/// <summary>
/// Provides a standard way detecting where the current
/// <see cref="hitPosition"/> is on the navigation mesh.
/// </summary>
public static SearchResult HandleStandardPolySearch(NavGroup helper
, out Vector3 geomPoint
, out NavmeshPoint navPoint
, out string message)
{
if (!hasHit)
{
message = "Outside source geometry.";
navPoint = new NavmeshPoint();
geomPoint = Vector3.zero;
return(SearchResult.Failed);
}
geomPoint = hitPosition;
NavStatus status =
helper.query.GetNearestPoint(geomPoint, helper.extents, helper.filter, out navPoint);
message = "GetNearestPoint: " + status.ToString();
if (NavUtil.Failed(status))
{
return(SearchResult.HitGeometry);
}
if (navPoint.polyRef == 0)
{
message = "Too far from navmesh: GetNearestPoint: " + status.ToString();
return(SearchResult.HitGeometry);
}
return(SearchResult.HitNavmesh);
}
private void CastRay()
{
NavStatus status = mHelper.query.Raycast(mPosition, mGoal.point
, mHelper.filter
, out mHitParam, out mHitNorm, mPolyRefs.buffer, out mResultCount);
mMessages = "Raycast: " + status.ToString();
}
private void GeneratePath()
{
NavStatus status = helper.query.FindPath(position, goal
, helper.filter, path.buffer
, out pathCount);
pathID++;
mLocalMessage = "FindPath: " + status.ToString();
}
public void Update()
{
if (mPolyRefs.HandleResize())
{
mStraightPath = new Vector3[mPolyRefs.MaxElementCount];
mVisitedCount = 0;
mStraightCount = 0;
}
if (Input.GetKeyDown(StdButtons.SelectA) ||
Input.GetKey(StdButtons.SelectB))
{
Vector3 trasha;
string trashb;
NavmeshPoint point;
QEUtil.SearchResult searchResult =
QEUtil.HandleStandardPolySearch(mHelper, out trasha, out point, out trashb);
if ((searchResult & QEUtil.SearchResult.HitNavmesh) == 0)
{
return;
}
if (mPosition.polyRef == 0 || Input.GetKey(StdButtons.SelectB))
{
mPosition = point;
mGoal.polyRef = 0;
}
else
{
mGoal = point;
}
mVisitedCount = 0;
mStraightCount = 0;
}
if (mVisitedCount == 0 &&
mPosition.polyRef != 0 &&
mGoal.polyRef != 0)
{
NavStatus status = mHelper.query.MoveAlongSurface(mPosition, mGoal.point
, mHelper.filter
, out mTarget.point, mPolyRefs.buffer, out mVisitedCount);
mMessages = "MoveAlongSurface: " + status.ToString();
if (mVisitedCount > 0)
{
mHelper.query.GetStraightPath(mPosition.point, mTarget.point
, mPolyRefs.buffer, 0, mVisitedCount
, mStraightPath
, null, null, out mStraightCount);
}
}
}
private uint[] polyResultBuffer = null; //缓存寻路的三角形
public bool loadNavMesh(string fileName)
{
NavStatus status = loadMeshData(fileName);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(fileName + "Load failed" + status.ToString());
mCrowdManager = null;
return(false);
}
return(true);
}
private void GenerateStraightPath()
{
int iTarget = Mathf.Max(0, mTargetPathIndex);
NavStatus status = helper.query.GetStraightPath(mTarget.point, goal.point
, path.buffer, iTarget, pathCount - iTarget
, mStraightPath.buffer, null, null, out mStraightCount);
if (mLocalMessage.Length > 0)
{
mLocalMessage += ", ";
}
mLocalMessage = "GetStraightPath: " + status.ToString();
}
public void Update()
{
// Must set message before returning.
