public LcNode PunchNewNode(PathPos pp, string newptname = "", bool deleteparentlink = false)
{
var gcr = GetGraphCtrl();
var lpt = gcr.PunchNewNode(pp, newptname, deleteparentlink);
return(lpt);
}
// Update is called once per frame
void Update()
{
if (followBird)
{
bird = GameObject.Find("Bird");
if (bird != null)
{
Follow(Time.deltaTime);
}
}
var npsph = GameObject.Find("nearpathsph-go");
if (npsph != null)
{
var pathdst = -1f;
var nearestPointRef = Camera.main.transform.position;
rman.pathctrl.FindClosestWegOnPath(nearestPointRef, out pathdst);
PathPos pp = rman.pathctrl.path.MovePositionAlongPath(pathdst);
CamClosestPathDist = pathdst;
if (pp != null)
{
nearPathPosLocal = pp.pt;
var ptwc = rman.transform.TransformPoint(pp.pt); // we don't want the followsphere to scale!
// Thus rman.transform and not rman.rgo.transform
nearPathPosWc = ptwc;
nearSpherePosition = npsph.transform.position;
nearPathIdx = pp.index;
nearPathLambda = pp.lambda;
var lnk = pp.weg.link;
nearPathWegname = lnk.name;
}
}
}
// Expand open list, getting neighbours of NewPos
private void AddToOpenList(List <PathPos> OpenList, List <PathPos> ClosedList, PathPos NewPos, Vector3 TargetPos)
{
int k = 0;
for (int i = -1; i < 2; i++)
{
for (int j = -1; j < 2; j++)
{
//if (PathMap[i + NewPos.x, k + NewPos.y, j + NewPos.z] != '#')
if (TileType(i + NewPos.x, k + NewPos.y, j + NewPos.z) != '#')
{
k = 0;
if (i == 0 && j == 0)
{
if (TileType(i + NewPos.x, k + NewPos.y, j + NewPos.z) == '>' || TileType(i + NewPos.x, k + NewPos.y, j + NewPos.z) == ' ')
{
k = -yscale;
}
if (TileType(i + NewPos.x, k + NewPos.y, j + NewPos.z) == '<')
{
k = yscale;
}
}
PathPos AddPos = new PathPos(i + NewPos.x, k + NewPos.y, j + NewPos.z, NewPos.cost + 1, TargetPos, NewPos);
if (!ClosedList.Contains(AddPos))
{
if (!OpenList.Contains(AddPos))
{
OpenList.Add(AddPos);
}
}
}
}
}
}
public LcNode PunchNewLinkPt(PathPos pp, string newptname = "", bool deleteparentlink = false)
{
var lcld = getLinkCloud();
var lpt = lcld.PunchNewLinkPt(pp, newptname, deleteparentlink);
return(lpt);
}
Vector3 GetPathPoint(float gpprdist, bool setpathpos = true)
{
if (path == null)
{
return(Vector3.zero);
}
var pp = path.MovePositionAlongPath(gpprdist);
if (setpathpos)
{
pathpos = pp;
}
var ptlc = new Vector3(pp.pt.x, pp.pt.y + BirdFlyHeight, pp.pt.z);
return(ptlc);
}
// Update is called once per frame
void Update()
{
if (path != null)
{
// public Vector3 startpt = Vector3.zero;
//public Vector3 endpt = Vector3.zero;
//public Vector3 weg1Pt1 = Vector3.zero;
//public Vector3 weg1Pt2 = Vector3.zero;
this.startpt = path.startpt;
this.endpt = path.endpt;
this.weg1Pt1 = path.weg1Pt1;
this.weg1Pt2 = path.weg1Pt2;
this.weg1FrPt = path.weg1FrPt;
this.weg1ToPt = path.weg1ToPt;
}
if (updateNearestPathPointWithMainCamPos)// very expensive
{
nearestPointRef = Camera.main.transform.position;
var npsph = GameObject.Find("nearpathsph-go");
var pathdst = -1f;
PathPos pp = null;
var npt = Vector3.zero;
var nsphpos = Vector3.zero;
if (npsph != null)
{
FindClosestWegOnPath(nearestPointRef, out pathdst);
pp = path.MovePositionAlongPath(pathdst);
nsphpos = sman.rgo.transform.TransformPoint(pp.pt);
npsph.transform.position = nsphpos;
if (tm != null)
{
var text = "";
text += "nsphpos:" + nsphpos;
text += "\npt:" + pp.pt;
var ptwc = sman.rgo.transform.TransformPoint(pp.pt);
text += "\nptwc:" + ptwc;
text += "\nidx:" + pp.index;
text += "\nlambda:" + pp.lambda;
text += "\nstart:" + this.startnodename;
text += "\nend:" + this.endnodename;
text += "\npathdist:" + pathdst.ToString("F1") + "/" + path.pathLength.ToString("F1");
tm.text = text;
}
//RegionMan.Log("pathdst:"+pathdst);
}
}
}
public void InitTexture()
{
for (int col = 0; col < m_width; col++)
{
for (int row = 0; row < m_height; row++)
{
m_texure.SetPixel(row, col, m_clear_color);
}
}
foreach (KeyValuePair <int, Dictionary <int, List <PathPos> > > vehicle_pair in m_all_path)
{
int vid = vehicle_pair.Key;
foreach (KeyValuePair <int, List <PathPos> > path_pair in vehicle_pair.Value)
