private bool GetSteerTarget(NavMeshQuery navMeshQuery, SVector3 startPos, SVector3 endPos, float minTargetDist, SharpNav.Pathfinding.Path path, ref SVector3 steerPos, ref StraightPathFlags steerPosFlag, ref NavPolyId steerPosRef) { StraightPath steerPath = new StraightPath(); //navMeshQuery.FindStraightPath(startPos, endPos, path, steerPath, 0); navMeshQuery.FindCenterPath(startPos, endPos, path, steerPath, 0); int nsteerPath = steerPath.Count; if (nsteerPath == 0) { return(false); } //find vertex far enough to steer to int ns = 0; while (ns < nsteerPath) { if ((steerPath[ns].Flags & StraightPathFlags.OffMeshConnection) != 0 || !InRange(steerPath[ns].Point.Position, startPos, minTargetDist, 1000.0f)) { break; } ns++; } //failed to find good point to steer to if (ns >= nsteerPath) { return(false); } steerPos = steerPath[ns].Point.Position; steerPos.Y = startPos.Y; steerPosFlag = steerPath[ns].Flags; if (steerPosFlag == StraightPathFlags.None && ns == (nsteerPath - 1)) { steerPosFlag = StraightPathFlags.End; // otherwise seeks path infinitely!!! } steerPosRef = steerPath[ns].Point.Polygon; return(true); }
private bool GetSteerTarget(NavMeshQuery navMeshQuery, SVector3 startPos, SVector3 endPos, float minTargetDist, SharpNav.Pathfinding.Path path, ref SVector3 steerPos, ref StraightPathFlags steerPosFlag, ref NavPolyId steerPosRef) { StraightPath steerPath = new StraightPath(); navMeshQuery.FindStraightPath(startPos, endPos, path, steerPath, 0); int nsteerPath = steerPath.Count; if (nsteerPath == 0) return false; //find vertex far enough to steer to int ns = 0; while (ns < nsteerPath) { if ((steerPath[ns].Flags & StraightPathFlags.OffMeshConnection) != 0 || !InRange(steerPath[ns].Point.Position, startPos, minTargetDist, 1000.0f)) break; ns++; } //failed to find good point to steer to if (ns >= nsteerPath) return false; steerPos = steerPath[ns].Point.Position; steerPos.Y = startPos.Y; steerPosFlag = steerPath[ns].Flags; if (steerPosFlag == StraightPathFlags.None && ns == (nsteerPath - 1)) steerPosFlag = StraightPathFlags.End; // otherwise seeks path infinitely!!! steerPosRef = steerPath[ns].Point.Polygon; return true; }
private void GeneratePathfinding() { if (!hasGenerated) { return; } NavQueryFilter filter = new NavQueryFilter(); buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings); tiledNavMesh = new TiledNavMesh(buildData); for (int i = 0; i < tiledNavMesh.Tiles.Count; ++i) { for (int j = 0; j < tiledNavMesh.Tiles[i].Verts.Length; ++j) { //if (j < tiledNavMesh.Tiles[i].Verts.Length - 1) // Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(tiledNavMesh.Tiles[i].Verts[j]), ExportNavMeshToObj.ToUnityVector(tiledNavMesh.Tiles[i].Verts[j + 1]), Color.blue, 99); } } navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048); //Find random start and end points on the poly mesh /*int startRef; * navMeshQuery.FindRandomPoint(out startRef, out startPos);*/ //SVector3 c = new SVector3(10, 0, 0); //SVector3 e = new SVector3(5, 5, 5); //navMeshQuery.FindNearestPoly(ref c, ref e, out startPt); //navMeshQuery.FindRandomPointAroundCircle(ref startPt, 1000, out endPt); startPt = navMeshQuery.FindRandomPoint(); endPt = navMeshQuery.FindRandomPoint(); //calculate the overall path, which contains an array of polygon references int MAX_POLYS = 256; path = new Path(); navMeshQuery.FindPath(ref startPt, ref endPt, filter, path); //find a smooth path over the mesh surface int npolys = path.Count; SVector3 iterPos = new SVector3(); SVector3 targetPos = new SVector3(); navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos); navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos); smoothPath = new List <SVector3>(2048); smoothPath.Add(iterPos); float