//Create pathNode for sparse graph
public void ConnectGraphs(int GraphIDA, int GraphNodeA, int GraphIDB, int GraphNodeB)
{
sparseGraph.AddNodes(1);
pathNode linker = sparseGraph.GetNodeList()[sparseGraph.NodeCount - 1];
//Place linker node over doorway
linker.position = Graphs[GraphIDA].GetNodeList()[GraphNodeA].position;
//Link A to B
Graphs[GraphIDA].LinkGraph(Graphs[GraphIDB], GraphNodeA, linker);
//Link B to A
Graphs[GraphIDB].LinkGraph(Graphs[GraphIDA], GraphNodeB, linker);
}
void OnEnable()
{
_target = (SimpleAIGraphContainer)target;
Graph = _target.GetGraph();
if (Graph == null)
{
Graph = new GraphSimple();
}
//Ensure that the root node is part of the path
if (Graph.NodeCount < 1)
{
Graph.AddNodes(1);
Graph.GetNodeList()[0].position = _target.transform.position;
}
}
//Not meant for real-time use
public void ConstructGraph()
{
if (meshGraph == null)
{
Debug.Log("No mesh to operate on! Please set meshGraph before calling this function");
return;
}
//Create a sampler Gameobject to perform raycasts to neighboring nodes
Sampler = new GameObject("Sampler");
List <int> neighbors;
List <int> DeadVertices = new List <int>();
List <pathNode> DeadNodes = new List <pathNode>();
simpleGraph = new GraphSimple();
simpleGraph.AddNodes(meshGraph.vertexCount);
float dist = 0;
for (int i = 0; i < meshGraph.vertexCount; i++)
{
//if(DeadVertices.Contains(i))
//continue;
neighbors = GetNeighbors(i);
pathNode currentNode = simpleGraph.graph[i];
currentNode.position = transform.TransformPoint(meshGraph.vertices[i]);
for (int j = 0; j < neighbors.Count; j++)
{
dist = Vector3.Distance(transform.TransformPoint(meshGraph.vertices[i]), transform.TransformPoint(meshGraph.vertices[neighbors[j]]));
currentNode.neighbors.Add(simpleGraph.graph[neighbors[j]]);
currentNode.weight.Add(dist);
Sampler.transform.position = transform.TransformPoint(meshGraph.vertices[i]);
if (Physics.Raycast(Sampler.transform.position, Vector3.Normalize(meshGraph.vertices[neighbors[j]] - meshGraph.vertices[i]), dist))
{
if (!DeadVertices.Contains(neighbors[j]))
{
DeadVertices.Add(neighbors[j]); DeadNodes.Add(simpleGraph.graph[neighbors[j]]); break;
}
}
}
//Debug.Log(i);
}
foreach (pathNode node in DeadNodes)
{
simpleGraph.DeleteNode(node.ID);
}
//Rebuild mesh
NavMeshGenerator.RemoveTriangles(meshGraph, DeadVertices);
}
//Faster Method
public void BuildPlaneGraph(float width, float height, int segments)
{
this.width = width;
this.height = height;
simpleGraph = new GraphSimple();
List <int> Neighbors = new List <int>();
List <float> Weights = new List <float>();
float deltaHeight = height / segments;
float deltaWidth = width / segments;
//transform.TransformPoint(new Vector3(j*(width/segments)-width/2, 0, i*(height/segments)-height/2));
simpleGraph.AddNodes((segments + 1) * (segments + 1));
List <pathNode> DeadNodes = new List <pathNode>();
List <int> DeadVerts = new List <int>();
pathNode currentNode;
for (int i = 0; i <= segments; i++)
{
for (int j = 0; j <= segments; j++)
{
currentNode = simpleGraph.GetNodeList()[i * (segments + 1) + j];
currentNode.position = transform.TransformPoint(new Vector3(j * (deltaWidth) - width / 2, 0, i * (deltaHeight) - height / 2));
//RaycastHit hit;
//if (Physics.Raycast(currentNode.position, -Vector3.up, out hit))
//{
// currentNode.position=transform.TransformPoint(new Vector3(j*(deltaWidth)-width/2, hit.point.y, i*(deltaHeight)-height/2));
//}
Neighbors.Clear();
Weights.Clear();
//Debug.Log ("Node #"+(i*(segments+1)+j));
//Up and Down
if (i > 0)
{
Neighbors.Add(((i - 1) * (segments + 1) + (j)));
Weights.Add(deltaHeight);
//Debug.Log ("Down");
}
if (i < segments)
{
Neighbors.Add(((i + 1) * (segments + 1) + (j)));
Weights.Add(deltaHeight);
//Debug.Log ("Up");
}
//Left and Right
if (j > 0)
{
Neighbors.Add(((i) * (segments + 1) + (j - 1)));
Weights.Add(deltaWidth);
//Debug.Log ("Left");
}
if (j < segments)