mHasPosition = false;
mResultCount = 0;
mYOffset += QEUtil.GetYFactor();
Vector3 trash;
QEUtil.SearchResult result =
QEUtil.HandleStandardPolySearch(mHelper, out trash, out mPosition, out mMessage);
mHasPosition = (result & QEUtil.SearchResult.HitNavmesh) != 0;
if (!mHasPosition)
{
return;
}
Vector3 pos = mPosition.point;
for (int i = 0; i < mSearchPoly.Length; i++)
{
mSearchPoly[i] = pos + mBasePoly[i];
mSearchPoly[i].y += mYOffset;
}
if (mPolyRefs.HandleResize())
{
int size = mPolyRefs.MaxElementCount;
mParentRefs = new uint[size];
mCosts = new float[size];
mCentroids = new Vector3[size];
}
NavStatus status = mHelper.query.FindPolys(mPosition.polyRef, mSearchPoly
, mHelper.filter
, mPolyRefs.buffer, mParentRefs, mCosts, out mResultCount);
mMessage = "FindPolys: " + status.ToString() + ".";
if (mResultCount > 0)
{
NavDebug.GetCentroids(mHelper.mesh, mPolyRefs.buffer, mResultCount, mCentroids);
}
}
private static bool LoadMesh(CAIBakedNavmesh targ, string filePath)
{
string msg = null;
if (filePath.Length == 0)
{
return(false);
}
FileStream fs = null;
BinaryFormatter formatter = new BinaryFormatter();
try
{
fs = new FileStream(filePath, FileMode.Open);
System.Object obj = formatter.Deserialize(fs);
NavStatus status = targ.Load((byte[])obj, null);
if ((status & NavStatus.Sucess) == 0)
{
msg = status.ToString();
}
}
catch (System.Exception ex)
{
msg = ex.Message;
}
finally
{
if (fs != null)
{
fs.Close();
}
}
if (msg != null)
{
Debug.LogError(targ.name + ": BakedNavmesh: Load bytes failed: "
+ msg);
return(false);
}
return(true);
}
public void Update()
{
mHasPosition = false;
mResultCount = 0;
Vector3 trash;
QEUtil.SearchResult result =
QEUtil.HandleStandardPolySearch(mHelper, out trash, out mPosition, out mMessage);
mHasPosition = (result & QEUtil.SearchResult.HitNavmesh) != 0;
if (!mHasPosition)
{
return;
}
mYOffset += QEUtil.GetYFactor();
mPosition.point.y += mYOffset;
mSearchRadius += QEUtil.GetXZFactor();
if (mPolyRefs.HandleResize())
{
int size = mPolyRefs.MaxElementCount;
mParentRefs = new uint[size];
mCentroids = new Vector3[size];
}
NavStatus status = mHelper.query.GetPolysLocal(mPosition, mSearchRadius
, mHelper.filter
, mPolyRefs.buffer, mParentRefs, out mResultCount);
mMessage = "GetPolysLocal: " + status.ToString() + ".";
if (mResultCount > 0)
{
NavDebug.GetCentroids(mHelper.mesh
, mPolyRefs.buffer
, mResultCount
, mCentroids);
}
}
public void Update()
{
float offset = QEUtil.GetXZFactor();
mHelper.extents[0] += offset;
mHelper.extents[1] += QEUtil.GetYFactor();
mHelper.extents[2] += offset;
mPolyRefs.HandleResize();
mResultCount = 0;
mHasPosition = QEUtil.hasHit;
if (!mHasPosition)
{
mMessage = "Outside source geometry.";
return;
}
mHasPosition = true;
mPosition = QEUtil.hitPosition;
for (int i = 0; i < mPolyRefs.buffer.Length; i++)