STEP_SIZE = 0.5f; float SLOP = 0.01f; while (npolys > 0 && smoothPath.Count < smoothPath.Capacity) { //find location to steer towards SVector3 steerPos = new SVector3(); StraightPathFlags steerPosFlag = 0; NavPolyId steerPosRef = NavPolyId.Null; if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef)) { break; } bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false; bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false; //find movement delta SVector3 delta = steerPos - iterPos; float len = (float)Math.Sqrt(SVector3.Dot(delta, delta)); //if steer target is at end of path or off-mesh link //don't move past location if ((endOfPath || offMeshConnection) && len < STEP_SIZE) { len = 1; } else { len = STEP_SIZE / len; } SVector3 moveTgt = new SVector3(); VMad(ref moveTgt, iterPos, delta, len); //move SVector3 result = new SVector3(); List <NavPolyId> visited = new List <NavPolyId>(16); NavPoint startPoint = new NavPoint(path[0], iterPos); navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited); path.FixupCorridor(visited); npolys = path.Count; float h = 0; navMeshQuery.GetPolyHeight(path[0], result, ref h); result.Y = h; iterPos = result; //handle end of path when close enough if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f)) { //reached end of path iterPos = targetPos; if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(iterPos); } break; } //store results if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(iterPos); } } for (int i = 0; i < smoothPath.Count; i++) { //if (i < smoothPath.Count - 1) // Debug.DrawLine(ExportNavMeshToObj.ToUnityVector(smoothPath[i]), ExportNavMeshToObj.ToUnityVector(smoothPath[i + 1]), Color.red, 99); } }
public Vector2[] GetPath(Vector2 start, Vector2 end) { NavPoint startPt = navMeshQuery.FindNearestPoly(new SVector3(-start.X, 0, start.Y), new SharpNav.Geometry.Vector3(2f, 2f, 2f)); NavPoint endPt = navMeshQuery.FindNearestPoly(new SVector3(-end.X, 0, end.Y), new SharpNav.Geometry.Vector3(2f, 2f, 2f)); Path path = new Path(); navMeshQuery.FindPath(ref startPt, ref endPt, new NavQueryFilter(), path); List <SVector3> smoothPath; //find a smooth path over the mesh surface int npolys = path.Count; SVector3 iterPos = new SVector3(); SVector3 targetPos = new SVector3(); navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos); navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos); smoothPath = new List <SVector3>(2048); smoothPath.Add(iterPos); float STEP_SIZE = 0.5f; float SLOP = 0.01f; while (npolys > 0 && smoothPath.Count < smoothPath.Capacity) { //find location to steer towards SVector3 steerPos = new SVector3(); StraightPathFlags steerPosFlag = 0; NavPolyId steerPosRef = NavPolyId.Null; if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef)) { break; } bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false; bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false; //find movement delta SVector3 delta = steerPos - iterPos; float len = (float)Math.Sqrt(SVector3.Dot(delta, delta)); //if steer target is at end of path or off-mesh link //don't move past location if ((endOfPath || offMeshConnection) && len < STEP_SIZE) { len = 1; } else { len = STEP_SIZE / len; } SVector3 moveTgt = new SVector3(); VMad(ref moveTgt, iterPos, delta, len); //move SVector3 result = new SVector3(); List <NavPolyId> visited = new List <NavPolyId>(16); NavPoint startPoint = new NavPoint(path[0], iterPos); navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited); path.FixupCorridor(visited); npolys = path.Count; float h = 0; navMeshQuery.GetPolyHeight(path[0], result, ref h); result.Y = h; iterPos = result; //handle end of path when close enough if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f)) { //reached end of path iterPos = targetPos; if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(iterPos); } break; } //store results if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(iterPos); } } return(smoothPath.Select(x => new Vector2(-x.X, x.Z)).ToArray()); }
