public void Initialize(NavAgent agent)
{
this.mAgent = agent;
mCrowdDebug = null;
mCorners = null;
mCorridor = null;
}
public static void Render(ArrayGrid2D <double> grid, CornerData corners, double range, double h, Random random,
out double min, out double max)
{
if (grid.Width != grid.Height)
{
throw new Exception();
}
var ctx = new Context()
{
Random = random,
Grid = grid,
Corners = corners,
Range = range,
H = h,
Min = Math.Min(Math.Min(Math.Min(corners.SW, corners.SE), corners.NE), corners.NW),
Max = Math.Max(Math.Max(Math.Max(corners.SW, corners.SE), corners.NE), corners.NW),
};
grid[0, 0] = corners.SW;
grid[grid.Width - 1, 0] = corners.SE;
grid[grid.Width - 1, grid.Height - 1] = corners.NE;
grid[0, grid.Height - 1] = corners.NW;
HeightMap(ctx);
min = ctx.Min;
max = ctx.Max;
}
void SortHitPoints()
{
for (int i = 0; i < hitPointList.Count; i++)
{
CornerData temp = new CornerData();
temp.pos = hitPointList[i];
// temp.angle = Vector2.Angle(transform.position, hitPointList[i]);
Vector2 pos = transform.position;
temp.angle = pos.AngleTo(hitPointList[i]);
// temp.angle = transform.position.AngleTo(hitPointList[i]);
// float angle = (Mathf.Atan2(x, y) / Mathf.PI) * 180f;
// if(angle < 0)
// {
// angle += 360f;
// }
cornerDataList.Add(temp);
}
hitPointList.Clear();
// cornerDataList.Sort((a, b) => a.angle.CompareTo(b.angle));
cornerDataList.Sort((a, b) => b.angle.CompareTo(a.angle));
// list.Sort((a, b) => a.x.CompareTo(b.x));
for (int i = 0; i < cornerDataList.Count; i++)
{
hitPointList.Add(cornerDataList[i].pos);
}
}
public static void Render(ArrayGrid2D<double> grid, CornerData corners, double range, double h, int randomSeed,
out double min, out double max)
{
if (grid.Width != grid.Height)
throw new Exception();
var ctx = new Context()
{
Random = new Random(randomSeed),
Grid = grid,
Corners = corners,
Range = range,
H = h,
Min = Math.Min(Math.Min(Math.Min(corners.SW, corners.SE), corners.NE), corners.NW),
Max = Math.Max(Math.Max(Math.Max(corners.SW, corners.SE), corners.NE), corners.NW),
};
grid[0, 0] = corners.SW;
grid[grid.Width - 1, 0] = corners.SE;
grid[grid.Width - 1, grid.Height - 1] = corners.NE;
grid[0, grid.Height - 1] = corners.NW;
HeightMap(ctx);
min = ctx.Min;
max = ctx.Max;
}
void Cast()
{
Vector2 pos = transform.position;
Vector2 dir;
// float distance = Mathf.Infinity;
float distance = 36;
int layerMask = LayerMask.GetMask("Player");
// int layerMask = LayerMask.GetMask("UI");
hitPointList.Clear();
hitPointDataList.Clear();
for (int i = 0; i < corners.Count; i++)
{
dir = corners[i] - pos;
// RaycastHit2D hit = Physics2D.Raycast(pos, dir, distance);
RaycastHit2D hit = Physics2D.Raycast(pos, dir, distance, ~layerMask);
CornerData temp = new CornerData();
temp.pos = hit.point;
temp.angle = pos.AngleTo(hit.point);
hitPointDataList.Add(temp);
Vector2 debugRayInfo = hit.point - pos;
Debug.DrawRay(pos, debugRayInfo, Color.green);
Vector2 offsetDir = dir;
offsetDir = Quaternion.Euler(0, 0, -0.01f) * offsetDir;
// RaycastHit2D hitAfter2 = Physics2D.Raycast(pos, offsetDir, distance);
RaycastHit2D hitAfter2 = Physics2D.Raycast(pos, offsetDir, distance, ~layerMask);
CornerData temp2 = new CornerData();
temp2.pos = hitAfter2.point;
temp2.angle = pos.AngleTo(hitAfter2.point);
hitPointDataList.Add(temp2);
Vector2 debugRayInfo2 = hitAfter2.point - pos;
Debug.DrawRay(pos, debugRayInfo2, Color.red);
Vector2 offsetDir2 = dir;
offsetDir2 = Quaternion.Euler(0, 0, 0.01f) * offsetDir2;
// RaycastHit2D hitAfter = Physics2D.Raycast(pos, offsetDir2, distance);
RaycastHit2D hitAfter = Physics2D.Raycast(pos, offsetDir2, distance, ~layerMask);
CornerData temp3 = new CornerData();
temp3.pos = hitAfter.point;
temp3.angle = pos.AngleTo(hitAfter.point);
hitPointDataList.Add(temp3);
Vector2 debugRayInfo3 = hitAfter.point - pos;
Debug.DrawRay(pos, debugRayInfo3, Color.red);
}
}
void OnRenderObject()
{
if (!mDebugEnabled || mAgent == null)
{
return;
}
if (mAgent.crowdAgent != null)
{
if (mCrowdDebug == null)
{
mCorners = null;
mCorridor = null;
mCrowdDebug = new CrowdAgentDebug(mAgent.navGroup.crowd.Navmesh);
}
mCrowdDebug.DrawAll(mAgent.crowdAgent);
}
else if ((mAgent.data.flags & NavFlag.CorridorInUse) != 0)
{
if (mCorridor == null)
{
mCorners = new CornerData();
mCorridor = new PathCorridorData(mAgent.corridor.MaxPathSize);
mCrowdDebug = null;
}
int n = mAgent.corridor.FindCorners(mCorners);
mCorners.cornerCount = n; // v0.3.0 bug workaround.
mAgent.corridor.GetData(mCorridor);
NavDebug.Draw(mAgent.navGroup.mesh, mCorridor);
NavDebug.Draw(mCorners);
}
if (mAgent.crowdAgent == null)
{
Vector3 pos = mAgent.data.position.point;
float height = mAgent.crowdConfig.height; // Might be zero.
