public void Create(Navmesh navmesh)
{
this._navmesh = navmesh; //一定要保存起来,Navmesh的析构函数会把非托管内存的指针清掉!!
NavStatus status = NavmeshQuery.Create(navmesh, 2048, out this._query);
if (status != NavStatus.Sucess)
{
LLogger.Error(status);
}
}
public Pathfinder(Navmesh navMesh)
{
_navMesh = navMesh;
_filter = new NavmeshQueryFilter();
if (NavUtil.Failed(NavmeshQuery.Create(_navMesh, 1000, out _query)))
{
throw new Exception("NavQuery failed");
}
_pathCorridor = new PathCorridor(1000, 1000, _query, _filter);
}
public List <Waypoint> GenerateWaypointsBetweenTwoPoints(Navmesh navmesh, Vector3 startPos, Vector3 endPos)
{
List <Waypoint> waypoints = new List <Waypoint>();
NavmeshQuery query;
var status = NavmeshQuery.Create(navmesh, 1024, out query);
if (!NavUtil.Failed(status))
{
org.critterai.Vector3 navStartPointVect;
org.critterai.Vector3 navEndPointVect;
var navStartPointStatus = query.GetNearestPoint(1, new org.critterai.Vector3(startPos.x, startPos.y, startPos.z), out navStartPointVect);
var navEndPointStatus = query.GetNearestPoint(1, new org.critterai.Vector3(startPos.x, startPos.y, startPos.z), out navEndPointVect);
if (navStartPointStatus == NavStatus.Sucess && navEndPointStatus == NavStatus.Sucess)
{
NavmeshPoint navStartPoint = new NavmeshPoint(1, new org.critterai.Vector3(startPos.x, startPos.y, startPos.z));
NavmeshPoint navEndPoint = new NavmeshPoint(1, new org.critterai.Vector3(endPos.x, endPos.y, endPos.z));
uint[] path = new uint[1024];
int pathCount;
status = query.FindPath(navStartPoint, navEndPoint, new NavmeshQueryFilter(), path, out pathCount);
if (!NavUtil.Failed(status))
{
const int MaxStraightPath = 4;
int wpCount;
org.critterai.Vector3[] wpPoints = new org.critterai.Vector3[MaxStraightPath];
uint[] wpPath = new uint[MaxStraightPath];
WaypointFlag[] wpFlags = new WaypointFlag[MaxStraightPath];
status = query.GetStraightPath(navStartPoint.point, navEndPoint.point
, path, 0, pathCount, wpPoints, wpFlags, wpPath
, out wpCount);
if (!NavUtil.Failed(status) && wpCount > 0)
{
foreach (var wp in wpPoints)
{
Mogre.Vector3 wayPointPos = new Vector3(wp.x, wp.y, wp.z);
waypoints.Add(new Waypoint(wayPointPos, new Vector3()));
}
}
}
}
}
return(waypoints);
}
public NavManager CreateManager()
{
if (!(mNavmeshData && NavmeshData.HasNavmesh))
{
Debug.LogError(name + ": Aborted initialization. Navigation mesh not available.");
return(null);
}
if (!mAvoidanceSet || !mGroupsSettings)
{
Debug.LogError(
name + ": Aborted initialization. Avoidance and/or agent groups not available.");
return(null);
}
Navmesh navmesh = NavmeshData.GetNavmesh();
NavmeshQuery query;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
name + ": Aborted initialization. Failed query creation: " + status.ToString());
return(null);
}
CrowdManager crowd = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (crowd == null)
{
Debug.LogError(name + ": Aborted initialization. Failed crowd creation.");
return(null);
}
for (int i = 0; i < CrowdManager.MaxAvoidanceParams; i++)
{
crowd.SetAvoidanceConfig(i, mAvoidanceSet[i]);
}
NavGroup mGroup = new NavGroup(navmesh, query, crowd, crowd.QueryFilter, mExtents, false);
int count = mGroupsSettings.GroupCount;
Dictionary <byte, NavAgentGroup> mAgentGroups = new Dictionary <byte, NavAgentGroup>(count);
for (int i = 0; i < count; i++)
{
byte groupId;
NavAgentGroup group =
mGroupsSettings.CreateAgentGroup(i, mMaxPath, mMaxStraightPath, out groupId);
group.angleAt = mAngleAt;
group.heightTolerance = mHeightTolerance;
group.radiusAt = mRadiusAt;
group.radiusNear = mRadiusNear;
group.turnThreshold = mTurnThreshold;
mAgentGroups.Add(groupId, group);
