//是否有共边节点，是的话返回该节点，否则返回空。参数为边
NavTriangle GetLinkNode(Vector3[] rim, NavTriangle except)
{
for (int i = 0; i < triangleList.Count; i++)
{
if (triangleList[i].Equals(except))
{
continue;
}
Vector3[] verts = triangleList[i].verts;
//共顶点数量
int count = 0;
for (int j = 0; j < 3; j++)
{
if (verts[j] == rim[0])
{
count++;
}
if (verts[j] == rim[1])
{
count++;
}
}
if (count == 2)
{
return(triangleList[i]);
}
}
return(null);
}
bool IsCloseListContains(NavTriangle navNode)
{
for (int i = 0; i < closeList.Count; i++)
{
if (closeList[i].node.center == navNode.center)
{
return(true);
}
}
return(false);
}
//取两个三角形的邻边两点
public static List <Vector3> GetTwoPointsInTwoPath(PathNode p1, PathNode p2)
{
NavTriangle n1 = p1.node;
NavTriangle n2 = p2.node;
List <Vector3> pointList = new List <Vector3>();
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
if (n1.verts[i] == n2.verts[j])
{
pointList.Add(n1.verts[i]);
}
}
}
if (pointList.Count == 2)
{
//Vector3 v1 = pointList[0] - origin;
//Vector3 v2 = pointList[1] - origin;
Vector3 v1 = pointList[0] - p1.node.center;
Vector3 v2 = pointList[1] - p1.node.center;
Vector3 m = Vector3.Cross(v1, v2);
//调成顺时针方向。
if (m.z > 0)
{
Vector3 tempP = pointList[0];
pointList[0] = pointList[1];
pointList[1] = tempP;
}
//Debug.Log("向量：" + m);
return(pointList);
}
return(null);
}
//初始化三角形相邻关系
void InitTriangleList()
{
for (int i = 0; i < triangleList.Count; i++)
{
NavTriangle node = triangleList[i];
//设置相邻三角形
Vector3[] verts = node.verts;
node.nodeArr[0] = GetLinkNode(new Vector3[] { verts[0], verts[1] }, node);
node.nodeArr[1] = GetLinkNode(new Vector3[] { verts[0], verts[2] }, node);
node.nodeArr[2] = GetLinkNode(new Vector3[] { verts[1], verts[2] }, node);
//设置相邻三角形的距离
for (int j = 0; j < 3; j++)
{
if (node.nodeArr[j] != null)
{
node.dis[j] = Vector3.Distance(node.center, node.nodeArr[j].center);
}
}
}
}
//初始化顶点列表
void SetVertexList()
{
vertsList.Clear();
triangleList.Clear();
int count = transform.childCount;
for (int i = 0; i < count; i++)
{
Transform child = transform.GetChild(i);
Vector3[] verts = new Vector3[child.childCount];
int countG = child.childCount;
List <Vector3> posList = new List <Vector3>();
for (int j = 0; j < countG; j++)
{
Vector3 pos = child.GetChild(j).transform.position;
posList.Add(pos);
}
vertsList.AddRange(posList);
//设置各节点的顶点
for (int k = 0; k < posList.Count - 2; k++)
{
//保存节点信息
NavTriangle node = new NavTriangle(posList[0], posList[k + 1], posList[k + 2]);
node.verts = new Vector3[] { posList[0], posList[k + 1], posList[k + 2] };
if (node == null)
{
print("空节点");
}
triangleList.Add(node);
}
}
}
static void Export()
{
Debug.Log("ExportNavMesh");
UnityEngine.AI.NavMeshTriangulation tmpNavMeshTriangulation = UnityEngine.AI.NavMesh.CalculateTriangulation();
//新建文件
string tmpPath = Application.dataPath + "/" + SceneManager.GetActiveScene().name + ".lua";
Debug.Log("=====================" + tmpPath + tmpNavMeshTriangulation.vertices.Length);
StreamWriter tmpStreamWriter = new StreamWriter(tmpPath);
tmpStreamWriter.WriteLine("-------本文件是地图导航网格文本");
tmpStreamWriter.WriteLine("local nav_triangle = {");
Hashtable pointTable = new Hashtable();
//顶点
for (int i = 0; i < tmpNavMeshTriangulation.vertices.Length; i++)
{
//tmpStreamWriter.WriteLine("v " + tmpNavMeshTriangulation.vertices[i].x + " " + tmpNavMeshTriangulation.vertices[i].y + " " + tmpNavMeshTriangulation.vertices[i].z);
if (!pointTable.ContainsKey(tmpNavMeshTriangulation.vertices[i]))
{
pointTable.Add(tmpNavMeshTriangulation.vertices[i], new ArrayList());
}
(pointTable[tmpNavMeshTriangulation.vertices[i]] as ArrayList).Add(i);
}
//tmpStreamWriter.WriteLine("g pPlane1");
Hashtable lineTable = new Hashtable();
List <NavTriangle> triangles = new List <NavTriangle>();
int triangleIndex = 1;
for (int i = 0; i < tmpNavMeshTriangulation.indices.Length;)
{
//tmpStreamWriter.WriteLine("f " + (tmpNavMeshTriangulation.indices[i] + 1) + " " + (tmpNavMeshTriangulation.indices[i + 1] + 1) + " " + (tmpNavMeshTriangulation.indices[i + 2] + 1));
NavTriangle item = new NavTriangle();
item.tLineKeyArr = new string[3];
item.tIndex = triangleIndex;
SetTriangleInfo(0, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[i + 2]]
, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[i + 1]]
, pointTable, item, lineTable);
SetTriangleInfo(1, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[i + 1]]
, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[i]]
, pointTable, item, lineTable);
