public void GenerateObstacleInfo(CellManager cellMgr)
{
//标记所有格子为阻挡
for (int row = 0; row < cellMgr.GetMaxRow(); row++)
{
for (int col = 0; col < cellMgr.GetMaxCol(); col++)
{
cellMgr.SetCellStatus(row, col, BlockType.STATIC_BLOCK);
}
}
//打开可行走区
foreach (TiledData data in walk_area_list_)
{
List <Vector3> pts = data.GetPoints();
MapDataUtil.MarkObstacleArea(pts, cellMgr, BlockType.NOT_BLOCK);
}
//标记阻挡区
foreach (TiledData data in obstacle_area_list_)
{
List <Vector3> pts = data.GetPoints();
MapDataUtil.MarkObstacleArea(pts, cellMgr, BlockType.STATIC_BLOCK);
}
//标记阻挡线
foreach (TiledData data in obstacle_line_list_)
{
List <Vector3> pts = data.GetPoints();
MarkObstacleLine(pts, cellMgr, BlockType.STATIC_BLOCK);
}
}
internal static void MarkObstacleArea(List <Vector3> pts, CellManager cellMgr, byte obstacle)
{
List <CellPos> cells = cellMgr.GetCellsInPolygon(pts);
foreach (CellPos cell in cells)
{
cellMgr.SetCellStatus(cell.row, cell.col, obstacle);
}
}
private void MarkObstacleLine(List <Vector3> pts, CellManager cellMgr, byte obstacle)
{
List <CellPos> pos_list = cellMgr.GetCellsCrossByPolyline(pts);
foreach (CellPos pos in pos_list)
{
cellMgr.SetCellStatus(pos.row, pos.col, obstacle);
}
}
public void Init(CellManager cellMgr)
{
m_CellMgr = cellMgr;
m_Map = cellMgr.cells_arr_;
m_MaxRows = cellMgr.GetMaxRow();
m_MaxCols = cellMgr.GetMaxCol();
m_PreprocessData = null;
}
public void PreprocessMap(CellManager cellMgr, string filename)
{
m_Width = cellMgr.GetMaxCol();
m_Height = cellMgr.GetMaxRow();
byte[,] map = cellMgr.cells_arr_;
using (FileStream fs = new FileStream(filename, FileMode.Create)) {
// init
fs.WriteByte((byte)(m_Width & 0x0ff));
fs.WriteByte((byte)((m_Width & 0x0ff00) >> 8));
fs.WriteByte((byte)(m_Height & 0x0ff));
fs.WriteByte((byte)((m_Height & 0x0ff00) >> 8));
int size = map.Length;
m_Tree = new TreeNode[size];
m_PreTree = new PreTreeNode[size];
for (int i = 0; i < size; ++i)
{
m_PreTree[i].Wall = BlockType.GetBlockType(map[i / m_Width, i % m_Width]) == 0;
m_Tree[i].OpToParent = (byte)OperationEnum.NO_OP;
m_PreTree[i].Visited = false;
m_PreTree[i].CostF = float.MaxValue;
m_Tree[i].CostI = (byte)255;
}
// Create Trees (multiple roots are possible)
for (int i = 0; i < size; ++i)
{
if (m_PreTree[i].Wall && !m_PreTree[i].Visited)
{
CreateTree(i);
}
}
// Compact
for (int i = 0; i < size; ++i)
{
// Round up to ensure that only the root node gets a cost of 0.
double scaledCostF = Math.Min(254.0, Math.Ceiling(m_PreTree[i].CostF / 5.0));
int scaledCostI = (int)scaledCostF;
m_Tree[i].CostI = (byte)scaledCostI;
}
for (int i = 0; i < size; ++i)
{
fs.WriteByte(m_Tree[i].CostI);
fs.WriteByte(m_Tree[i].OpToParent);
}
fs.Close();
}
m_PreTree = null;
m_Tree = null;
}
public void GenerateObstacleInfoWithNavmesh(CellManager cellMgr)
{
//标记所有格子为阻挡
for (int row = 0; row < cellMgr.GetMaxRow(); row++)
{
for (int col = 0; col < cellMgr.GetMaxCol(); col++)
{
cellMgr.SetCellStatus(row, col, BlockType.STATIC_BLOCK);
}
}
//打开可行走区
foreach (TriangleNode node in navmesh_triangle_list)
{
List <Vector3> pts = new List <Vector3>(node.Points);
MapDataUtil.MarkObstacleArea(pts, cellMgr, BlockType.NOT_BLOCK);
}
}
private void FindNeighbors(JpsPathNode node)
{
int x = node.cell.row;
int y = node.cell.col;
m_Neighbors.Clear();
JpsPathNode parent = node.prev;
if (null != parent)
{
int px = parent.cell.row;
int py = parent.cell.col;
int dx = (x == px ? 0 : (x - px) / Math.Abs(x - px));
int dy = (y == py ? 0 : (y - py) / Math.Abs(y - py));
if (dx != 0 && dy != 0)
{
if (IsWalkable(x, y + dy))
{
m_Neighbors.Add(new CellPos(x, y + dy));
}
if (IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y));
}
if (IsWalkable(x, y + dy) || IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y + dy));
}
if (!IsWalkable(x - dx, y) && IsWalkable(x, y + dy))
{
m_Neighbors.Add(new CellPos(x - dx, y + dy));
}
if (!IsWalkable(x, y - dy) && IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y - dy));
}
}
else
{
if (dx == 0)
{
if (IsWalkable(x, y + dy))
{
if (IsWalkable(x, y + dy))
{
m_Neighbors.Add(new CellPos(x, y + dy));
}
if (!IsWalkable(x + 1, y))
{
m_Neighbors.Add(new CellPos(x + 1, y + dy));
}
if (!IsWalkable(x - 1, y))
{
m_Neighbors.Add(new CellPos(x - 1, y + dy));
}
}
}
else
{
if (IsWalkable(x + dx, y))
{
if (IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y));
}
if (!IsWalkable(x, y + 1))
{
m_Neighbors.Add(new CellPos(x + dx, y + 1));
}
if (!IsWalkable(x, y - 1))
{
m_Neighbors.Add(new CellPos(x + dx, y - 1));
}
}
}
}
}
else
{
m_Neighbors = CellManager.GetCellAdjacent(node.cell, m_MinCell.row, m_MinCell.col, m_MaxCell.row, m_MaxCell.col);
}
}