// Copyright (c) 2013-2016 Robert Rouhani <*****@*****.**> and other contributors (see CONTRIBUTORS file). // Licensed under the MIT License - https://raw.github.com/Robmaister/SharpNav/master/LICENSE public static List <Vector3> GetPath(actors.area.Zone zone, Vector3 startVec, Vector3 endVec, float stepSize = 0.70f, int pathSize = 45, float polyRadius = 0.0f, bool skipToTarget = false) { var navMesh = zone.tiledNavMesh; var navMeshQuery = zone.navMeshQuery; // no navmesh loaded, run straight to player if (navMesh == null) { return(new List <Vector3>() { endVec }); } // no need to waste cycles finding path to same point if (startVec.X == endVec.X && startVec.Y == endVec.Y && startVec.Z == endVec.Z && polyRadius == 0.0f) { return(null); } var smoothPath = new List <Vector3>(pathSize) { }; NavQueryFilter filter = new NavQueryFilter(); NavPoint startPt, endPt; try { SharpNav.Geometry.Vector3 c = new SharpNav.Geometry.Vector3(startVec.X, startVec.Y, startVec.Z); SharpNav.Geometry.Vector3 ep = new SharpNav.Geometry.Vector3(endVec.X, endVec.Y, endVec.Z); SharpNav.Geometry.Vector3 e = new SharpNav.Geometry.Vector3(5, 5, 5); navMeshQuery.FindNearestPoly(ref c, ref e, out startPt); navMeshQuery.FindNearestPoly(ref ep, ref e, out endPt); //calculate the overall path, which contains an array of polygon references int MAX_POLYS = 256; var path = new SharpNav.Pathfinding.Path(); navMeshQuery.FindPath(ref startPt, ref endPt, filter, path); //find a smooth path over the mesh surface int npolys = path.Count; SharpNav.Geometry.Vector3 iterPos = new SharpNav.Geometry.Vector3(); SharpNav.Geometry.Vector3 targetPos = new SharpNav.Geometry.Vector3(); navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos); navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos); // set target to random point at end of path if (polyRadius != 0.0f) { var randPoly = navMeshQuery.FindRandomPointAroundCircle(endPt, polyRadius); targetPos = randPoly.Position; } if (skipToTarget) { return(new List <Vector3>() { new Vector3(targetPos.X, targetPos.Y, targetPos.Z) }); } smoothPath.Add(new Vector3(iterPos.X, iterPos.Y, iterPos.Z)); //float STEP_SIZE = 0.70f; float SLOP = 0.15f; while (npolys > 0 && smoothPath.Count < smoothPath.Capacity) { //find location to steer towards SharpNav.Geometry.Vector3 steerPos = new SharpNav.Geometry.Vector3(); StraightPathFlags steerPosFlag = 0; NavPolyId steerPosRef = NavPolyId.Null; if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef)) { break; } bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false; bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false; //find movement delta SharpNav.Geometry.Vector3 delta = steerPos - iterPos; float len = (float)Math.Sqrt(SharpNav.Geometry.Vector3.Dot(delta, delta)); //if steer target is at end of path or off-mesh link //don't move past location if ((endOfPath || offMeshConnection) && len < stepSize) { len = 1; } else { len = stepSize / len; } SharpNav.Geometry.Vector3 moveTgt = new SharpNav.Geometry.Vector3(); VMad(ref moveTgt, iterPos, delta, len); //move SharpNav.Geometry.Vector3 result = new SharpNav.Geometry.Vector3(); List <NavPolyId> visited = new List <NavPolyId>(pathSize); NavPoint startPoint = new NavPoint(path[0], iterPos); navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited); path.FixupCorridor(visited); npolys = path.Count; float