public Dictionary <Region, Dictionary <Region, float> > InitDijkstraVertices()
{
var res = new Dictionary <Region, Dictionary <Region, float> >();
Cartographer cartographer = new Cartographer();
var regions = cartographer.regions;
foreach (Region reg in regions)
{
var neighbours = cartographer.GetNeighboursUnrouted(reg.Index);
var neighboursDict = new Dictionary <Region, float>();
foreach (var n in neighbours)
{
neighboursDict.Add(n, cartographer.GetMovementPrice(n, reg.Index));
res[reg] = neighboursDict;
}
}
return(res);
}
public PathNode GetGlobalRoute(PathNode target, PathNode position, MovementProperties movementProperties, bool onPlatform)
{
NavMeshHit targetArea;
if (!NavMesh.SamplePosition(target.Position, out targetArea, 1f, NavMesh.AllAreas))
{
return(null);
}
Vector3 adjustedPosition = new Vector3(position.Position.x, targetArea.position.y, position.Position.z);
if (target.Distance(adjustedPosition) < movementProperties.epsilon)
{
return(null);
}
NavMeshHit currentArea;
if (!NavMesh.SamplePosition(adjustedPosition, out currentArea, 1f, NavMesh.AllAreas) &&
!(globalPath.Count == 0) &&
!(globalPath.First().Type == RegionType.Moving))
{
return(null);
}
if (NavMesh.SamplePosition(adjustedPosition, out _, 1f, NavMesh.AllAreas) &&
currentArea.mask == targetArea.mask)
{
if (targetArea.position.x - currentArea.position.x < 1f &&
targetArea.position.z - currentArea.position.z < 1f)
{
return(null);
}
globalPath = new List <Region>();
target.RegionId = currentArea.mask;
return(target);
}
if (globalPath.Count == 0)
{
globalPath = GetPathWithDijkstra(
new Region {
Index = currentArea.mask, Type = RegionType.Stable
},
new Region {
Index = targetArea.mask, Type = RegionType.Stable
},
target.Position);
Cartographer cartographer = new Cartographer();
int areaMask = currentArea.mask;
Vector3 inregionPosition = adjustedPosition;
for (int i = 0; i < globalPath.Count(); i++)
{
var neighbours = cartographer.GetNeighbours(areaMask, inregionPosition);
var modifiedRegion = neighbours.Find(x => x.Index == globalPath[i].Index);
globalPath[i] = modifiedRegion;
inregionPosition = modifiedRegion.PathPoints[0];
areaMask = modifiedRegion.Index;
}
}
if (globalPath.Count != 0)
{
var nextRegion = globalPath.First();
if (currentArea.mask == nextRegion.Index)
{
globalPath.RemoveAt(0);
if (globalPath.Count == 0)
{
return(target);
}
nextRegion = globalPath.First();
}
if (nextRegion.Type == RegionType.Moving &&
globalPath.Count > 1 &&
globalPath[1].Index == currentArea.mask)
{
globalPath.RemoveAt(0);
globalPath.RemoveAt(1);
if (globalPath.Count == 0)
{
return(target);
}
nextRegion = globalPath.First();
}
if (nextRegion.Type == RegionType.Stable)
{
return(calcStableRegionPath(nextRegion, currentArea, adjustedPosition, movementProperties));
}
else if (nextRegion.Type == RegionType.Moving)
{
var movingRegion = (MovingRegion)nextRegion;
foreach (var exit in movingRegion.ExitPoints)
{
//ищем точку прыжка на платформу в текущей области
NavMeshHit exitHit;
if (NavMesh.SamplePosition(exit.transform.position, out exitHit, 20, currentArea.mask))
{
if (exitHit.mask == currentArea.mask)
{
if (Math.Abs(exitHit.position.x - adjustedPosition.x) < movementProperties.deltaTime * movementProperties.maxSpeed &&
Math.Abs(exitHit.position.y - adjustedPosition.y) < movementProperties.deltaTime * movementProperties.maxSpeed)
{
//Если мы в ней, то ждем платформу
var node = new PathNode(movingRegion.EntryPoint.transform.position);
node.RegionId = nextRegion.Index;
node.JumpingPosition = true;
return(node);
}
else
{
//Если не в ней, то топаем к ней
var node = new PathNode(exitHit.position);
node.RegionId = currentArea.mask;
return(node);
}
}
}
}
//Если мы уже на платформе, то идем следующий регион среди выходных точек и ждем, пока доедем
//Либо если мы уже на входе в следующий регион, то топаем дальше
var entryPointPosition = movingRegion.EntryPoint.transform.position;
if (onPlatform)
{
if (globalPath.Count < 2)
{
//Мы уже у цели
globalPath = new List <Region>();
return(null);
}
var exitRegion = globalPath[1];
foreach (var exit in movingRegion.ExitPoints)
{
NavMeshHit exitHit;
if (NavMesh.SamplePosition(exit.transform.position, out exitHit, 20, exitRegion.Index))
{
//Мы нашли точку выхода в следующую зону
//Если мы в ней, то мы успешно прошли платформу
if (Math.Abs(exitHit.position.x - adjustedPosition.x) < movementProperties.deltaTime * movementProperties.maxSpeed &&
Math.Abs(exitHit.position.z - adjustedPosition.z) < movementProperties.deltaTime * movementProperties.maxSpeed)
{
globalPath.RemoveAt(0);
var node = new PathNode(exitHit.position);
node.RegionId = globalPath.First().Index;
return(node);
}
//Иначе ждем приближения точки
else
{
var node = new PathNode(exit.transform.position);
node.RegionId = nextRegion.Index;
node.JumpingPosition = true;
return(node);
}
}
}
}
}
return(new PathNode(nextRegion.PathPoints[0]));
}
return(null);
}