private void bakingGridPoint(Vector3 startPoint, Vector3 gameObjectCenter, Vector3 gameObjectSize, Vector3 position)
{
NavMesh2DNode newNode = new NavMesh2DNode();
newNode.position = position;
newNode.neighbours = new List <int> ();
// check if there is obstacles exist at/near(within unit error) the node
Collider2D center = Physics2D.OverlapPoint(new Vector2(newNode.position.x, newNode.position.y));
Collider2D top = Physics2D.OverlapPoint(new Vector2(newNode.position.x, newNode.position.y + unitError));
Collider2D bottom = Physics2D.OverlapPoint(new Vector2(newNode.position.x, newNode.position.y - unitError));
Collider2D left = Physics2D.OverlapPoint(new Vector2(newNode.position.x - unitError, newNode.position.y));
Collider2D right = Physics2D.OverlapPoint(new Vector2(newNode.position.x + unitError, newNode.position.y));
Collider2D topLeft = Physics2D.OverlapPoint(new Vector2(newNode.position.x - unitError, newNode.position.y + unitError));
Collider2D topRight = Physics2D.OverlapPoint(new Vector2(newNode.position.x + unitError, newNode.position.y + unitError));
Collider2D bottomLeft = Physics2D.OverlapPoint(new Vector2(newNode.position.x - unitError, newNode.position.y - unitError));
Collider2D bottomRight = Physics2D.OverlapPoint(new Vector2(newNode.position.x + unitError, newNode.position.y - unitError));
if ((center != null && center.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(top != null && top.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(bottom != null && bottom.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(left != null && left.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(right != null && right.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(topLeft != null && topLeft.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(topRight != null && topRight.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(bottomLeft != null && bottomLeft.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
(bottomRight != null && bottomRight.gameObject.GetComponent <NavMesh2DObstacle>() != null) ||
newNode.position.x < gameObjectCenter.x - gameObjectSize.x / 2 || newNode.position.x > gameObjectCenter.x + gameObjectSize.x / 2 ||
newNode.position.y < gameObjectCenter.y - gameObjectSize.y / 2 || newNode.position.y > gameObjectCenter.y + gameObjectSize.y / 2)
{
// there is obstacle or out of bound
newNode.id = obstacleNodes.nodes.Count;
obstacleNodes.nodes.Add(newNode);
}
else if (!navMeshNodes.nodes.Contains(newNode) && !obstacleNodes.nodes.Contains(newNode))
{
newNode.id = navMeshNodes.nodes.Count;
navMeshNodes.nodes.Add(newNode);
// find neighbours
for (int k = 0; k < navMeshNodes.nodes.Count - 1; k++)
{
float distance = Vector3.Distance(navMeshNodes.nodes [k].position, navMeshNodes.nodes [navMeshNodes.nodes.Count - 1].position);
if (navMeshNodes.nodes [k].neighbours.Count < 8 && distance <= unitLength)
{
Vector2 origin = new Vector2(navMeshNodes.nodes [k].position.x, navMeshNodes.nodes [k].position.y);
Vector2 dest = new Vector2(navMeshNodes.nodes [navMeshNodes.nodes.Count - 1].position.x, navMeshNodes.nodes [navMeshNodes.nodes.Count - 1].position.y);
RaycastHit2D hit = Physics2D.Linecast(origin, dest);
if (hit.transform == null || hit.transform.gameObject.GetComponent <NavMesh2DObstacle>() == null)
{
navMeshNodes.nodes [k].neighbours.Add(navMeshNodes.nodes [navMeshNodes.nodes.Count - 1].id);
navMeshNodes.nodes [navMeshNodes.nodes.Count - 1].neighbours.Add(navMeshNodes.nodes [k].id);
}
}
}
}
}
/// <summary>
/// Set the target position of the agent.
/// </summary>
public void setTarget(Vector3 target)
{
this.target = target;
target.z = 0;
// find the path
if (TopDown2DNavMeshBaker.navMeshNodes == null)
{
TopDown2DNavMeshBaker.init();
}
NavMesh2DNode closestStart = TopDown2DNavMeshBaker.navMeshNodes.findNearestNode(transform.position);
NavMesh2DNode closestGoal = TopDown2DNavMeshBaker.navMeshNodes.findNearestNode(target);
List <IAStarable <Vector3> > map = new List <IAStarable <Vector3> > ();
for (int i = 0; i < TopDown2DNavMeshBaker.navMeshNodes.nodes.Count; i++)
{
IAStarable <Vector3> newNode = (IAStarable <Vector3>)TopDown2DNavMeshBaker.navMeshNodes.nodes [i];
newNode.heuristicFunction = () => {
return(Vector3.Distance(newNode.value, closestGoal.position));
};
map.Add(newNode);
}
StartCoroutine(AStarAlgorithm.findPath <Vector3> (map, (IAStarable <Vector3>)closestStart, (IAStarable <Vector3>)closestGoal, pathHandler));
}
/// <summary>
/// Handle the recieved path.
/// </summary>
public void pathHandler(List <IAStarable <Vector3> > result)
{
if (result != null)
{
List <NavMesh2DNode> newPath = new List <NavMesh2DNode> ();
if (path == null)
{
path = new List <Vector3> ();
}
else if (path.Count > 0)
{
path.Clear();
}
for (int i = 0; i < result.Count; i++)
{
NavMesh2DNode newNode = (NavMesh2DNode)result [i];
newNode.heuristicFunction = null;
newPath.Add(newNode);
}
Vector3 curPosition = transform.position;
curPosition.z = 0;
path.Add(curPosition);
// do linear optimization to the path
Vector3 lastStartPoint = curPosition;
Vector3 lastEndPoint = newPath[0].position;
bool canSkip = true;
for (int i = 1; i < newPath.Count; i++)
{
canSkip = true;
RaycastHit2D hit = Physics2D.Linecast(lastStartPoint + (newPath [i].position - lastStartPoint).normalized * customBoundOffset, newPath [i].position);
if (hit.transform != null)
{
if (hit.transform.gameObject == gameObject)
{
RaycastHit2D[] targetPoint = Physics2D.LinecastAll(lastStartPoint + (newPath [i].position - lastStartPoint).normalized * customBoundOffset, newPath [i].position);
int j = 0;
for (j = 0; j < targetPoint.Length; j++)
{
if (targetPoint [j].transform != null && targetPoint [j].transform.gameObject.GetComponent <NavMesh2DObstacle> () != null)
{
canSkip = false;
break;
}
}
}
else if (hit.transform.gameObject.GetComponent <NavMesh2DObstacle> () != null)
{
canSkip = false;
}
}
if (canSkip)
{
lastEndPoint = newPath [i].position;
}
else
{
path.Add(lastEndPoint);
lastStartPoint = newPath [i].position;
}
// Debug.Log ("Path point " + i + " is (" + newPath [i].position.x + ", " + newPath [i].position.y + ").");
}
if (!path.Contains(lastEndPoint))
{
path.Add(lastEndPoint);
}
path.Add(target);
if (!UpdateManager.IsRegistered(this))
{
UpdateManager.RegisterFixedUpdate(this);
}
}
}