h = 0; navMeshQuery.GetPolyHeight(path[0], result, ref h); result.Y = h; iterPos = result; //handle end of path when close enough if (endOfPath && InRange(iterPos, steerPos, SLOP, 1000.0f)) { //reached end of path iterPos = targetPos; if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(new Vector3(iterPos.X, iterPos.Y, iterPos.Z)); } break; } //store results if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(new Vector3(iterPos.X, iterPos.Y, iterPos.Z)); } } } catch (Exception e) { Program.Log.Error(e.Message); Program.Log.Error("Start pos {0} {1} {2} end pos {3} {4} {5}", startVec.X, startVec.Y, startVec.Z, endVec.X, endVec.Y, endVec.Z); // todo: probably log this return(new List <Vector3>() { endVec }); } return(smoothPath); }
public StraightPathVertex(NavPoint point, StraightPathFlags flags) { Point = point; Flags = flags; }
//为了使接口适应而附加的 public List <Vector2> SmothPathfinding(Vector2 start, Vector2 target) { Random rand = new Random(); SVector3 startVector = new SVector3(start.x_, 0, start.y_); SVector3 endVector = new SVector3(target.x_, 0, target.y_); NavQueryFilter filter = new NavQueryFilter(); //buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new SharpNav.Pathfinding.OffMeshConnection[0], settings); //tiledNavMesh = new TiledNavMesh(buildData); //navMeshQuery = new NavMeshQuery(tiledNavMesh, 2048); SVector3 extents = new SVector3(5, 5, 5); navMeshQuery.FindNearestPoly(ref startVector, ref extents, out startPt); navMeshQuery.FindNearestPoly(ref endVector, ref extents, out endPt); path = new SharpNav.Pathfinding.Path(); navMeshQuery.FindPath(ref startPt, ref endPt, filter, path); //find a smooth path over the mesh surface int npolys = path.Count; SVector3 iterPos = new SVector3(); SVector3 targetPos = new SVector3(); navMeshQuery.ClosestPointOnPoly(startPt.Polygon, startPt.Position, ref iterPos); navMeshQuery.ClosestPointOnPoly(path[npolys - 1], endPt.Position, ref targetPos); smoothPath = new List <SVector3>(2048); smoothPath.Add(iterPos); float STEP_SIZE = 2f; float SLOP = 0.1f; while (npolys > 0 && smoothPath.Count < smoothPath.Capacity) { //find location to steer towards SVector3 steerPos = new SVector3(); StraightPathFlags steerPosFlag = 0; NavPolyId steerPosRef = NavPolyId.Null; if (!GetSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, path, ref steerPos, ref steerPosFlag, ref steerPosRef)) { break; } bool endOfPath = (steerPosFlag & StraightPathFlags.End) != 0 ? true : false; bool offMeshConnection = (steerPosFlag & StraightPathFlags.OffMeshConnection) != 0 ? true : false; //find movement delta SVector3 delta = steerPos - iterPos; float len = (float)Math.Sqrt(SVector3.Dot(delta, delta)); //if steer target is at end of path or off-mesh link //don't move past location if ((endOfPath || offMeshConnection) && len < STEP_SIZE) { len = 1; } else { len = STEP_SIZE / len; } SVector3 moveTgt = new SVector3(); VMad(ref moveTgt, iterPos, delta, len); //move SVector3 result = new SVector3(); List <NavPolyId> visited = new List <NavPolyId>(16); NavPoint startPoint = new NavPoint(path[0], iterPos); navMeshQuery.MoveAlongSurface(ref startPoint, ref moveTgt, out result, visited); path.FixupCorridor(visited); npolys = path.Count; float h = 0; navMeshQuery.GetPolyHeight(path[0], result, ref h); result.Y = h; iterPos = result; //handle end of path when close enough if (endOfPath && InRange(iterPos, steerPos, SLOP, 1.0f)) { //reached end of path iterPos = targetPos; if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(iterPos); } break; } //store results if (smoothPath.Count < smoothPath.Capacity) { smoothPath.Add(iterPos); } } List <Vector2> _path = new List <Vector2>(); for (int i = 0; i < smoothPath.Count; i++) { _path.Add(new Vector2(smoothPath[i].X, smoothPath[i].Z)); } return(_path); }
