder will merge two AIPolygonHolder objects. This will create a new AIPolygonHolder
* place the polygons from each AIPolygonHolder to the new AIPolygonHolder then merge the Polygons
* in the new AIPolygonHolder
* Parameter: (AIPolygonHolder)holderToMerge is the AIPolygonHolder that will be merged with this object
* Return: (AIPolygonHolder)
* the new AIPolygonHolder that is the two merged AIPolygonHolders
*/
public AIPolygonHolder mergePolygonHolder(AIPolygonHolder holderToMerge)
{
copyAndSrink(polygonArray);
holderToMerge.copyAndSrink(holderToMerge.getPolygons());
AIPolygon[] tempArray = mergeTwoArrays(polygonArray, holderToMerge.getPolygons()); //makes a new AIPolygonHolder with the capacity of both AIPolygonHolders being Merged
AIPolygonHolder newHolder = new AIPolygonHolder(tempArray.Length); //makes a new AIPolygonHolder with the capacity of both AIPolygonHolders being Merged
for (int count = 0; count < tempArray.Length; count++)
{
newHolder.addPolygon(tempArray [count].getVertices());
}
newHolder.merge(); // merged the polygons in the new AIPolygonHolders
return(newHolder);
}
/* mergeSurfacePolygonsHolders calls the merge function to merge all the polygons in
* the surfacePolygonHolders array.
* Parameters: none
* Return: none
*/
void mergeSurfacePolygonHolders()
{
for (int count = 0; count < surfacePolygonHolders.Length; count++)
{
surfacePolygonHolders [count].merge();
}
for (int count = surfacePolygonHolders.Length - 1; count >= 0; count--)
{
if (surfacePolygonHolders [count] != null)
{
for (int count2 = surfacePolygonHolders.Length - 1; count2 >= 0; count2--)
{
if (surfacePolygonHolders [count2] != null && count != count2)
{
surfacePolygonHolders [count] = surfacePolygonHolders [count].mergePolygonHolder(surfacePolygonHolders [count2]);
surfacePolygonHolders [count2] = null;
}
}
}
}
int counter = 0;
for (int count = 0; count < surfacePolygonHolders.Length; count++)
{
if (surfacePolygonHolders [count] != null)
{
counter++;
}
}
AIPolygonHolder[] tempArray = new AIPolygonHolder[counter];
for (int count = 0, tempCount = 0; count < surfacePolygonHolders.Length; count++)
{
if (surfacePolygonHolders [count] != null)
{
tempArray [tempCount] = surfacePolygonHolders [count];
tempCount++;
}
}
}
/* getSurgavePolygonHolders gets all the triangle polygons that compose all objects in a Unity map,
* and loads them into the triangleArray. Then creates new AIObjects from those triangles out of the walkable
* polygons and loads them into surfacePolygonHolders to be used for nav mesh construction.
* Parameters: none
* Return: none
*/
void getSurfacePolygonHolders()
{
Vector3[] WorldPositionArray = new Vector3[3];
for (int count = 0; count < listOfObjects.Length; count++)
{
objectMesh [count] = listOfObjects [count].GetComponent <MeshFilter> ().mesh;
vectorArray = objectMesh[count].vertices;
triangleArray = objectMesh[count].GetTriangles(0);
surfacePolygonHolders[count] = new AIPolygonHolder(triangleArray.Length / 3);
for (int count1 = 0, count2 = 1, count3 = 2; count1 < triangleArray.Length; count1 += 3, count2 += 3, count3 += 3)
{
WorldPositionArray [0] = listOfObjects [count].transform.TransformPoint(vectorArray [triangleArray [count1]]);
WorldPositionArray [1] = listOfObjects [count].transform.TransformPoint(vectorArray [triangleArray [count2]]);
WorldPositionArray [2] = listOfObjects [count].transform.TransformPoint(vectorArray [triangleArray [count3]]);
if (checkVertex(WorldPositionArray) == false)
{
surfacePolygonHolders[count].addPolygon(WorldPositionArray);
}
}
}
}
/*
* writeAfterDataToFile method will write all the data from the navigation mesh and the search agent to the
* end of the file
* parameters: none
* return: none
*/
/*void writeAfterDataToFile ()
* {
* string filePath = "data.txt";
* StreamReader inputStream = new StreamReader(filePath);
* string tempString = "";
* tempString += inputStream.ReadToEnd();
* tempString += "\n";
* inputStream.Close ();
* tempString += Application.loadedLevelName + "\t";
* if (AINavigationMeshAgent.loadNavigationMesh == true)
* tempString += "load Navigation Mesh\t";
* else
* tempString += "build Navigation Mesh\t";
* tempString += AINavigationMeshData.timeTaken + "\t";
* tempString += AINavigationMeshData.initialPolygonCount + "\t";
* tempString += AINavigationMeshData.obstacleCount + "\t";
* tempString += AINavigationMeshData.finalPolygonCount + "\t";
* tempString += AISearchAgentData.searchType + "\t";
* tempString += AISearchAgentData.timeTaken + "\t";
* tempString += AISearchAgentData.nodesVisited + "\t";
* tempString += AISearchAgentData.maxQueueSize + "\t";
* tempString += AISearchAgentData.finalPathLength + "\t";
* tempString += AISearchAgentData.finalPathCost + "\t";
* StreamWriter writer = new StreamWriter (filePath);
* writer.Write (tempString);
* writer.Close ();
*
*
*
* }*/
/*
* doAISearchMethods will make a search agent to start searching though the navigation mesh
* Parameter: none
* Return: none
*/
/*void doAISearchMethods()
* {
*
* AINavigationMeshAgent.polygonLengthMin = surfacePolygonHolders [positionToStart].getMinPolygonLength ();
* AINavigationMeshAgent.polygonLengthAvg = surfacePolygonHolders [positionToStart].getAveragePolygonLength ();
* if (positionToStart != -1)
* tempSearch = new AISearch (searchType, goalPosition, surfacePolygonHolders [positionToStart].getPolygons ());
* if (tempSearch != null) {
* Vector3[] vertices = tempSearch.getWayPoints ();
* if (vertices != null)
* for (int count = 0; count < vertices.Length; count++)
* Instantiate (sphere, vertices [count], new Quaternion (0f, 0f, 0f, 0f));
* }
* }*/
/* getObjectsArray gets all the triangle polygons that compose all objects in a Unity map,
* and loads them into the triangleArray. Then creates new AIObjects from those triangles and loads
* them into objectsArray to be used for nav mesh construction.