{
Neighbors.Add(((i) * (segments + 1) + (j + 1)));
Weights.Add(deltaWidth);
//Debug.Log ("Right");
}
//Top-left to Bottom-right Diagonal
if (i > 0 && j > 0)
{
Neighbors.Add((i - 1) * (segments + 1) + (j - 1));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Bottom Left");
}
if (i < segments && j < segments)
{
Neighbors.Add((i + 1) * (segments + 1) + (j + 1));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Top right");
}
//Top-right to Bottom-left Diagonal
if ((i < segments) && j > 0)
{
Neighbors.Add(((i + 1) * (segments + 1) + (j - 1)));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Top left");
}
if (i > 0 && j < segments)
{
Neighbors.Add((i - 1) * (segments + 1) + (j + 1));
Weights.Add(Mathf.Sqrt(deltaWidth * deltaWidth + deltaHeight * deltaHeight));
//Debug.Log ("Bottom Right");
}
int index = 0;
foreach (int Neighbor in Neighbors)
{
//Debug.Log (Neighbor);
pathNode neighbor = simpleGraph.GetNodeList()[Neighbor];
currentNode.neighbors.Add(neighbor);
currentNode.weight.Add(Weights[index]);
index++;
}
//Debug.Log(i);
}
}
foreach (pathNode node in simpleGraph.GetNodeList())
{
node.dist = 0;
}
//Scan physics graph
foreach (pathNode node in simpleGraph.GetNodeList())
{
//Debug.Log (node.neighbors.Count);
for (int i = 0; i < node.neighbors.Count; i++)
{
pathNode Neighbor = node.neighbors[i];
//Debug.Log ("Ray cast from "+node.position+" to "+Neighbor.position+" with a distance of "+Vector3.Distance(Neighbor.position,node.position));
//Debug.Log ("Node #"+node.ID+" Hit toward: "+Neighbor.ID);
if (Physics.Raycast(node.position, Vector3.Normalize(Neighbor.position - node.position), Vector3.Distance(Neighbor.position, node.position)))
{
//Debug.DrawLine(Neighbor.position,node.position);
if (!Physics.Raycast(node.position, Vector3.Normalize(node.position - Neighbor.position), Vector3.Distance(Neighbor.position, node.position)))
{
if (DeadVerts.Contains(Neighbor.ID))
{
DeadNodes.Add(Neighbor); DeadVerts.Add(Neighbor.ID);
}
}
//removeCount++;
node.neighbors.RemoveAt(i);
node.weight.RemoveAt(i);
i--;
Neighbor.dist += 1;
}
}
}
//Dead Node Removal
for (int i = 0; i < DeadNodes.Count; i++)
{
//Debug.Log (DeadNodes[i]);
simpleGraph.DeleteNode(DeadNodes[i].ID);
}
//Filter nodes Remove count
for (int i = 0; i < simpleGraph.NodeCount; i++)
{
pathNode node = simpleGraph.GetNodeList()[i];
//Debug.Log("Hit count: "+node.dist);
if (node.dist >= 3)
{
simpleGraph.DeleteNode(node.ID);
i--;
}
}
for (int i = 0; i < simpleGraph.NodeCount; i++)
{
pathNode node = simpleGraph.GetNodeList()[i];
if (node.neighbors.Count < 3)
{
simpleGraph.DeleteNode(node.ID);
}
}
}
void Update()
{
if (CurrentDistanceNodeIDInt != DistanceNodeIDInt)
{
CurrentDistanceNodeIDInt = DistanceNodeIDInt;
GetDistances();
}
if (CurrentPathRootNodeIDInt != PathRootNodeIDInt || CurrentPathEndNodeIDInt != PathEndNodeIDInt)
{
CurrentPathRootNodeIDInt = PathRootNodeIDInt;
CurrentPathEndNodeIDInt = PathEndNodeIDInt;
GetPaths();
}
if (cam == null)
{
cam = GameObject.FindGameObjectWithTag("MainCamera").GetComponent(typeof(Camera)) as Camera;
}
if (!GUIMouseOver())
{
GetPoint();
if (PlaceNodes && Input.GetMouseButtonDown(0))
{
Nodes.Add(GameObject.CreatePrimitive(PrimitiveType.Sphere));
Nodes[Nodes.Count - 1].transform.position = NodePoint;
Nodes[Nodes.Count - 1].name = (Nodes.Count - 1).ToString();
Nodes[Nodes.Count - 1].layer = 13;
Labels.Add(Instantiate(Textmesh) as GameObject);
Labels[Labels.Count - 1].transform.position = (NodePoint);
tempMesh = Labels[Labels.Count - 1].GetComponent(typeof(TextMesh)) as TextMesh;
tempMesh.text = (Labels.Count - 1).ToString();
tempMesh.color = Color.white;
testGraph.AddNodes(1);
GetDistances();
}
if (ConnectNodes)
{
if (Input.GetMouseButtonDown(0))
{
A = IDPoint;
}
if (ConnectNodes && Input.GetMouseButtonUp(0))
{
B = IDPoint;
}
if (A == B)
{
A = -1;
B = -1;
}
}
if (A >= 0 && B >= 0 && B != A)
{