{
mPolyRefs.buffer[i] = 0;
}
NavStatus status = mHelper.query.GetPolys(mPosition
, mHelper.extents, mHelper.filter
, mPolyRefs.buffer, out mResultCount);
for (int i = 0; i < mResultCount; i++)
{
if (mPolyRefs.buffer[i] == 0)
{
Debug.Log("Invalid poly");
}
}
mMessage = "GetPolys: " + status.ToString();
}
public void Update()
{
mHasPosition = false;
mHasWallHit = false;
mWallDistance = 0;
mSearchRadius += QEUtil.GetXZFactor();
Vector3 trash;
QEUtil.SearchResult result =
QEUtil.HandleStandardPolySearch(mHelper, out trash, out mPosition, out mMessage);
mHasPosition = (result & QEUtil.SearchResult.HitNavmesh) != 0;
if (!mHasPosition)
{
return;
}
NavStatus status = mHelper.query.FindDistanceToWall(mPosition, mSearchRadius
, mHelper.filter
, out mWallDistance, out mWallHitPoint, out mWallNormal);
mMessage = "FindDistanceToWall: " + status.ToString() + ".";
if ((status & NavStatus.Sucess) == 0)
{
return;
}
if (mWallDistance == mSearchRadius)
{
mMessage += " Nearest wall is outside search radius.";
}
else
{
mHasWallHit = true;
}
}
private NavStatus loadMeshData(string fileName)
{
Debug.Log("loadMesshDataBegin");
byte[] serializedMesh = readFileByte(fileName);
this.fileName = fileName;
if (serializedMesh == null)
{
Debug.Log("serializedMesh == null");
return(NavStatus.Failure | NavStatus.InvalidParam);
}
// This roundabout method is used for validation.
NavStatus status = Navmesh.Create(serializedMesh, out navmesh);
if ((status & NavStatus.Sucess) == 0)
{
Debug.Log("Navmesh.Create Failed");
Debug.Log(status.ToString());
return(status);
}
//byte[] mDataPack = navmesh.GetSerializedMesh(); //转一遍测试一下
//if (mDataPack == null)
//{
// Debug.Log("navmesh.GetSerializedMesh() Failed");
// Debug.Log(mDataPack.ToString());
// return NavStatus.Failure;
//}
//mBuildInfo = buildConfig; = null;
Debug.Log("loadMesshDataSuccess");
return(NavStatus.Sucess);
}
public void Update()
{
mSelectedPoly[0] = 0;
mSegmentCount = 0;
Vector3 trash;
NavmeshPoint pt;
QEUtil.SearchResult result =
QEUtil.HandleStandardPolySearch(mHelper, out trash, out pt, out mMessage);
if ((result & QEUtil.SearchResult.HitNavmesh) == 0)
{
return;
}
mSelectedPoly[0] = pt.polyRef;
NavStatus status = mHelper.query.GetPolySegments(mSelectedPoly[0]
, mHelper.filter
, mSegments, mSegmentRefs, out mSegmentCount);
mMessage = "GetPolySegments: " + status.ToString();
}
private static Navmesh GenerateNavmesh()
{
#region Generate Neighboring polygon data
//Then generate neighboring polygon data, by parsing the face list
MyVector3 <bool> sharedVertex; //For the current face, what vertices are shared with the other face?
int sharedVertices; //if goes to 2, edge is shared
for (ushort q = 0; q < faces.Count; q++)
{
//Index of face and neighborPoly refer to the same polygon.