* Parameters: none
* Return: none
*/
/*void getObjectsArray ()
* {
* Vector3[] WorldPositionArray = new Vector3[3];
* for (int count = 0; count < staticObjects.Length; count++) {
* staticObjectMesh [count] = staticObjects [count].GetComponent<MeshFilter> ().mesh;
* vectorArray = staticObjectMesh[count].vertices;
* triangleArray = staticObjectMesh[count].GetTriangles (0);
* objectsArray[count] = new AIObjects(triangleArray.Length/3, staticObjects[count]);
* for (int count1 = 0, count2 = 1, count3 = 2; count1 < triangleArray.Length; count1 += 3, count2 += 3, count3 += 3) {
* WorldPositionArray [0] = staticObjects [count].transform.TransformPoint (vectorArray [triangleArray [count1]]);
* WorldPositionArray [1] = staticObjects [count].transform.TransformPoint (vectorArray [triangleArray [count2]]);
* WorldPositionArray [2] = staticObjects [count].transform.TransformPoint (vectorArray [triangleArray [count3]]);
* objectsArray[count].addPolygon(WorldPositionArray);
* }
* }
* }*/
/* getSurgavePolygonHolders gets all the triangle polygons that compose all objects in a Unity map,
* and loads them into the triangleArray. Then creates new AIObjects from those triangles out of the walkable
* polygons and loads them into surfacePolygonHolders to be used for nav mesh construction.
* Parameters: none
* Return: none
*/
void getSurfacePolygonHolders()
{
Vector3[] WorldPositionArray = new Vector3[3];
NavMeshTriangulation triangulatedNavMesh = NavMesh.CalculateTriangulation();
//Mesh mesh = new Mesh ();
//mesh.vertices = triangulatedNavMesh.vertices;
//mesh.triangles = triangulatedNavMesh.indices;
vectorArray = triangulatedNavMesh.vertices;
triangleArray = triangulatedNavMesh.indices;
surfacePolygonHolders = new AIPolygonHolder(triangleArray.Length / 3);
for (int count1 = 0, count2 = 1, count3 = 2; count1 < triangleArray.Length; count1 += 3, count2 += 3, count3 += 3)
{
WorldPositionArray [0] = vectorArray [triangleArray [count1]];
WorldPositionArray [1] = vectorArray [triangleArray [count2]];
WorldPositionArray [2] = vectorArray [triangleArray [count3]];
//if (checkVertex (WorldPositionArray) == false) {
surfacePolygonHolders.addPolygon(WorldPositionArray);
//}
}
}
/*
* loadNavigationMeshFromFile method will load all the data for the navigation mesh from the file
* Paramters: none
* Return: none
*/
public void loadNavigationMeshFromFile()
{
startTime = Time.realtimeSinceStartup;
string filePath = Application.loadedLevelName + "NavigationMesh.dat";
Stream TestFileStream = File.OpenRead(filePath);
BinaryFormatter deserializer = new BinaryFormatter();
positionToStart = 0;
AIPolygonHolderData dataholder = (AIPolygonHolderData)deserializer.Deserialize(TestFileStream);
AIPolygon[] polygons = new AIPolygon[dataholder.polygonData.Length];
for (int count = 0; count < dataholder.polygonData.Length; count++)
{
Vector3[] vertices = new Vector3[dataholder.polygonData [count].vertices.Length / 3];
int id = dataholder.polygonData [count].id;
int[] neighbors = dataholder.polygonData [count].neighbors;
int neighborsHeld = dataholder.polygonData [count].neighborCount;
bool gotGoal = dataholder.polygonData [count].gotGoal;
bool gotAgent = dataholder.polygonData [count].gotAgent;
int agentID = dataholder.polygonData[count].agentID;
for (int count2 = 0; count2 < vertices.Length; count2++)
{
vertices [count2] = new Vector3(dataholder.polygonData [count].vertices [count2, 0], dataholder.polygonData [count].vertices [count2, 1], dataholder.polygonData [count].vertices [count2, 2]);
}
polygons [count] = new AIPolygon();
polygons [count].setData(vertices, id, neighborsHeld, neighbors, gotGoal, gotAgent, agentID);
}
AINavigationMeshData.initialPolygonCount = getSurfacePolygonCount();
AINavigationMeshData.obstacleCount = staticObjects.Length;
surfacePolygonHolders = new AIPolygonHolder[1];
surfacePolygonHolders [0] = new AIPolygonHolder();
surfacePolygonHolders [0].setAll(polygons, polygons.Length);
positionToStart = 0;
AINavigationMeshData.timeTaken = Time.realtimeSinceStartup - startTime;
AINavigationMeshData.finalPolygonCount = getSurfacePolygonCount();
TestFileStream.Close();
writeNavigationMeshToFile();
}