Vector3 velocity = mAgent.data.desiredVelocity;
DebugDraw.Arrow(pos + Vector3.up * height
, pos + velocity + Vector3.up * height
, 0, 0.05f, CrowdAgentDebug.desiredVelocityColor);
}
DebugDraw.DiamondMarker(mAgent.data.position.point
, 0.1f
, NavDebug.positionColor);
DebugDraw.DiamondMarker(mAgent.data.goal.point
, 0.1f
, NavDebug.goalColor);
}
/// <summary>
/// Draws a debug visualization of corner data.
/// </summary>
/// <param name="corners">The corners to draw.</param>
public static void Draw(CornerData corners)
{
if (corners.cornerCount == 0)
{
return;
}
DebugDraw.SimpleMaterial.SetPass(0);
GL.Begin(GL.LINES);
GL.Color(cornerColor);
for (int i = 0; i < corners.cornerCount; i++)
{
DebugDraw.AppendXMarker(corners.verts[i], cornerScale);
}
GL.End();
}
void SortCorners()
{
for (int i = 0; i < corners.Count; i++)
{
CornerData temp = new CornerData();
temp.pos = corners[i];
temp.angle = Vector2.Angle(transform.position, corners[i]);
cornerDataList.Add(temp);
}
corners.Clear();
cornerDataList.Sort((a, b) => a.angle.CompareTo(b.angle));
// list.Sort((a, b) => a.x.CompareTo(b.x));
for (int i = 0; i < cornerDataList.Count; i++)
{
corners.Add(cornerDataList[i].pos);
}
}
public static extern void dtcaGetAgentCorners(IntPtr agent
, [In, Out] CornerData resultData);
void Cast()
{
Vector2 pos = transform.position;
Vector2 dir;
// float distance = Mathf.Infinity;
float distance = 36;
int layerMask = LayerMask.GetMask("Player") | LayerMask.GetMask("Trigger") | LayerMask.GetMask("IgnoreShadow");
// int layerMask = LayerMask.GetMask("UI");
hitPointDataList.Clear();
// for (int i = 0; i < corners.Count; i++)
for (int i = 0; i < cornerPositions.Length; i++)
{
// dir = corners[i] - pos;
dir = cornerPositions[i] - pos;
// RaycastHit2D hit = Physics2D.Raycast(pos, dir, distance);
RaycastHit2D hit = Physics2D.Raycast(pos, dir, distance, ~layerMask);
// if (Mathf.Abs(Vector2.Distance(cornerPositions[i], pos) - Vector2.Distance(hit.point, pos)) > 1f)
// {
// Vector2 debugRayInfoT = hit.point - pos;
// Debug.DrawRay(pos, debugRayInfoT, Color.green);
// continue;
// }
CornerData temp = new CornerData();
temp.pos = hit.point;
temp.angle = pos.AngleTo(hit.point);
hitPointDataList.Add(temp);
Vector2 debugRayInfo = hit.point - pos;
Debug.DrawRay(pos, debugRayInfo, Color.green);
Vector2 offsetDir = dir;
offsetDir = Quaternion.Euler(0, 0, -0.01f) * offsetDir;
// RaycastHit2D hitAfter2 = Physics2D.Raycast(pos, offsetDir, distance);
RaycastHit2D hitAfter2 = Physics2D.Raycast(pos, offsetDir, distance, ~layerMask);
CornerData temp2 = new CornerData();
temp2.pos = hitAfter2.point;
temp2.angle = pos.AngleTo(hitAfter2.point);
hitPointDataList.Add(temp2);
Vector2 debugRayInfo2 = hitAfter2.point - pos;
Debug.DrawRay(pos, debugRayInfo2, Color.red);
Vector2 offsetDir2 = dir;
offsetDir2 = Quaternion.Euler(0, 0, 0.01f) * offsetDir2;
// RaycastHit2D hitAfter = Physics2D.Raycast(pos, offsetDir2, distance);
RaycastHit2D hitAfter = Physics2D.Raycast(pos, offsetDir2, distance, ~layerMask);
CornerData temp3 = new CornerData();
temp3.pos = hitAfter.point;
temp3.angle = pos.AngleTo(hitAfter.point);
hitPointDataList.Add(temp3);
Vector2 debugRayInfo3 = hitAfter.point - pos;
Debug.DrawRay(pos, debugRayInfo3, Color.red);
}
}
/// <summary>
/// Draws a debug visualization of corner data.
/// </summary>
/// <param name="corners">The corners to draw.</param>
public static void Draw(CornerData corners)
{
if (corners.cornerCount == 0)
return;
DebugDraw.SimpleMaterial.SetPass(0);
GL.Begin(GL.LINES);
GL.Color(cornerColor);
for (int i = 0; i < corners.cornerCount; i++)
{
DebugDraw.AppendXMarker(corners.verts[i], cornerScale);
}
GL.End();
}