neighborPolys.Add(new MyVector3 <ushort>());
neighborPolys[q].x = Navmesh.NullIndex;
neighborPolys[q].y = Navmesh.NullIndex;
neighborPolys[q].z = Navmesh.NullIndex;
//Compare this face with every other face
for (ushort w = 0; w < faces.Count; w++)
{
if (w != q)
{
sharedVertices = 0;
sharedVertex = new MyVector3 <bool>();
//Go from left to right in the face MyVector3
for (int j = 0; j <= 2; j++)
{
//And compare each index with every other index
for (int k = 0; k <= 2; k++)
{
if (faces[q][j] == faces[w][k])
{
//If we find a matching index, update stuff (only for the current face, dont bother with other face, can optimise but will be confusing)
sharedVertices++;
sharedVertex[j] = true; //could break out of the for loop now, as face will not list the same index twice
}
}
}
if (sharedVertices > 2)
{
ReportError("error: more than 2 vertices shared between polys " + q + " and " + w);
}
//Check if these faces are sharing an edge
if (sharedVertices == 2)
{
//get the Leftmost Right-To-Left Pair in the neighborPolys MyVector3
//options are: edge 0-1, 1-2, and 2-0, respectively indexing neighboringPolys. (i.e. if index 1 of neighboring polys is 45, that means that the current polygon and polygon 45 share the edge face[1] <-> face[2]
if (sharedVertex[0] == true)
{
if (sharedVertex[1] == true)
{
neighborPolys[q][0] = w; //I.e. tell this face's MyVector3 of neighboring polygons that the edge made up by vertices at 0 and 1 is shared between polygon q and w
}
else
{
neighborPolys[q][2] = w;
}
}
else
{
neighborPolys[q][1] = w;
}
}
} //End iterating through other faces
}
} //End iterating through each face
#endregion
//Now, Load these into Critter AI and create a navmesh
navData = new NavmeshTileBuildData(maxPolyVerts, maxPolys, maxVertsPerPoly, 0, 0, 0);
#region LoadBase
//Get the min and max bounds from the vertex positions
float lowest;
float highest;
//Find the bounds of the mesh. iterate through the x, y and z axes
for (int axis = 0; axis <= 2; axis++)
{
lowest = UPPER_LIMIT; //set to inital values that they do not reach
highest = LOWER_LIMIT;
//iterate through every vertex to find highest and lowest value of this axis
for (int i = 0; i < vertices.Count; i++)
{
if (vertices[i][axis] < lowest)
{
lowest = vertices[i][axis];
}
if (vertices[i][axis] > highest)
{
highest = vertices[i][axis];
}
}
if (axis == 0) //x
{
boundsMin.x = lowest;
boundsMax.x = highest;
}
else if (axis == 1)
{
boundsMin.y = lowest;
boundsMax.y = highest;
}
else if (axis == 2)
{
boundsMin.z = lowest;
boundsMax.z = highest;
}
}
bool sucess;
sucess = navData.LoadBase(tileX, tileZ, tileLayer, tileUserId, boundsMin, boundsMax, xzCellSize, yCellSize, walkableHeight, walkableRadius, walkableStep, bvTreeEnabled);
if (!sucess)
{
ReportError("Error, LoadBase returned false");
}
#endregion
#region LoadPolys
vertCount = vertices.Count;
polyCount = faces.Count;
//Convert vertices from world space to grid space
polyVerts = new ushort[vertCount * 3];
for (int i = 0; i < vertCount; i++)
{
polyVerts[3 * i + 0] = (ushort)Math.Round((vertices[i].x - boundsMin.x) / xzCellSize);
polyVerts[3 * i + 1] = (ushort)Math.Round((vertices[i].y - boundsMin.y) / yCellSize);
polyVerts[3 * i + 2] = (ushort)Math.Round((vertices[i].z - boundsMin.z) / xzCellSize);
}
//build polys array (http://www.critterai.org/projects/cainav/doc/html/B8C2F0F4.htm)
polys = new ushort[6 * polyCount];
int ind = 0;
int faceNo = 0;
while (faceNo < polyCount)
{
polys[ind + 0] = faces[faceNo].x;
polys[ind + 1] = faces[faceNo].y;
polys[ind + 2] = faces[faceNo].z;
polys[ind + 3] = neighborPolys[faceNo].x;
polys[ind + 4] = neighborPolys[faceNo].y;
polys[ind + 5] = neighborPolys[faceNo].z;
ind += 6;
faceNo++;
}
//Fill polyflags array with default flags
polyFlags = new ushort[polyCount];
for (int i = 0; i < polyCount; i++)
{
polyFlags[i] = 1; //custom user flag
}
//Fill polyAreas array
polyAreas = new byte[polyCount];
for (int i = 0; i < polyCount; i++)
{
polyAreas[i] = 1;
}
sucess = navData.LoadPolys(polyVerts, vertCount, polys, polyFlags, polyAreas, polyCount);
if (!sucess)
{
ReportError("Error, LoadPolys returned false");
}
#endregion
//Build the Navmesh using the navData
NavStatus status = Navmesh.Create(navData, out navmesh);
if (status != NavStatus.Sucess)
{
ReportError("Navmesh build status was " + status.ToString());
}
return(navmesh);
}
public void Update()
{
mHasPosition = false;
mHasHeight = false;
if (Input.GetKeyDown(StdButtons.SelectA))
{
Vector3 trash;
NavmeshPoint target;
QEUtil.SearchResult result =
QEUtil.HandleStandardPolySearch(mHelper, out trash, out target, out mMessage);
mHasPosition = (result & QEUtil.SearchResult.HitGeometry) != 0;
if ((result & QEUtil.SearchResult.HitNavmesh) == 0)
{
// Could not find polygon.