public void FindPath( FindPathContext context ) { if( tiledNavMesh != null ) { if( navMeshQuery == null ) navMeshQuery = new NavMeshQuery( tiledNavMesh, PathfindingMaxNodes ); try { var extents = ToSharpNav( context.PolygonPickExtents, true ); var startPt = navMeshQuery.FindNearestPoly( ToSharpNav( context.Start ), extents ); var endPt = navMeshQuery.FindNearestPoly( ToSharpNav( context.End ), extents ); var filter = new NavQueryFilter(); var path = new SharpNav.Pathfinding.Path(); var found = navMeshQuery.FindPath( ref startPt, ref endPt, filter, path ); Vector3[] pathResult = null; if( found ) { //find a smooth path over the mesh surface int npolys = path.Count; SharpNav.Geometry.Vector3 iterPos = new SharpNav.Geometry.Vector3(); SharpNav.Geometry.Vector3 targetPos = new SharpNav.Geometry.Vector3(); navMeshQuery.ClosestPointOnPoly( startPt.Polygon, startPt.Position, ref iterPos ); navMeshQuery.ClosestPointOnPoly( path[ npolys - 1 ], endPt.Position, ref targetPos ); var smoothPath = new List<SharpNav.Geometry.Vector3>( context.MaxSmoothPath ); smoothPath.Add( iterPos ); //for( int n = 0; n < path.Count; n++ ) //{ // Vector3 closest = Vector3.Zero; // if( navMeshQuery.ClosestPointOnPoly( path[ n ], startPt.Position, ref closest ) ) // smoothPath.Add( closest ); //} float stepSize = (float)context.StepSize; float slop = (float)context.Slop; while( npolys > 0 && smoothPath.Count < smoothPath.Capacity ) { //find location to steer towards SharpNav.Geometry.Vector3 steerPos = new SharpNav.Geometry.Vector3(); StraightPathFlags steerPosFlag = 0; NavPolyId steerPosRef = NavPolyId.Null; if( !GetSteerTarget( navMeshQuery, iterPos, targetPos, slop, path, ref steerPos, ref steerPosFlag, ref steerPosRef ) ) break; bool endOfPath = ( steerPosFlag & StraightPathFlags.End ) != 0 ? true : false; bool offMeshConnection = ( steerPosFlag & StraightPathFlags.OffMeshConnection ) != 0 ? true : false; //find movement delta SharpNav.Geometry.Vector3 delta = steerPos - iterPos; float len = (float)Math.Sqrt( SharpNav.Geometry.Vector3.Dot( delta, delta ) ); //if steer target is at end of path or off-mesh link //don't move past location if( ( endOfPath || offMeshConnection ) && len < stepSize ) len = 1; else len = stepSize / len; SharpNav.Geometry.Vector3 moveTgt = new SharpNav.Geometry.Vector3(); VMad( ref moveTgt, iterPos, delta, len ); //move SharpNav.Geometry.Vector3 result = new SharpNav.Geometry.Vector3(); List<NavPolyId> visited = new List<NavPolyId>( 16 ); NavPoint startPoint = new NavPoint( path[ 0 ], iterPos ); navMeshQuery.MoveAlongSurface( ref startPoint, ref moveTgt, out result, visited ); path.FixupCorridor( visited ); npolys = path.Count; float h = 0; navMeshQuery.GetPolyHeight( path[ 0 ], result, ref h ); result.Y = h; iterPos = result; //handle end of path when close enough if( endOfPath && InRange( iterPos, steerPos, slop, 1.0f ) ) { //reached end of path iterPos = targetPos; if( smoothPath.Count < smoothPath.Capacity ) smoothPath.Add( iterPos ); break; } //store results if( smoothPath.Count < smoothPath.Capacity ) smoothPath.Add( iterPos ); } pathResult = new Vector3[ smoothPath.Count ]; for( int n = 0; n < pathResult.Length; n++ ) pathResult[ n ] = ToEngine( smoothPath[ n ] ); //if( pathCount > 0 ) //{ // path = new Vec3[ pathCount ]; // //!!!!double support // for( int n = 0; n < pathCount; n++ ) // path[ n ] = ToEngineVec3( pathPointer[ n ] ); //} //else // path = new Vec3[] { context.Start }; } context.Path = pathResult; } catch( Exception e ) { context.Error = e.Message; } } else context.Error = "No NavMesh"; context.Finished = true; }