public static bool TryMerge(ref Poly toPoly, Triangle mergeTri, ref GeoEdge sharedEdge)
{
if (CouldMerge(ref toPoly, mergeTri, sharedEdge))
{
return(Merge(ref toPoly, mergeTri, ref sharedEdge));
}
else
{
return(false);
}
}
public static bool IsIntersect(Poly poly, int x, int z)
{
Vector2 pA = new Vector2(left + tileSize * x, bottom + tileSize * z);
Vector2 pB = new Vector2(left + tileSize * (x + 1), bottom + tileSize * z);
Vector2 pC = new Vector2(left + tileSize * (x + 1), bottom + tileSize * (z + 1));
Vector2 pD = new Vector2(left + tileSize * x, bottom + tileSize * (z + 1));
Geo2D poly2d = poly.GetGeo2D();
Geo2D rect2d = new Geo2D(pA, pB, pC, pD);
return(GraphTester2D.IsIntersect(poly2d, rect2d));
}
protected int GetPoly(Vector2 pos, List <int> plys)
{
foreach (int i in plys)
{
Poly p = polys[i];
if (GraphTester2D.IsInside(pos, p.GetGeo2D()))
{
return(i);
}
}
return(-1);
}
public static GeoEdge SharedEdge(Poly polyA, Poly polyB)
{
for (int i = 0; i < polyA.EdgeCount; i++)
{
for (int j = 0; j < polyB.EdgeCount; j++)
{
if (AreEqual(polyA.Edges[i], polyB.Edges[j]))
{
return(polyA.Edges[i]);
}
}
}
return(null);
}
public static bool HasSharedEdge(Poly polyA, Poly polyB)
{
for (int i = 0; i < polyA.EdgeCount; i++)
{
for (int j = 0; j < polyB.EdgeCount; j++)
{
if (AreEqual(polyA.Edges[i], polyB.Edges[j]))
{
return(true);
}
}
}
return(false);
}
public static bool Merge(ref Poly toPoly, Poly mergeTri, ref GeoEdge sharedEdge)
{
List <GeoEdge> restEdge = mergeTri.RestEdge(sharedEdge);
if (!toPoly.ContainsSomeEdge(restEdge))
{
toPoly.RemoveEdge(sharedEdge);
toPoly.AddEdges(restEdge);
return(true);
}
else
{
return(false);
}
}
public static bool CouldMerge(ref Poly toPoly, Poly mergeTri, GeoEdge sharedEdge)
{
bool couldmerge = true;
Vector3 a = toPoly.RelatedEdgeExtrude(sharedEdge.A, sharedEdge).OtherPoint(sharedEdge.A);
Vector3 b = sharedEdge.PointA;
Vector3 c = mergeTri.RelatedEdgeExtrude(sharedEdge.A, sharedEdge).OtherPoint(sharedEdge.A);
Vector3 d = sharedEdge.OtherPoint(sharedEdge.A);
couldmerge &= GraphTester2D.TotalAngleForThreeSeg(a, b, c, d) - 180f < 1e-06;
a = toPoly.RelatedEdgeExtrude(sharedEdge.B, sharedEdge).OtherPoint(sharedEdge.B);
b = sharedEdge.PointB;
c = mergeTri.RelatedEdgeExtrude(sharedEdge.B, sharedEdge).OtherPoint(sharedEdge.B);
d = sharedEdge.OtherPoint(sharedEdge.B);
couldmerge &= GraphTester2D.TotalAngleForThreeSeg(a, b, c, d) - 180f < 1e-06;
return(couldmerge);
}
/// <summary>
/// 得到处理过后的导航文件,包含信息(顶点、多边形、多边形连接、预计算路径信息、多边形的AOI信息)
/// </summary>
/// <param name="fileName"></param>
/// <param name="ifPreCalculatePath"></param>
public static void WriteProcessedNavFile(NavMesh navMesh, string fileName, bool ifPreCalculatePath)
{
if (File.Exists(fileName))
{
File.Delete(fileName);
}
StreamWriter sw = new StreamWriter(fileName);
StringBuilder lBuilder;
for (int i = 0; i < navMesh.Points.Count; i++)//顶点信息
{
