private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//sort by name to be able to manually create the master clusters
Array.Sort(clusters, CompareObNames);
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
//Creating master clusters
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[1], clusterGraph.clusters[2]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[3], clusterGraph.clusters[4], clusterGraph.clusters[5], clusterGraph.clusters[18]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[19], clusterGraph.clusters[20], clusterGraph.clusters[21], clusterGraph.clusters[22], clusterGraph.clusters[23]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[24], clusterGraph.clusters[25], clusterGraph.clusters[26], clusterGraph.clusters[27], clusterGraph.clusters[28], clusterGraph.clusters[29]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[7], clusterGraph.clusters[8], clusterGraph.clusters[9], clusterGraph.clusters[10], clusterGraph.clusters[11], clusterGraph.clusters[12], clusterGraph.clusters[13], clusterGraph.clusters[14]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[6], clusterGraph.clusters[16], clusterGraph.clusters[17]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[0]));
clusterGraph.MasterClusters.Add(new MasterCluster(clusterGraph.clusters[15]));
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
float cost;
Gateway startGate;
Gateway endGate;
int gatewaysCount = gateways.Length;
int k, j;
var pathfindingAlgorithm = new NodeArrayAStarPathFinding(navMesh, new EuclidianHeuristic());
GatewayDistanceTableRow[] distanceTable = new GatewayDistanceTableRow[gatewaysCount];
for (k = 0; k < gatewaysCount; k++)
{
GatewayDistanceTableRow distanceTableRow = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
distanceTableRow.Initialize(gatewaysCount);
startGate = clusterGraph.gateways[k];
for (j = 0; j < gatewaysCount; j++)
{
endGate = clusterGraph.gateways[j];
if (startGate == endGate)
{
cost = 0;
}
else
{
pathfindingAlgorithm.InitializePathfindingSearch(startGate.Localize(), endGate.Localize());
pathfindingAlgorithm.Search(out solution);
solution.CalculateLength();
cost = solution.Length;
}
GatewayDistanceTableEntry entry = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
entry.Initialize(startGate.Localize(), endGate.Localize(), cost);
distanceTableRow.AddEntry(entry, j);
}
distanceTable[k] = distanceTableRow;
}
clusterGraph.gatewayDistanceTable = distanceTable;
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
float cost;
var pathfindingManager = new PathfindingManager();
pathfindingManager.Initialize(navMesh, new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic()));
//TODO implement the rest of the algorithm here, i.e. build the GatewayDistanceTable
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.CountGateways()];
foreach (Gateway startGate in clusterGraph.gateways)
{
Vector3 startGatePosition = startGate.Localize();
GatewayDistanceTableRow startGateToOthers = new GatewayDistanceTableRow();
startGateToOthers.entries = new GatewayDistanceTableEntry[clusterGraph.CountGateways()];
foreach (Gateway endGate in clusterGraph.gateways)
{
Vector3 endGatePosition = endGate.Localize();
GatewayDistanceTableEntry cell = new GatewayDistanceTableEntry();
cell.startGatewayPosition = startGatePosition;
cell.endGatewayPosition = endGatePosition;
if (startGatePosition == endGatePosition)
{
cost = 0;
}
else
{
pathfindingManager.AStarPathFinding.InitializePathfindingSearch(startGatePosition, endGatePosition);
while (pathfindingManager.AStarPathFinding.InProgress)
{
var finished = pathfindingManager.AStarPathFinding.Search(out solution);
if (finished)
{
pathfindingManager.AStarPathFinding.InProgress = false;
}
}
cost = solution.Length;
}
cell.shortestDistance = cost;
startGateToOthers.entries[endGate.id] = cell;
}
clusterGraph.gatewayDistanceTable[startGate.id] = startGateToOthers;
}
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
float cost;
Gateway startGate;
Gateway endGate;
var pathfindingAlgorithm = new NodeArrayAStarPathFinding(navMesh, new EuclideanHeuristic());
//TODO implement the rest of the algorithm here, i.e. build the GatewayDistanceTable
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.gateways.Count];
for (int i = 0; i < clusterGraph.gateways.Count; i++)
{
GatewayDistanceTableRow row = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
for (int j = 0; j < clusterGraph.gateways.Count; j++)
{
GatewayDistanceTableEntry entry = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
entry.startGatewayPosition = clusterGraph.gateways[i].center;
entry.endGatewayPosition = clusterGraph.gateways[j].center;
entry.shortestDistance = (clusterGraph.gateways[i].center - clusterGraph.gateways[j].center).magnitude;
row.entries[j] = entry;
}
clusterGraph.gatewayDistanceTable[i] = row;
}
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}