// Start is called before the first frame update
void Start()
{
level = new ObjModel(@"ExportedObj;TestNavMesh_5.obj");
settings.AgentRadius = 0.5f;
settings.AgentHeight = 1.0f;
GenerateNavMesh();
TargetPosition = ExportNavMeshToObj.ToUnityVector(smoothPath[CurrentNode]);
transform.position = TargetPosition;
}
// Update is called once per frame
void Update()
{
if (transform.position != TargetPosition)
{
transform.position = Vector3.Lerp(transform.position, TargetPosition, Time.deltaTime * 50.0f);
}
else
{
if (CurrentNode < smoothPath.Count - 1)
{
++CurrentNode;
TargetPosition = ExportNavMeshToObj.ToUnityVector(smoothPath[CurrentNode]);
}
}
if (crowd != null)
{
//Agent[] agents = new Agent[crowd.GetAgentCount()];
for (int i = 0; i < crowd.GetAgentCount(); ++i)
{
lastPosition[i] = crowd.GetAgent(i).Position;
//agents[i] = crowd.GetAgent(i);
}
//crowd.UpdateTopologyOptimization(agents, crowd.GetAgentCount(), Time.deltaTime);
crowd.Update(Time.deltaTime);
for (int i = 0; i < crowd.GetAgentCount(); ++i)
{
try
{
//Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(lastPosition[i]), ExportNavMeshToObj.ToUnityVector(crowd.GetAgent(i).Position), Color.green, 1);
mob[i].transform.position = ExportNavMeshToObj.ToUnityVector(crowd.GetAgent(i).Position);
}
catch
{
}
}
}
if (Application.platform == RuntimePlatform.WindowsEditor)
{ // 현재 플랫폼이 Window 에디터인지
if (Input.GetMouseButtonDown(0))
{
Vector3 p = Input.mousePosition;
Ray cast = Camera.main.ScreenPointToRay(Input.mousePosition);
// Mouse의 포지션을 Ray cast 로 변환
UnityEngine.RaycastHit hit;
if (Physics.Raycast(cast, out hit))
{
Debug.Log($"hit x {hit.point.x}, y {hit.point.y}, z {hit.point.z}");
var newPt = navMeshQuery.FindNearestPoly(ExportNavMeshToObj.ToSharpVector(hit.point), new SVector3 {
X = 10, Y = 10, Z = 10
});
for (int i = 0; i < crowd.GetAgentCount(); ++i)
{
NavPoint targetPt;
navMeshQuery.FindRandomPointAroundCircle(ref newPt, 3, out targetPt);
Debug.Log($"agent{i} : x {targetPt.Position.X}, y {targetPt.Position.Y}, z {targetPt.Position.Z}");
crowd.GetAgent(i).RequestMoveTarget(targetPt.Polygon, targetPt.Position);
}
crowd.UpdateMoveRequest();
} // RayCast
} // Mouse Click
}
}
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);
}
}
}