public static void CellTester(Vector3 origin, AgentProperties properties)
{
Graph graph;
if (TryGetGraph(ToChunkPosition(origin), properties, out graph) == false || graph.canBeUsed == false)
{
return;
}
Cell cell;
bool outsideCell;
Vector3 closestPosToCell;
graph.GetClosestCell(origin, out cell, out outsideCell, out closestPosToCell);
foreach (var pair in cell.dataContentPairs)
{
Debuger_K.AddLine(pair.Key, Color.magenta);
if (pair.Value == null)
{
continue;
}
Cell connection = pair.Value.connection;
Debuger_K.AddLabel(pair.Key.centerV3, connection.Contains(pair.Key));
}
}
void Update()
{
if (properties == null)
{
return;
}
RaycastHit raycastHit;
if (!Physics.Raycast(transform.position, Vector3.down, out raycastHit, 10))
{
return;
}
Vector3 p = raycastHit.point;
Debug.DrawLine(transform.position, p, Color.red);
//Debuger_K.ClearGeneric();
RaycastHitNavMesh raycastHitNavMesh;
for (int i = 0; i < tests; i++)
{
float x = Mathf.Cos((i / (float)tests) * 2 * Mathf.PI);
float z = Mathf.Sin((i / (float)tests) * 2 * Mathf.PI);
//var q = Quaternion.LookRotation(transform.forward + new Vector3(x, 0, z), Vector3.up);
PathFinder.Raycast(p, new Vector3(x, 0, z), properties, out raycastHitNavMesh);
if (raycastHitNavMesh.isOnGraph)
{
Debuger_K.AddLine(p, raycastHitNavMesh.point, Color.blue);
Debuger_K.AddLabel(raycastHitNavMesh.point, "H");
}
}
//PathFinder.Raycast(p, transform.forward * -1, properties, out raycastHitNavMesh);
//if (raycastHitNavMesh.isOnGraph) {
// Debuger_K.AddLine(p, raycastHitNavMesh.point, Color.blue);
// Debuger_K.AddLabel(raycastHitNavMesh.point, "B");
//}
//PathFinder.Raycast(p, transform.transform.right * -1, properties, out raycastHitNavMesh);
//if (raycastHitNavMesh.isOnGraph) {
// Debuger_K.AddLine(p, raycastHitNavMesh.point, Color.blue);
// Debuger_K.AddLabel(raycastHitNavMesh.point, "L");
//}
//PathFinder.Raycast(p, transform.right, properties, out raycastHitNavMesh);
//if (raycastHitNavMesh.isOnGraph) {
// Debuger_K.AddLine(p, raycastHitNavMesh.point, Color.blue);
// Debuger_K.AddLabel(raycastHitNavMesh.point, "R");
//}
}
private void GeneratePaths()
{
CellPath path = new CellPath(startCell, start_v3);
if (startCell == endCell)
{
potentialPaths.Add(path);
return;
}
#if UNITY_EDITOR
float totalDist = Debuger_K.doDebug ? Vector3.Distance(start_v3, end_v3) : 0f;
#endif
path.h = EuclideanDistance(start_v3);
excluded.Clear();
excluded.Add(startCell);
foreach (var connection in startCell.connections)
{
CellPath newPath = new CellPath(path, connection);
newPath.g = connection.Cost(properties, ignoreCrouchCost);
if (connection is CellContentPointedConnection)
{
newPath.h = EuclideanDistance((connection as CellContentPointedConnection).exitPoint);
}
else
{
newPath.h = EuclideanDistance(connection.connection);
}
AddCellNode(newPath);
}
int limit = 0;
while (true)
{
limit++;
if (limit > 1500)
{
Debug.Log("limit > 1500");
break;
}
CellPath current = TakeCellNode();
if (current == null)
{
break;
}
Cell currentCell = current.last;
if (currentCell == endCell)
{
potentialPaths.Add(current);
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
float lerped = Mathf.InverseLerp(0, totalDist, Vector3.Distance(end_v3, currentCell.centerV3));
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3 + Vector3.up, current.path[current.path.Count - 1].centerV3 + Vector3.up, new Color(lerped, 1 - lerped, 0, 1f));
}
#endif
if (potentialPaths.Count >= maxPaths)
{
break;
}
else
{
continue;
}
}
if (excluded.Contains(currentCell))
{
continue;
}
else
{
excluded.Add(currentCell);
}
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
float lerped = Mathf.InverseLerp(0, totalDist, Vector3.Distance(end_v3, currentCell.centerV3));
Debuger_K.AddPath(current.path[current.path.Count - 2].centerV3 + (Vector3.up * 0.3f), current.path[current.path.Count - 1].centerV3 + (Vector3.up * 0.3f), new Color(lerped, 1 - lerped, 0, 1f));
}
#endif
foreach (var connection in currentCell.connections)
{
Cell newCell = connection.connection;
if (current.Contains(newCell) == false)
{
CellPath newPath = new CellPath(current, connection);
#if UNITY_EDITOR
if (Debuger_K.debugPath)
{
Debuger_K.AddLabel(SomeMath.MidPoint(current.last.centerV3, newCell.centerV3), connection.Cost(properties, ignoreCrouchCost), DebugGroup.path);
