public static void Find(this PathfindingComponent self, Vector3 start, Vector3 target, List <Vector3> result)
{
if (self.NavMesh == 0)
{
Log.Debug("寻路| Find 失败 pathfinding ptr is zero");
throw new Exception($"pathfinding ptr is zero: {self.DomainScene().Name}");
}
self.StartPos[0] = -start.x;
self.StartPos[1] = start.y;
self.StartPos[2] = start.z;
self.EndPos[0] = -target.x;
self.EndPos[1] = target.y;
self.EndPos[2] = target.z;
//Log.Debug($"start find path: {self.GetParent<Unit>().Id}");
int n = Recast.RecastFind(self.NavMesh, PathfindingComponent.extents, self.StartPos, self.EndPos, self.Result);
for (int i = 0; i < n; ++i)
{
int index = i * 3;
result.Add(new Vector3(-self.Result[index], self.Result[index + 1], self.Result[index + 2]));
}
//Log.Debug($"finish find path: {self.GetParent<Unit>().Id} {result.ListToString()}");
}
public static async ETVoid MoveTo(this UnitPathComponent self, Vector3 target)
{
if ((self.Target - target).magnitude < 0.1f)
{
return;
}
self.Target = target;
Unit unit = self.GetParent <Unit>();
PathfindingComponent pathfindingComponent = self.Domain.GetComponent <PathfindingComponent>();
self.ABPath = EntityFactory.Create <ABPathWrap, Vector3, Vector3>(self.Domain, unit.Position, new Vector3(target.x, target.y, target.z));
pathfindingComponent.Search(self.ABPath);
Log.Debug($"find result: {self.ABPath.Result.ListToString()}");
self.CancellationTokenSource?.Cancel();
self.CancellationTokenSource = EntityFactory.Create <ETCancellationTokenSource>(self.Domain);
await self.MoveAsync(self.ABPath.Result);
self.CancellationTokenSource.Dispose();
self.CancellationTokenSource = null;
}
public static void FindWithAdjust(this PathfindingComponent self, Vector3 start, Vector3 target, List <Vector3> result, float adjustRaduis)
{
self.Find(start, target, result);
for (int i = 0; i < result.Count; i++)
{
Vector3 adjust = self.FindRandomPointWithRaduis(result[i], adjustRaduis);
result[i] = adjust;
}
}
/// <summary>
/// 以pos为中心各自在宽和高的左右 前后两个方向延伸
/// </summary>
/// <param name="self"></param>
/// <param name="pos"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
public static Vector3 FindRandomPointWithRectangle(this PathfindingComponent self, Vector3 pos, int width, int height)
{
if (self.NavMesh == 0)
{
throw new Exception($"pathfinding ptr is zero: {self.DomainScene().Name}");
}
if (width > PathfindingComponent.FindRandomNavPosMaxRadius * 0.001f || height > PathfindingComponent.FindRandomNavPosMaxRadius * 0.001f)
{
throw new Exception($"pathfinding rectangle is too large，width: {width} height: {height}, max: {PathfindingComponent.FindRandomNavPosMaxRadius}");
}
float x = RandomHelper.RandomNumber(-width, width);
float z = RandomHelper.RandomNumber(-height, height);
Vector3 findpos = new Vector3(pos.x + x, pos.y, pos.z + z);
return(self.RecastFindNearestPoint(findpos));
}
public static Vector3 RecastFindNearestPoint(this PathfindingComponent self, Vector3 pos)
{
if (self.NavMesh == 0)
{
throw new Exception($"pathfinding ptr is zero: {self.DomainScene().Name}");
}
self.StartPos[0] = -pos.x;
self.StartPos[1] = pos.y;
self.StartPos[2] = pos.z;
int ret = Recast.RecastFindNearestPoint(self.NavMesh, PathfindingComponent.extents, self.StartPos, self.EndPos);
if (ret == 0)
{
throw new Exception($"RecastFindNearestPoint fail, 可能是位置配置有问题: sceneName:{self.DomainScene().Name} {pos} {self.Name} {self.GetParent<Unit>().Id} {self.GetParent<Unit>().Config.Id} {self.EndPos.ArrayToString()}");
}
return(new Vector3(-self.EndPos[0], self.EndPos[1], self.EndPos[2]));
}
public static Vector3 FindRandomPointWithRaduis(this PathfindingComponent self, Vector3 pos, float raduis)
{
if (self.NavMesh == 0)
{
throw new Exception($"pathfinding ptr is zero: {self.DomainScene().Name}");
}
if (raduis > PathfindingComponent.FindRandomNavPosMaxRadius * 0.001f)
{
throw new Exception($"pathfinding raduis is too large，cur: {raduis}, max: {PathfindingComponent.FindRandomNavPosMaxRadius}");
}
int degrees = RandomHelper.RandomNumber(0, 360);
float r = RandomHelper.RandomNumber(0, (int)(raduis * 1000)) / 1000f;
float x = r * Mathf.Cos(MathHelper.DegToRad(degrees));
float z = r * Mathf.Sin(MathHelper.DegToRad(degrees));
Vector3 findpos = new Vector3(pos.x + x, pos.y, pos.z + z);
return(self.RecastFindNearestPoint(findpos));
}