mPolyRef[0] = 0;
}
else if (target.polyRef == mPolyRef[0])
{
// Toggle off the selection.
mPolyRef[0] = 0;
}
else
{
// New good selection.
mPolyRef[0] = target.polyRef;
}
}
if (mPolyRef[0] == 0)
{
mMessage = "No polygon selected.";
return;
}
RaycastHit hit;
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if (!Physics.Raycast(ray, out hit, 100))
{
mMessage = "Outside source geometry.";
return;
}
mPosition.point = hit.point;
mHasPosition = true;
NavStatus status = mHelper.query.GetPolyHeight(
new NavmeshPoint(mPolyRef[0], mPosition.point)
, out mHeight);
mMessage = "GetPolyHeight: " + status.ToString();
if (NavUtil.Failed(status))
{
return;
}
mHasHeight = true;
}
public NavManager CreateManager()
{
if (!(mNavmeshData && NavmeshData.HasNavmesh))
{
Debug.LogError(name + ": Aborted initialization. Navigation mesh not available.");
return(null);
}
if (!mAvoidanceSet || !mGroupsSettings)
{
Debug.LogError(
name + ": Aborted initialization. Avoidance and/or agent groups not available.");
return(null);
}
Navmesh navmesh = NavmeshData.GetNavmesh();
NavmeshQuery query;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
name + ": Aborted initialization. Failed query creation: " + status.ToString());
return(null);
}
CrowdManager crowd = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (crowd == null)
{
Debug.LogError(name + ": Aborted initialization. Failed crowd creation.");
return(null);
}
for (int i = 0; i < CrowdManager.MaxAvoidanceParams; i++)
{
crowd.SetAvoidanceConfig(i, mAvoidanceSet[i]);
}
NavGroup mGroup = new NavGroup(navmesh, query, crowd, crowd.QueryFilter, mExtents, false);
int count = mGroupsSettings.GroupCount;
Dictionary <byte, NavAgentGroup> mAgentGroups = new Dictionary <byte, NavAgentGroup>(count);
for (int i = 0; i < count; i++)
{
byte groupId;
NavAgentGroup group =
mGroupsSettings.CreateAgentGroup(i, mMaxPath, mMaxStraightPath, out groupId);
group.angleAt = mAngleAt;
group.heightTolerance = mHeightTolerance;
group.radiusAt = mRadiusAt;
group.radiusNear = mRadiusNear;
group.turnThreshold = mTurnThreshold;
mAgentGroups.Add(groupId, group);
}
return(NavManager.Create(mMaxAgents, mGroup, mAgentGroups));
}
public NavManager CreateManager()
{
CheckCrowdAvoidanceSet();
if (!(mNavmeshData && NavmeshData.HasNavmesh))
{
Debug.LogError("Aborted initialization. Navigation mesh not available.");
return(null);
}
//Debug.Log("NavmeshData-------"+ NavmeshData);
Navmesh navmesh = NavmeshData.GetNavmesh();
if (navmesh == null)
{
NavStatus theStatus = Navmesh.Create(navMeshData, out navmesh);
Debug.Log("Navmesh.Create ---->" + theStatus + "---->" + (int)(theStatus & NavStatus.Sucess));
if (NavUtil.Failed(theStatus))
{
Debug.LogError("NavUtil.Failed(Navmesh.Create(navMeshData, out navmesh) Fail!");
}
Debug.Log("--------------------\n" + navMeshData + "---" + navMeshData.Length + "\n-----------------\nNavmesh-------" + navmesh);
}
if (navmesh == null)
{
Debug.LogError(" navmesh is null");