}
#endif
newPath.g = current.g + connection.Cost(properties, ignoreCrouchCost);
if (connection is CellContentPointedConnection)
{
newPath.h = EuclideanDistance((connection as CellContentPointedConnection).exitPoint);
//Debuger3.AddLabel((connection as CellPointedConnection).exitPoint, newPath.h);
}
else
{
newPath.h = EuclideanDistance(connection.connection);
}
AddCellNode(newPath);
}
}
}
}
/// <summary>
/// return used edges,
/// </summary>
private void MakeCell(TriangulatorEdge target, bool aFirst, List <TriangulatorEdge>[] edgesDictionary, TriangulatorNode[] nodes, out List <int> cellNodes, out List <TriangulatorEdge> cellEdges)
{
cellNodes = new List <int>();
cellEdges = new List <TriangulatorEdge>();
cellEdges.Add(target);
int startNode;
if (aFirst) //a are origin
{
startNode = target.a;
cellNodes.Add(target.a);
cellNodes.Add(target.b);
}
else
{
startNode = target.b;
cellNodes.Add(target.b);
cellNodes.Add(target.a);
}
int limit = 0;
harhar++;
while (true)
{
limit++;
if (limit > 50)
{
#if UNITY_EDITOR
if (Debuger_K.doDebug && Debuger_K.debugOnlyNavMesh == false)
{
for (int i = 0; i < cellNodes.Count - 1; i++)
{
Vector3 a1 = nodes[cellNodes[i]].positionV3 + (Vector3.up * 0.02f * i);
Vector3 a2 = nodes[cellNodes[i + 1]].positionV3 + (Vector3.up * 0.02f * i);
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, a1, a2, Color.red);
//Debuger_K.AddTriangulatorDebugLabel(chunk, properties, SomeMath.MidPoint(a1, a2), i);
}
}
#endif
Debug.LogError("error while making cells " + harhar);
break;
}
int nodeMinus = cellNodes[cellNodes.Count - 2];
int nodeCurrent = cellNodes[cellNodes.Count - 1];
int?nodePlus = null;
TriangulatorEdge?connectionPlus = null;
Vector2 directionToMinus = (nodes[nodeMinus].positionV2 - nodes[nodeCurrent].positionV2).normalized;
float lowestAngle = 180f;
List <TriangulatorEdge> searchConnections = edgesDictionary[nodeCurrent];
foreach (var connection in searchConnections)
{
int potentialNodePlus = connection.GetOtherNode(nodeCurrent);
if (nodeMinus == potentialNodePlus)
{
continue;
}
Vector2 directionToPotentialPlus = (nodes[potentialNodePlus].positionV2 - nodes[nodeCurrent].positionV2).normalized;
float cross = SomeMath.V2Cross(directionToMinus, directionToPotentialPlus);
float currentAngle = Vector2.Angle(directionToMinus, directionToPotentialPlus);
if (cross > 0f & currentAngle != 180)
{
continue;
}
if (currentAngle > lowestAngle)
{
continue;
}
connectionPlus = connection;
nodePlus = potentialNodePlus;
lowestAngle = currentAngle;
}
if (nodePlus == null)
{
#region error
#if UNITY_EDITOR
if (Debuger_K.doDebug)
{
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, nodes[cellNodes[0]].positionV3, nodes[cellNodes[0]].positionV3 + SmallV3(0.3f), Color.green);
for (int i = 0; i < cellNodes.Count - 1; i++)
{
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, nodes[cellNodes[i]].positionV3 + SmallV3(0.1f), nodes[cellNodes[i + 1]].positionV3 + SmallV3(0.1f), Color.red);
}
for (int i = 0; i < cellNodes.Count - 1; i++)
{
Vector3 a1 = nodes[cellNodes[i]].positionV3 + SmallV3(0.02f * i);
Vector3 a2 = nodes[cellNodes[i + 1]].positionV3 + SmallV3(0.02f * i);
Debuger_K.AddTriangulatorDebugLine(pos.x, pos.z, properties, a1, a2, Color.red);
}
foreach (var connection in searchConnections)
{
int potentialNodePlus = connection.GetOtherNode(nodeCurrent);
if (nodeMinus == potentialNodePlus)
{
continue;
}
Vector2 directionToPotentialPlus = (nodes[potentialNodePlus].positionV2 - nodes[nodeCurrent].positionV2).normalized;
float cross = SomeMath.V2Cross(directionToMinus, directionToPotentialPlus);
Debuger_K.AddLabel(nodes[potentialNodePlus].positionV3, cross);
Debuger_K.AddLabel(nodes[nodeCurrent].positionV3, Vector2.Angle(directionToMinus, directionToPotentialPlus));
//Debuger_K.AddTriangulatorDebugLabel(chunk, properties, nodes[potentialNodePlus].positionV3, cross);
//Debuger_K.AddTriangulatorDebugLabel(chunk, properties, nodes[nodeCurrent].positionV3, Vector2.Angle(directionToMinus, directionToPotentialPlus));
}
}
#endif
#endregion
Debug.LogError("nodePlus == null");
break;
}
cellEdges.Add(connectionPlus.Value);
if (nodePlus == startNode)
{
break;
}
cellNodes.Add(nodePlus.Value);
}
}