SetTriangleInfo(2, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[i + 2]]
, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[i]]
, pointTable, item, lineTable);
triangles.Add(item);
triangleIndex += 1;
i = i + 3;
}
for (int i = 0; i < triangles.Count; i++)
{
tmpStreamWriter.WriteLine(string.Format("\t[{0}] = {{", triangles[i].tIndex));
tmpStreamWriter.WriteLine(string.Format("\t\tv = {{{{{0}, {1}, {2}}}, {{{3}, {4}, {5}}},{{{6}, {7}, {8}}}}},"
, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3 + 2]].x, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3 + 2]].z, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3 + 2]].y
, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3 + 1]].x, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3 + 1]].z, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3 + 1]].y
, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3]].x, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3]].z, tmpNavMeshTriangulation.vertices[tmpNavMeshTriangulation.indices[(triangles[i].tIndex - 1) * 3]].y));
tmpStreamWriter.WriteLine(string.Format("\t\tnedge = {{{0}, {1}, {2}}},"
, GetSameLine(triangles[i].tLineKeyArr[0], triangles[i].tIndex, lineTable)
, GetSameLine(triangles[i].tLineKeyArr[1], triangles[i].tIndex, lineTable)
, GetSameLine(triangles[i].tLineKeyArr[2], triangles[i].tIndex, lineTable)));
tmpStreamWriter.WriteLine("\t},\n");
}
tmpStreamWriter.WriteLine("}");
tmpStreamWriter.Flush();
tmpStreamWriter.Close();
Debug.Log("ExportNavMesh Success");
}
public static void SetTriangleInfo(int index, Vector3 pos1, Vector3 pos2, Hashtable pointTable, NavTriangle item, Hashtable lineTable)
{
int point1, point2;
string lineKey;
point1 = Convert.ToInt32((pointTable[pos1] as ArrayList)[0]);
point2 = Convert.ToInt32((pointTable[pos2] as ArrayList)[0]);
lineKey = point1 < point2?string.Format("{0}_{1}", point1, point2) : string.Format("{0}_{1}", point2, point1);
item.tLineKeyArr[index] = lineKey;
if (!lineTable.ContainsKey(lineKey))
{
lineTable.Add(lineKey, new ArrayList());
}
(lineTable[lineKey] as ArrayList).Add(item.tIndex);
}
void FindNextPath(PathNode start, NavTriangle endNode, List <PathNode> openList, List <PathNode> closeList)
{
for (int i = 0; i < 3; i++)
{
if (start == null)
{
Debug.Log("是空的");
}
if (start.node.nodeArr[i] == null || IsCloseListContains(start.node.nodeArr[i]))
{
continue;
}
float g = start.dis + start.node.dis[i];
float h = Vector3.Distance(start.node.nodeArr[i].center, endNode.center);
float f = g + h;
PathNode path = new PathNode();
path.node = start.node.nodeArr[i];
path.dis = f;
path.parent = start;
openList.Add(path);
}
//取最小F节点，加入闭合列表
for (int i = 0; i < openList.Count; i++)
{
for (int j = i + 1; j < openList.Count; j++)
{
if (openList[i].dis > openList[j].dis)
{
PathNode path = openList[i];
openList[i] = openList[j];
openList[j] = path;
}
}
}
//如果最小路径是错误的路径，则标记错误。
PathNode curPath = null;
if (openList.Count > 0)
{
curPath = openList[0];
openList.RemoveAt(0);
closeList.Add(curPath);
//将结束点加入闭合列表中
if (openList == null)
{
Debug.Log("是空的");
}
if (curPath.node.center == endNode.center)
{
//PathNode path = new PathNode();
//path.node = endNode;
//path.parent = curPath;
//closeList.Add(path);
return;
}
}
FindNextPath(curPath, endNode, openList, closeList);
}
public List <PathNode> FindCenterPointPath(Vector3 start, Vector3 end)
{
//标记开始结束点
startVertex = FindNodeByPoint(start);
endVertex = FindNodeByPoint(end);
if (startVertex == null && endVertex == null)
{
return(null);
}
else if (startVertex == null)
{
startVertex = FindNearestNode(start);
}
else if (endVertex == null)
{
endVertex = FindNearestNode(end);
}
PathNode startNode = new PathNode();
startNode.node = startVertex;
PathNode endNode = new PathNode();
endNode.node = endVertex;
//如果起点和终点在同一个三角形中，则返回一个节点
if (startVertex.center == endVertex.center)
{
pathList.Clear();
pathList.Add(startNode);
return(pathList);
}
//如果起点和终点在两个相邻的三角形中，则返回二个节点
else if (TriangleUtil.GetTwoPointsInTwoPath(startNode, endNode) != null)
{
pathList.Clear();
pathList.Add(startNode);
pathList.Add(endNode);
return(pathList);
}
List <PathNode> openList = new List <PathNode>();
closeList = new List <PathNode>();
PathNode path = new PathNode();
path.node = startVertex;
path.dis = 0;
closeList.Add(path);
FindNextPath(path, endVertex, openList, closeList);
//记录并显示路径
if (showProcessPath)
{
ShowProcessPath();
}
else
{
ShowCenterPath();
}
return(pathList);
}