}
return(NavManager.Create(mMaxAgents, mGroup, mAgentGroups));
}
public void createScene()
{
// set background and some fog
AdvancedMogreFramework.Singleton.m_pViewport.BackgroundColour = new ColourValue(1.0f, 1.0f, 0.8f);
m_pSceneMgr.SetFog(FogMode.FOG_LINEAR, new ColourValue(1.0f, 1.0f, 0.8f), 0, 15, 100);
// set shadow properties
m_pSceneMgr.ShadowTechnique = ShadowTechnique.SHADOWTYPE_TEXTURE_MODULATIVE;
m_pSceneMgr.ShadowColour = new ColourValue(0.5f, 0.5f, 0.5f);
m_pSceneMgr.SetShadowTextureSize(1024);
m_pSceneMgr.ShadowTextureCount = 1;
// disable default camera control so the character can do its own
m_pCameraMan.setStyle(CameraStyle.CS_MANUAL);
// use a small amount of ambient lighting
m_pSceneMgr.AmbientLight = new ColourValue(0.3f, 0.3f, 0.3f);
// add a bright light above the scene
Light light = m_pSceneMgr.CreateLight();
light.Type = (Light.LightTypes.LT_POINT);
light.Position = new Mogre.Vector3(-10, 40, 20);
light.SpecularColour = ColourValue.White;
// create a floor mesh resource
MeshManager.Singleton.CreatePlane("floor", ResourceGroupManager.DEFAULT_RESOURCE_GROUP_NAME,
new Plane(Mogre.Vector3.UNIT_Y, 0), 100, 100, 10, 10, true, 1, 10, 10, Mogre.Vector3.UNIT_Z);
// create a floor entity, give it a material, and place it at the origin
SceneProp floorSceneProp = new SceneProp(
this,
m_pSceneMgr,
m_pSceneMgr.RootSceneNode,
physicsScene,
"Floor",
"floor"
);
floorSceneProp.SetMaterialName("Examples/Rockwall");
//Navmesh
Navmesh floorNavMesh = MeshToNavmesh.LoadNavmesh(floorSceneProp.Entity);
NavmeshQuery query;
NavmeshPoint retStartPoint;
NavmeshPoint retEndPoint;
org.critterai.Vector3 pointStart = new org.critterai.Vector3(0, 0, 0);
org.critterai.Vector3 pointEnd = new org.critterai.Vector3(0, 0, 0);
org.critterai.Vector3 extents = new org.critterai.Vector3(2, 2, 2);
NavStatus status = NavmeshQuery.Create(floorNavMesh, 100, out query);
Console.WriteLine("Status returned when NavmeshQuery was built: " + status);
NavmeshQueryFilter filter = new NavmeshQueryFilter();
filter.IncludeFlags = 1;
status = query.GetNearestPoint(pointStart, extents, filter, out retStartPoint);
Console.WriteLine("\nStatus of startPoint GetNearestPoint: " + status);
status = query.GetNearestPoint(pointEnd, extents, filter, out retEndPoint);
Console.WriteLine("\nStatus of endPoint GetNearestPoint: " + status);
uint[] path = new uint[100];
int pathCount;
status = query.FindPath(retStartPoint, retEndPoint, filter, path, out pathCount);
Console.WriteLine("\nStatus of Find path: " + status);
// create our character controller
m_pChara = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(0, 5, 0), 0);
SinbadCharacterController bot1 = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(-10, 5, 0), 1, false);
SinbadCharacterController bot2 = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(0, 5, -10), 2, false);
SinbadCharacterController bot3 = new SinbadCharacterController(this, physicsScene, m_pCamera, new Mogre.Vector3(10, 5, 0), 3, false);
agents.Add(m_pChara);
agents.Add(bot1);
agents.Add(bot2);
agents.Add(bot3);
AdvancedMogreFramework.Singleton.m_pTrayMgr.toggleAdvancedFrameStats();
StringVector items = new StringVector();
items.Insert(items.Count, "Help");
ParamsPanel help = AdvancedMogreFramework.Singleton.m_pTrayMgr.createParamsPanel(TrayLocation.TL_TOPLEFT, "HelpMessage", 100, items);
help.setParamValue("Help", "H / F1");
}
public void CreateQuery(float fMoveSpeed, float fTurnSpeed)
{
this.mTurnSpeed = fTurnSpeed;
this.mMoveSpeed = fMoveSpeed;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(