testGraph.ConnectNodes(A, B, weightF);
bool copy = false;
int index = 0;
foreach (GameObject obj in Lines)
{
if (obj.name.Contains(A + " to " + B + " Connection") || obj.name.Contains(B + " to " + A + " Connection"))
{
copy = true;
break;
}
index++;
copy = false;
}
if (copy == false)
{
Lines.Add(new GameObject(A + " to " + B + " Connection"));
Text.Add(Instantiate(Textmesh) as GameObject);
LineRenderer tempLine = Lines[Lines.Count - 1].AddComponent(typeof(LineRenderer)) as LineRenderer;
tempLine.GetComponent <Renderer>().material = LineBlack;
tempLine.SetWidth(0.3f, 0.3f);
tempLine.SetPosition(0, Nodes[A].transform.position);
tempLine.SetPosition(1, Nodes[B].transform.position);
Text[Text.Count - 1].transform.position = (Nodes[A].transform.position + Nodes[B].transform.position) / 2;
tempMesh = Text[Text.Count - 1].GetComponent(typeof(TextMesh)) as TextMesh;
tempMesh.text = weightF.ToString();
tempMesh.color = Color.red;
GetDistances();
}
else
{
tempMesh = Text[index].GetComponent(typeof(TextMesh)) as TextMesh;
tempMesh.text = weightF.ToString();
GetDistances();
}
GetPaths();
Debug.Log("Connect:" + A + " to " + B);
A = -1;
B = -1;
}
}
}
public override void OnInspectorGUI()
{
GraphContainer = _target.transform.parent.GetComponent(typeof(SimpleAIGraphContainer)) as SimpleAIGraphContainer;
if (_target.Node != Graph.GetNodeList()[_target.Node.ID])
{
_target.Node = Graph.GetNodeList()[_target.Node.ID];
}
GUILayout.BeginVertical();
if (_target.Node != null)
{
GUILayout.Label("Node Information", EditorStyles.boldLabel);
GUILayout.Label("ID: " + _target.Node.ID);
GUILayout.BeginHorizontal();
GUILayout.Label("Passthrough?: ");
if (_target.Node.passThrough)
{
if (GUILayout.Button("True"))
{
_target.Node.passThrough = false;
}
}
else
{
if (GUILayout.Button("False"))
{
_target.Node.passThrough = true;
}
}
GUILayout.EndHorizontal();
GUILayout.Label("Position: " + _target.Node.position);
GUILayout.Label("Neighbors: ", EditorStyles.boldLabel);
for (int i = 0; i < _target.Node.neighbors.Count; i++)
{
GUILayout.Label("Node " + _target.Node.neighbors[i].ID);
}
}
_target.Node.position = _target.transform.position;
if (GUILayout.Button("Add Node") && GraphContainer != null)
{
Graph.AddNodes(1);
Graph.GetNodeList()[GraphContainer.GetGraph().NodeCount - 1].position = _target.transform.position + new Vector3(1, 0, 0);
Graph.ConnectNodes(_target.Node.ID, Graph.NodeCount - 1, 1);
Graph.ConnectNodes(Graph.NodeCount - 1, _target.Node.ID, 1);
GameObject tempObj = new GameObject("");
tempObj.transform.position = _target.transform.position + new Vector3(1, 0, 0);
pathNodeContainer tempNode = tempObj.AddComponent(typeof(pathNodeContainer)) as pathNodeContainer;
tempNode.Node = Graph.GetNodeList()[Graph.NodeCount - 1];
tempNode.GenerateName();
tempObj.transform.parent = GraphContainer.transform;
}
if (GUILayout.Button("Merge Closest Node") && GraphContainer != null)
{
int closestID = _target.Node.ID;
float minDist = Mathf.Infinity;
for (int i = 0; i < Graph.NodeCount; i++)
{
float dist = Vector3.Distance(Graph.GetNodeList()[i].position, _target.transform.position);
if (dist < minDist && Graph.GetNodeList()[i].ID != _target.Node.ID)
{
minDist = dist;
closestID = Graph.GetNodeList()[i].ID;
}
}
if (closestID != _target.Node.ID)
{
if (EditorUtility.DisplayDialog("Merge nodes?", "The closest node is node " + closestID + ", would you like to merge these nodes together?", "Merge", "Cancel"))
{
GraphContainer.MergeNodes(_target.Node.ID, closestID);
destroyMe = true;
}
}
}
if (GUILayout.Button("Delete Node") && GraphContainer != null)
{
if (EditorUtility.DisplayDialog("Delete Selected Node?", "Are you sure you want to delete node " + _target.Node.ID + "?", "Delete", "Cancel"))
{
GraphContainer.DeleteNode(_target.Node.ID);
destroyMe = true;
}
}
GUILayout.EndVertical();
if (destroyMe)
{
DestroyImmediate(_target.gameObject);
}
}