lBuilder = new StringBuilder("v").Append(navMesh.Points[i].x.ToString()).Append(" ").Append(navMesh.Points[i].y.ToString()).Append(" ").Append(navMesh.Points[i].z);
sw.WriteLine(lBuilder.ToString());
}
SortedDictionary <int, Poly> .Enumerator polyIter = navMesh.Polys.GetEnumerator();
while (polyIter.MoveNext()) //Poly 信息
{
lBuilder = new StringBuilder("p").Append(polyIter.Current.Key.ToString()).Append(" ");
Poly p = polyIter.Current.Value;
foreach (GeoEdge e in p.Edges)
{
lBuilder.Append("|").Append(e.A.ToString()).Append(" ").Append(e.B);
}
sw.WriteLine(lBuilder.ToString());
}
polyIter.Dispose();
SortedDictionary <int, HashSet <PolyConnection> > .Enumerator iter = navMesh.NearPolys.GetEnumerator();
while (iter.MoveNext())//Poly connection信息
{
//有连接的poly的序号
lBuilder = new StringBuilder("c ").Append(iter.Current.Key.ToString());
HashSet <PolyConnection> cons = iter.Current.Value;
foreach (PolyConnection con in cons)
{
lBuilder.Append(" ").Append(con.Other(iter.Current.Key).ToString()).Append(" ").Append(con.Weight.ToString()).Append(" ").Append(con.ConnectionEdge.A.ToString()).Append(" ").Append(con.ConnectionEdge.B.ToString());
//每个连接有4个数据，分别是:连向的Poly的序号、此连接的权重、对应此连接的边的两个顶点
}
sw.WriteLine(lBuilder.ToString());
}
iter.Dispose();
if (ifPreCalculatePath)
{//预存储的路径信息, 存在文件的后部
List <int>[,] paths = navMesh.Paths;
for (int m = 0; m < navMesh.Polys.Count; m++)
{
for (int n = 0; n < navMesh.Polys.Count; n++)
{
List <int> pth = paths[m, n];
if (pth != null && pth.Count > 0)
{
lBuilder = new StringBuilder("from ").Append(m.ToString()).Append(" to ").Append(n.ToString());
for (int x = 0; x < pth.Count; x++)
{
lBuilder.Append(" ").Append(pth[x].ToString());
}
sw.WriteLine(lBuilder.ToString());
}
}
}
}
sw.WriteLine("componentCount " + navMesh.ComponentCount);
//这里把AOI信息也写进来
NavAOI navAOI = NavAOIProcesser.ProcessPolyAOI(navMesh.Polys, navMesh);
sw.WriteLine("navAOI:");
lBuilder = new StringBuilder("AOIInfo ").Append(navAOI.Left.ToString()).Append(" ").Append(navAOI.Bottom).Append(" ").Append(navAOI.TileSize).Append(" ").Append(navAOI.Width).Append(" ").Append(navAOI.Height);
sw.WriteLine(lBuilder.ToString());
for (int i = 0; i < navAOI.Width; i++)
{
for (int j = 0; j < navAOI.Height; j++)
{
List <int> aoiList = navAOI.NavPolyAOI[i, j];
if (aoiList != null)
{
lBuilder = new StringBuilder(i.ToString()).Append(",").Append(j.ToString()).Append(":");
for (int k = 0; k < aoiList.Count; k++)
{
lBuilder.Append(" ").Append(aoiList[k]);
}
sw.WriteLine(lBuilder.ToString());
}
}
}
sw.Close();
sw.Dispose();
}
public void ProcessMeshToGraph()
{
Dictionary <Triangle, bool> visited = new Dictionary <Triangle, bool>();
foreach (Triangle tri in triangles)
{
visited.Add(tri, false);
}
Queue <Poly> processEdgeQueue = new Queue <Poly>();
int i = 0;
componentCount = 0;
int mergedCout = 0;
while (triangles.Count > 0)
{
componentCount++; //整张图的联通分量计数++
Triangle tri = triangles.First(); //拿出一个三角形
tri.Index = i++; //为这个poly分配索引
visited[tri] = true;
processEdgeQueue.Enqueue(tri);