{
List <PathPos> pos_list = path_pair.Value;
for (int i = 0; i + PATH_STEP < pos_list.Count - 1; i += PATH_STEP)
{
PathPos pt1 = pos_list[i];
PathPos pt2 = pos_list[i + PATH_STEP];
Vector2 start_pt = CoordTrans_MapMeter_Texture2D(new Vector2((float)pt1.x, (float)pt1.y));
Vector2 end_pt = CoordTrans_MapMeter_Texture2D(new Vector2((float)pt2.x, (float)pt2.y));
for (float j = 0; j < 1; j = j + 0.05f)
{
Vector2 temp = Vector2.Lerp(start_pt, end_pt, j);
m_texure.SetPixel(Convert.ToInt32(temp.x), Convert.ToInt32(temp.y), m_lineColor);
}
}
}
}
m_texure.Apply();
MapBackground.material.mainTexture = m_texure;
}
Vector3 GetPathPoint(float gpprdist, bool curpos = true)
{
if (path == null)
{
return(Vector3.zero);
}
var pp = path.MovePositionAlongPath(gpprdist);
if (curpos)
{
pathpos = pp;
pathweg = pp.weg;
spathweg = pathweg.frNode.name + " to " + pathweg.toNode.name;
wegguid = pp.weg.id;
swegguid = wegguid.ToString();
wegdistance = pp.wegDistSoFar;
cntgp++;
}
var pt = new Vector3(pp.pt.x, pp.pt.y + BirdFlyHeight, pp.pt.z);
return(pt);
}
/// <summary>
/// 根据 m_file_list 填充 m_all_path
/// </summary>
public void ReadPathFiles()
{
m_all_path.Clear();
foreach (KeyValuePair <int, string> path_file in m_file_list)
{
int vid = path_file.Key;
string file_name = path_file.Value;
if (!File.Exists(file_name))
{
continue;
}
char[] spliter = { ' ' };
StreamReader sr = new StreamReader(file_name);
Dictionary <int, List <PathPos> > dict_path = new Dictionary <int, List <PathPos> >();
while (sr.Peek() != -1)
{
string line = sr.ReadLine();
string[] part = line.Split(spliter, StringSplitOptions.RemoveEmptyEntries);
if (part.Length != DATA_LEN)
{
continue;
}
int path_id = -1;
int.TryParse(part[3], out path_id);
double x, y;
double.TryParse(part[0], out x);
double.TryParse(part[1], out y);
PathPos pos = new PathPos(x, y);
if (!dict_path.ContainsKey(path_id))
{
dict_path.Add(path_id, new List <PathPos> {
pos
});
}
else
{
dict_path[path_id].Add(pos);
}
if (x < m_min_x)
{
m_min_x = x;
}
else if (x > m_max_x)
{
m_max_x = x;
}
if (y < m_min_y)
{
m_min_y = y;
}
else if (y > m_max_y)
{
m_max_y = y;
}
}
sr.Close();
m_all_path.Add(vid, dict_path);
}
// 计算地图基本数据
m_min_y -= 10;
m_max_y += 10;
m_logic_length = Math.Max((m_max_x - m_min_x), (m_max_y - m_min_y));
m_pixel_per_meter = (double)map_size / m_logic_length;
ori_x = 0.5 * (m_max_x - m_min_x) + m_min_x;
ori_y = 0.5 * (m_max_y - m_min_y) + m_min_y;
}
public List <Vector3> AStarPath(Vector3 CurrentPos, Vector3 TargetPos)
{
// List of positions along path
List <Vector3> ReturnList = new List <Vector3>();
// Initialize open and closed list
List <PathPos> OpenList = new List <PathPos>();
List <PathPos> ClosedList = new List <PathPos>();
PathPos EndLocation = new PathPos(TargetPos, -1, TargetPos);
// Add start position
ClosedList.Add(new PathPos(CurrentPos, 0, TargetPos));
AddToOpenList(OpenList, ClosedList, ClosedList[0], TargetPos);
int loopbreaker = 0;
bool success = false;
// Loop while the list doesn't contain the thing, but not too many times
while (!ClosedList.Contains(EndLocation) && loopbreaker < 1000)
{
loopbreaker++;
if (OpenList.Count > 0)
{
OpenList.Sort();
ClosedList.Add(OpenList[0]);
//Debug.Log(OpenList[0].PrevPos);
AddToOpenList(OpenList, ClosedList, OpenList[0], TargetPos);
if (OpenList[0] == EndLocation)
{
EndLocation.PrevPos = OpenList[0].PrevPos;
}
else
{
OpenList.RemoveAt(0);
}
}
else
{
break;
}
}
success = ClosedList.Contains(EndLocation);
if (success)
{
PathPos thispos;
thispos = OpenList[0];//EndLocation;
int iii = 0;
do
{
//Debug.Log(thispos.GetVector3());
//Debug.Log(iii++);
ReturnList.Add(thispos.GetVector3());
//Instantiate(debugblock, thispos.GetVector3(), Quaternion.identity);
thispos = thispos.PrevPos;
if (iii > 1000)
{
break;
}
} while (thispos != null);
//Debug.Log(ReturnList.Count);
ReturnList.Reverse();
/*for (int i = 0; i < ReturnList.Count; i++)
* {
* Debug.Log(ReturnList[i].ToString());
* }*/
return(ReturnList);
}
else
{
return(null);
}
}