return(null);
}
NavmeshQuery query;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(" Aborted initialization. Failed query creation: " + status.ToString());
return(null);
}
CrowdManager crowd = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (crowd == null)
{
Debug.LogError("Aborted initialization. Failed crowd creation.");
return(null);
}
for (int i = 0; i < CrowdManager.MaxAvoidanceParams; i++)
{
crowd.SetAvoidanceConfig(i, CrowdAvoidanceConfig[i]);
}
NavGroup mGroup = new NavGroup(navmesh, query, crowd, crowd.QueryFilter, mExtents, false);
int count = AgentGroupSettingManager.GetGroupCount();
Dictionary <byte, NavAgentGroups> mAgentGroups = new Dictionary <byte, NavAgentGroups>(count);
for (int i = 0; i < count; i++)
{
byte groupId;
NavAgentGroups group = AgentGroupSettingManager.CreateAgentGroup(i, mMaxPath, mMaxStraightPath, out groupId);
group.angleAt = mAngleAt;
group.heightTolerance = mHeightTolerance;
group.turnThreshold = mTurnThreshold;
mAgentGroups.Add(groupId, group);
}
return(NavManager.Create(mMaxAgents, mGroup, mAgentGroups));
}
public void CreateQuery(float fMoveSpeed, float fTurnSpeed)
{
this.mTurnSpeed = fTurnSpeed;
this.mMoveSpeed = fMoveSpeed;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
fileName + ": Aborted initialization. Failed query creation: " + status.ToString());
mCrowdManager = null;
return;
}
mCrowdManager = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (mCrowdManager == null)
{
Debug.LogError(fileName + ": Aborted initialization. Failed crowd creation.");
}
CrowdAvoidanceParams mCrowdParam = CrowdAvoidanceParams.CreateStandardMedium();
mCrowdManager.SetAvoidanceConfig(0, mCrowdParam);
mCrowdAgentParams = new CrowdAgentParams();
mCrowdAgentParams.avoidanceType = 0;
mCrowdAgentParams.collisionQueryRange = 3.2f;
mCrowdAgentParams.height = 1.8f;
mCrowdAgentParams.maxAcceleration = 8.0f;
mCrowdAgentParams.maxSpeed = this.mMoveSpeed;
mCrowdAgentParams.pathOptimizationRange = 12.0f;
mCrowdAgentParams.radius = 1.0f;
mCrowdAgentParams.separationWeight = 2.0f;
mCrowdAgentParams.updateFlags = CrowdUpdateFlags.AnticipateTurns | CrowdUpdateFlags.ObstacleAvoidance | CrowdUpdateFlags.CrowdSeparation | CrowdUpdateFlags.OptimizeVis | CrowdUpdateFlags.OptimizeTopo;
polyResult = new uint[300];
pointResult = new Vector3[300];
tileBufferPoints = new Vector3[3000];
pointResultBuffer = new Vector3[300];
polyResultBuffer = new uint[300];
NavmeshTile tile = navmesh.GetTile(0);
int count = tile.GetVerts(tileBufferPoints);
Debug.Log("Tile " + tile.GetTileRef() + " count:" + count);
if (count > 3000)
{
tileBufferPoints = new Vector3[count];
}
tileBufferRef = -1;
//NavmeshPoly[] polys=new NavmeshPoly[3000];
//int polyCount;
//polyCount=tile.GetPolys(polys);
//for (int i = 0; i < polyCount; i++)
//{
// NavmeshPoly poly = polys[i];
// //if (poly.Type == NavmeshPolyType.OffMeshConnection)
// {
// Debug.Log("Poly" + i+"type"+poly.Type.ToString());
// }
//}
}