fileName + ": Aborted initialization. Failed query creation: " + status.ToString());
mCrowdManager = null;
return;
}
mCrowdManager = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (mCrowdManager == null)
{
Debug.LogError(fileName + ": Aborted initialization. Failed crowd creation.");
}
CrowdAvoidanceParams mCrowdParam = CrowdAvoidanceParams.CreateStandardMedium();
mCrowdManager.SetAvoidanceConfig(0, mCrowdParam);
mCrowdAgentParams = new CrowdAgentParams();
mCrowdAgentParams.avoidanceType = 0;
mCrowdAgentParams.collisionQueryRange = 3.2f;
mCrowdAgentParams.height = 1.8f;
mCrowdAgentParams.maxAcceleration = 8.0f;
mCrowdAgentParams.maxSpeed = this.mMoveSpeed;
mCrowdAgentParams.pathOptimizationRange = 12.0f;
mCrowdAgentParams.radius = 1.0f;
mCrowdAgentParams.separationWeight = 2.0f;
mCrowdAgentParams.updateFlags = CrowdUpdateFlags.AnticipateTurns | CrowdUpdateFlags.ObstacleAvoidance | CrowdUpdateFlags.CrowdSeparation | CrowdUpdateFlags.OptimizeVis | CrowdUpdateFlags.OptimizeTopo;
polyResult = new uint[300];
pointResult = new Vector3[300];
tileBufferPoints = new Vector3[3000];
pointResultBuffer = new Vector3[300];
polyResultBuffer = new uint[300];
NavmeshTile tile = navmesh.GetTile(0);
int count = tile.GetVerts(tileBufferPoints);
Debug.Log("Tile " + tile.GetTileRef() + " count:" + count);
if (count > 3000)
{
tileBufferPoints = new Vector3[count];
}
tileBufferRef = -1;
//NavmeshPoly[] polys=new NavmeshPoly[3000];
//int polyCount;
//polyCount=tile.GetPolys(polys);
//for (int i = 0; i < polyCount; i++)
//{
// NavmeshPoly poly = polys[i];
// //if (poly.Type == NavmeshPolyType.OffMeshConnection)
// {
// Debug.Log("Poly" + i+"type"+poly.Type.ToString());
// }
//}
}
public NavManager CreateManager()
{
CheckCrowdAvoidanceSet();
if (!(mNavmeshData && NavmeshData.HasNavmesh))
{
Debug.LogError("Aborted initialization. Navigation mesh not available.");
return(null);
}
//Debug.Log("NavmeshData-------"+ NavmeshData);
Navmesh navmesh = NavmeshData.GetNavmesh();
if (navmesh == null)
{
NavStatus theStatus = Navmesh.Create(navMeshData, out navmesh);
Debug.Log("Navmesh.Create ---->" + theStatus + "---->" + (int)(theStatus & NavStatus.Sucess));
if (NavUtil.Failed(theStatus))
{
Debug.LogError("NavUtil.Failed(Navmesh.Create(navMeshData, out navmesh) Fail!");
}
Debug.Log("--------------------\n" + navMeshData + "---" + navMeshData.Length + "\n-----------------\nNavmesh-------" + navmesh);
}
if (navmesh == null)
{
Debug.LogError(" navmesh is null");
return(null);
}
NavmeshQuery query;
NavStatus status = NavmeshQuery.Create(navmesh, mMaxQueryNodes, out query);
if ((status & NavStatus.Sucess) == 0)
{
Debug.LogError(" Aborted initialization. Failed query creation: " + status.ToString());
return(null);
}
CrowdManager crowd = CrowdManager.Create(mMaxCrowdAgents, mMaxAgentRadius, navmesh);
if (crowd == null)
{
Debug.LogError("Aborted initialization. Failed crowd creation.");
return(null);
}
for (int i = 0; i < CrowdManager.MaxAvoidanceParams; i++)
{
crowd.SetAvoidanceConfig(i, CrowdAvoidanceConfig[i]);
}
NavGroup mGroup = new NavGroup(navmesh, query, crowd, crowd.QueryFilter, mExtents, false);
int count = AgentGroupSettingManager.GetGroupCount();
Dictionary <byte, NavAgentGroups> mAgentGroups = new Dictionary <byte, NavAgentGroups>(count);
for (int i = 0; i < count; i++)
{
byte groupId;
NavAgentGroups group = AgentGroupSettingManager.CreateAgentGroup(i, mMaxPath, mMaxStraightPath, out groupId);
group.angleAt = mAngleAt;
group.heightTolerance = mHeightTolerance;
group.turnThreshold = mTurnThreshold;
mAgentGroups.Add(groupId, group);
}
return(NavManager.Create(mMaxAgents, mGroup, mAgentGroups));
}
