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);
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.gateways.Count];
}
//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;
Vector3 startGatewayPos;
Vector3 endGatewayPos;
var pathfindingManager = new PathfindingManager();
pathfindingManager.Initialize(navMesh, new NodeArrayAStarPathFinding(navMesh, new EuclideanHeuristic()));
AStarPathfinding pathfinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanHeuristic());
//TODO implement the rest of the algorithm here, i.e. build the GatewayDistanceTable
//GatewayDistanceTableRow row = new GatewayDistanceTableRow();
//OPTIMIZED VERSION
for (int i = 0; i < clusterGraph.gateways.Count; ++i)
{
GatewayDistanceTableRow row = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
row.entries[i] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
row.entries[i].startGatewayPosition = clusterGraph.gateways[i].center;
row.entries[i].endGatewayPosition = clusterGraph.gateways[i].center;
row.entries[i].shortestDistance = 0;
for (int j = i + 1; j < clusterGraph.gateways.Count; ++j)
{
startGatewayPos = clusterGraph.gateways[i].center;
endGatewayPos = clusterGraph.gateways[j].center;
pathfinding.InitializePathfindingSearch(startGatewayPos, endGatewayPos);
while (solution == null)
{
bool finished = pathfinding.Search(out solution, false);
}
List <Vector3> pathPos = solution.PathPositions;
cost = 0;
for (int k = 0; k < pathPos.Count - 1; ++k)
{
cost += (pathPos[k + 1] - pathPos[k]).magnitude;
}
solution = null;
row.entries[j] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
row.entries[j].startGatewayPosition = startGatewayPos;
row.entries[j].endGatewayPosition = endGatewayPos;
row.entries[j].shortestDistance = cost;
}
for (int k = 0; k < i; ++k)
{
row.entries[k] = ScriptableObject.CreateInstance <GatewayDistanceTableEntry>();
row.entries[k].startGatewayPosition = clusterGraph.gatewayDistanceTable[k].entries[i].endGatewayPosition;
row.entries[k].endGatewayPosition = clusterGraph.gatewayDistanceTable[k].entries[i].startGatewayPosition;
row.entries[k].shortestDistance = clusterGraph.gatewayDistanceTable[k].entries[i].shortestDistance;
Debug.Log(row.entries[k].shortestDistance + " " + clusterGraph.gatewayDistanceTable[k].entries[i].shortestDistance);
}
clusterGraph.gatewayDistanceTable[i] = ScriptableObject.CreateInstance <GatewayDistanceTableRow>();
clusterGraph.gatewayDistanceTable[i] = row;
}
//int j = 0;
//foreach (Gateway gate in clusterGraph.gateways)
//{
// GatewayDistanceTableRow row = ScriptableObject.CreateInstance<GatewayDistanceTableRow>();
// row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
// int i = 0;
// foreach (Gateway gate2 in clusterGraph.gateways)
// {
// if(!gate.center.Equals(gate2.center))
// {
// pathfinding.InitializePathfindingSearch(gate.center, gate2.center);
// while (solution == null)
// {
// bool finished = pathfinding.Search(out solution, false);
// }
// cost = solution.Length;
// solution = null;
// row.entries[i] = ScriptableObject.CreateInstance<GatewayDistanceTableEntry>();
// row.entries[i].startGatewayPosition = gate.center;
// row.entries[i].endGatewayPosition = gate2.center;
// row.entries[i].shortestDistance = cost;
// //Debug.Log("======================================!!!!!!!!!!!!!!!!!!!!" + row.entries[i].startGatewayPosition + gate.center);
// //Debug.Log("======================================\\\\\\\\\\\\\\\\\\\\" + row.entries[i].endGatewayPosition);
// }
// else
// {
// row.entries[i] = ScriptableObject.CreateInstance<GatewayDistanceTableEntry>();
// row.entries[i].startGatewayPosition = gate.center;
// row.entries[i].endGatewayPosition = gate2.center;
// row.entries[i].shortestDistance = 0;
// }
// i++;
// }
// clusterGraph.gatewayDistanceTable[j] = ScriptableObject.CreateInstance<GatewayDistanceTableRow>();
// clusterGraph.gatewayDistanceTable[j] = row;
// //Debug.Log("j======== " + j);
// if (j > 0)
// {
// Debug.Log("aaaaaaaaaaaaaaaaaaaa====== " + clusterGraph.gatewayDistanceTable[1].entries[2].startGatewayPosition + row.entries[2].startGatewayPosition);
// }
// j++;
//}
//foreach (var a in clusterGraph.gatewayDistanceTable)
//{
// foreach(var b in a.entries)
// {
// Debug.Log("shortestDistance = " + b.shortestDistance);
// Debug.Log("startGatewayPosition = " + b.startGatewayPosition);
// Debug.Log("endGatewayPosition = " + b.endGatewayPosition);
// }
// Debug.Log("ACABOU ENTRYYYYYYYYYYYYYYYY\n\n");
//}
//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();
}