triangles.Remove(tri);
foreach (GeoEdge e in tri.Edges)
{
if (edgeTriangleMap.ContainsKey(e.Index) && edgeTriangleMap[e.Index].Contains(tri))
{
edgeTriangleMap[e.Index].Remove(tri);//移除这个三角形和它的边的映射
}
}
while (processEdgeQueue.Count > 0)
{
Poly poly = processEdgeQueue.Dequeue();
bool hasConnection = false;
for (int j = 0; j < poly.Edges.Count; j++)
{//对于这个多边形的每一条边
GeoEdge e = poly.Edges[j];
for (int k = 0; k < edgeTriangleMap[e.Index].Count; k++)
{//如果有与之相连的其他三角形
Triangle t = edgeTriangleMap[e.Index][k];
if (triangles.Contains(t) && t != poly && PolyProcesser.HasSharedEdge(poly, t))
{
GeoEdge sharedEdge = PolyProcesser.SharedEdge(poly, t);
if (PolyProcesser.TryMerge(ref poly, t, ref sharedEdge)) //如果可以成功合并
{ //这里ref Poly处理过后，里面就有t的边了
hasConnection = true;
mergedCout++;
}
else
{//相连但不可成功合并，说明是相连的多边形
if (!visited[t])
{
processEdgeQueue.Enqueue(t);
t.Index = i++;
visited[t] = true;
//设置polyConnection,这里polyConnection还不用计算Weight,因为可能poly和t的顶点都没有全部得到
PolyConnection con = new PolyConnection(poly.Index, t.Index, sharedEdge);
if (!polyConnections.Contains(con))
{
polyConnections.Add(con);
InsertNearPoly(con.A, con);
InsertNearPoly(con.B, con);
}
}
}
edgeTriangleMap[e.Index].Remove(t);
triangles.Remove(t);
}
}
}
if (hasConnection)
{
processEdgeQueue.Enqueue(poly);//说明还有连接，可能这个poly还没有处理完
}
else
{//Poly没有连接了，说明处理完了，对poly做最后的处理
if (!polys.ContainsKey(poly.Index))
{
polys.Add(poly.Index, poly);
}
}
}
}
//对polyConnection计算权值
foreach (PolyConnection polyCon in polyConnections)
{
Vector3 pointA = CenterPoint(polys[polyCon.A].GetPoints());
Vector3 pointB = CenterPoint(polys[polyCon.B].GetPoints());
polyCon.Weight = Vector3.Distance(pointA, pointB);
}
Debug.Log("merged count :" + mergedCout);
Debug.Log("component count :" + componentCount);
}
public static PathFinder Read(string fileName)
{
StreamReader sr = new StreamReader(fileName);
string l;
float left = 0f;
float bottom = 0f;
float tileSize = 0f;
int width = 0;
int height = 0;
int componentCount = 0;
List <Vector3> points = new List <Vector3>();
Dictionary <int, Poly> polys = new Dictionary <int, Poly>();
Dictionary <int, List <NodeEdge> > edges = new Dictionary <int, List <NodeEdge> >();
List <int>[,] pths = null;
List <int>[,] polyAOI = null;
while ((l = sr.ReadLine()) != null)
{
string[] info = l.Split(' ');
if (info[0] == "v")
{
Vector3 p = new Vector3(Convert.ToSingle(info[1]), Convert.ToSingle(info[2]), Convert.ToSingle(info[3]));
points.Add(p);
}
else if (info[0] == "p")
{
string[] infos = l.Split('|');
Poly poly = new Poly();
int index = Convert.ToInt32(info[1]);
poly.Index = Convert.ToInt32(info[1]);
for (int i = 1; i < infos.Length; i++)
{
string[] edge = infos[i].Split(' ');
poly.AddEdge(new GeoEdge(Convert.ToInt32(edge[0]), Convert.ToInt32(edge[1]), points));
}
polys.Add(index, poly);
}
else if (info[0] == "c")
{
int index = Convert.ToInt32(info[1]);
List <NodeEdge> eEdges = new List <NodeEdge>();
for (int i = 2; i < info.Length - 3; i += 4)
{
NodeEdge nEdge = new NodeEdge();
nEdge.A = index;
nEdge.B = Convert.ToInt32(info[i]);
nEdge.Weight = Convert.ToSingle(info[i + 1]);
nEdge.PointA = Convert.ToInt32(info[i + 2]);
nEdge.PointB = Convert.ToInt32(info[i + 3]);
}
edges.Add(index, eEdges);
}
else if (info[0] == "from")
{
if (pths == null)
{
pths = new List <int> [polys.Count, polys.Count];
}
List <int> path = new List <int>();
int from = Convert.ToInt32(info[1]);
int to = Convert.ToInt32(info[3]);
for (int i = 4; i < info.Length; i++)
{
path.Add(Convert.ToInt32(info[i]));
}
pths[from, to] = path;
}
else if (info[0] == "componentCount")
{
componentCount = Convert.ToInt32(info[1]);
}
else if (info[0] == "AOIInfo")
{
left = Convert.ToSingle(info[1]);
bottom = Convert.ToSingle(info[2]);
tileSize = Convert.ToSingle(info[3]);
width = Convert.ToInt32(info[4]);
height = Convert.ToInt32(info[5]);
}
else if (info[0] == "aoiOf")
{
if (polyAOI == null)
{
polyAOI = new List <int> [width, height];
}
List <int> aoi = new List <int>();
int i = Convert.ToInt32(info[1]);
int j = Convert.ToInt32(info[2]);
for (int k = 3; k < info.Length; k++)
{
aoi.Add(Convert.ToInt32(info[k]));
}
polyAOI[i, j] = aoi;
}
}
sr.Close();
sr.Dispose();
if (pths == null)
{
return(new PathFinderRealtime(points, polys, edges, left, bottom, tileSize, width, height, componentCount, polyAOI));
}
else
{
return(new PathFinderPre(points, polys, edges, left, bottom, tileSize, width, height, componentCount, polyAOI));
}
}
public static NavAOI ProcessPolyAOI(SortedDictionary <int, Poly> polys, NavMesh mesh)
{
float l = Mathf.Infinity;
float r = Mathf.NegativeInfinity;
float b = Mathf.Infinity;
float t = Mathf.NegativeInfinity;
float area = 0f;
SortedDictionary <int, Poly> .Enumerator polyIter = polys.GetEnumerator();
while (polyIter.MoveNext())
{//Poly 信息
Poly poly = polyIter.Current.Value;
foreach (int pIndex in poly.GetPoints())
{
Vector3 point = mesh.Point(pIndex);
if (point.x < l)
{
l = point.x;
}
if (point.z < b)
{
b = point.z;
}
if (point.x > r)
{
r = point.x;
}
if (point.z > t)
{
t = point.z;
}
}
area += poly.GetGeo2D().GetArea();
}
polyIter.Dispose();
area /= polys.Count;
left = l;
bottom = b;
width = r - l;
height = t - b;
tileSize = Mathf.Sqrt(area);
int w = Mathf.CeilToInt(width / tileSize);
int h = Mathf.CeilToInt(height / tileSize);
NavAOI navAOI = new NavAOI(left, bottom, width, height, tileSize);
polyIter = polys.GetEnumerator();
while (polyIter.MoveNext())
{
Poly poly = polyIter.Current.Value;
Geo2D geo2D = poly.GetGeo2D();
int xStart = Mathf.FloorToInt(geo2D.MinX / tileSize);
int xEnd = Mathf.CeilToInt(geo2D.MaxX / tileSize);
int yStart = Mathf.FloorToInt(geo2D.MinY / tileSize);
int yEnd = Mathf.CeilToInt(geo2D.MaxY / tileSize);
for (int i = xStart; i < xEnd; i++)
{
for (int j = yStart; j < yEnd; j++)
{
if (IsIntersect(poly, i, j))
{
navAOI.AddPolyToAOI(i, j, polyIter.Current.Key);
}
}
}
}
polyIter.Dispose();
return(navAOI);
}