提取RVO 寻路

JNFrame/Assets/Game/Script/battle/mode/Example11_RVO.meta

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JNFrame/Assets/Game/Script/battle/mode/Example11_RVO/GRVO01WorldMode.cs

@@ -0,0 +1,270 @@
+using System.Collections.Generic;
+using Game.Plugins.App.Game.RVO;
+using Game.Plugins.App.Util;
+using Game.Plugins.JNGame.Sync.Frame.AStar.Util;
+using Game.Plugins.JNGame.Sync.Frame.AstarPath.RVO;
+using Pathfinding.Examples;
+using Pathfinding.RVO;
+using Script.battle;
+using UnityEngine;
+
+namespace Game.Script.battle.mode.Example11_RVO
+{
+	
+	
+	public enum GRVO01WorldModeType {
+		Circle,
+		Line,
+		Point,
+		RandomStreams,
+		Crossing
+	}
+	
+	public class GRVO01WorldMode : GBaseMode<Object>
+	{
+    
+		/// <summary>Number of agents created at start</summary>
+		public int agentCount = 100;
+		/// <summary>All agents handled by this script</summary>
+		List<JNIAgent> agents;
+		/// <summary>Goals for each agent</summary>
+		List<Vector3> goals;
+		/// <summary>Color for each agent</summary>
+		List<Color> colors;
+		
+		/// <summary>
+		/// How large is the area where agents are placed.
+		/// For e.g the circle example, it corresponds
+		/// </summary>
+		public float exampleScale = 100;
+		/// <summary>Agent radius</summary>
+		private float radius = 3;
+		/// <summary>Max speed for an agent</summary>
+		private float maxSpeed = 10;
+
+		/// <summary>
+		/// Offset from the agent position the actual drawn postition.
+		/// Used to get rid of z-buffer issues
+		/// </summary>
+		public Vector3 renderingOffset = Vector3.up*0.1f;
+
+		private GRVO01WorldModeType _type = GRVO01WorldModeType.Circle;
+
+		Vector3[] verts;
+		Vector2[] uv;
+		int[] tris;
+		Color[] meshColors;
+		Vector2[] interpolatedVelocities;
+		Vector2[] interpolatedRotations;
+
+		
+
+		/// <summary>How far in the future too look for agents</summary>
+		public float agentTimeHorizon = 10;
+
+		[HideInInspector]
+		/// <summary>How far in the future too look for obstacles</summary>
+		public float obstacleTimeHorizon = 10;
+
+		/// <summary>Max number of neighbour agents to take into account</summary>
+		public int maxNeighbours = 10;
+
+		public JNRVOSimulator Simulator => GetComponent<JNGRVOManager>().Simulator;
+		
+		/// <summary>Mesh for rendering</summary>
+		Mesh mesh;
+
+		public override void OnSyncLoad()
+		{
+			base.OnSyncLoad();
+			mesh = new Mesh();
+			GetComponentInChildren<MeshFilter>().mesh = mesh;
+			CreateAgents(agentCount);
+		}
+
+
+		/// <summary>Create a number of agents in circle and restart simulation</summary>
+		public void CreateAgents (int num) {
+			this.agentCount = num;
+
+			agents = new List<JNIAgent>(agentCount);
+			goals = new List<Vector3>(agentCount);
+			colors = new List<Color>(agentCount);
+
+			Simulator.ClearAgents();
+
+			if (_type == GRVO01WorldModeType.Circle) {
+				float circleRad = Mathf.Sqrt(agentCount * radius * radius * 4 / Mathf.PI) * exampleScale * 0.05f;
+
+				for (int i = 0; i < agentCount; i++) {
+					Vector3 pos = new Vector3(Mathf.Cos(i * Mathf.PI * 2.0f / agentCount), 0, Mathf.Sin(i * Mathf.PI * 2.0f / agentCount)) * circleRad * (1 + JNRandom.value * 0.01f);
+					JNIAgent agent = Simulator.AddAgent(new Vector2(pos.x, pos.z), pos.y);
+					agents.Add(agent);
+					goals.Add(-pos);
+					colors.Add(AstarMath.HSVToRGB(i * 360.0f / agentCount, 0.8f, 0.6f));
+				}
+			} else if (_type == GRVO01WorldModeType.Line) {
+				for (int i = 0; i < agentCount; i++) {
+					Vector3 pos = new Vector3((i % 2 == 0 ? 1 : -1) * exampleScale, 0, (i / 2) * radius * 2.5f);
+					JNIAgent agent = Simulator.AddAgent(new Vector2(pos.x, pos.z), pos.y);
+					agents.Add(agent);
+					goals.Add(new Vector3(-pos.x, pos.y, pos.z));
+					colors.Add(i % 2 == 0 ? Color.red : Color.blue);
+				}
+			} else if (_type == GRVO01WorldModeType.Point) {
+				for (int i = 0; i < agentCount; i++) {
+					Vector3 pos = new Vector3(Mathf.Cos(i * Mathf.PI * 2.0f / agentCount), 0, Mathf.Sin(i * Mathf.PI * 2.0f / agentCount)) * exampleScale;
+					JNIAgent agent = Simulator.AddAgent(new Vector2(pos.x, pos.z), pos.y);
+					agents.Add(agent);
+					goals.Add(new Vector3(0, pos.y, 0));
+					colors.Add(AstarMath.HSVToRGB(i * 360.0f / agentCount, 0.8f, 0.6f));
+				}
+			} else if (_type == GRVO01WorldModeType.RandomStreams) {
+				float circleRad = Mathf.Sqrt(agentCount * radius * radius * 4 / Mathf.PI) * exampleScale * 0.05f;
+
+				for (int i = 0; i < agentCount; i++) {
+					float angle = JNRandom.value * Mathf.PI * 2.0f;
+					float targetAngle = JNRandom.value * Mathf.PI * 2.0f;
+					Vector3 pos = new Vector3(Mathf.Cos(angle), 0, Mathf.Sin(angle)) * uniformDistance(circleRad);
+					JNIAgent agent = Simulator.AddAgent(new Vector2(pos.x, pos.z), pos.y);
+					agents.Add(agent);
+					goals.Add(new Vector3(Mathf.Cos(targetAngle), 0, Mathf.Sin(targetAngle)) * uniformDistance(circleRad));
+					colors.Add(AstarMath.HSVToRGB(targetAngle * Mathf.Rad2Deg, 0.8f, 0.6f));
+				}
+			} else if (_type == GRVO01WorldModeType.Crossing) {
+				float distanceBetweenGroups = exampleScale * radius * 0.5f;
+				int directions = (int)Mathf.Sqrt(agentCount / 25f);
+				directions = Mathf.Max(directions, 2);
+
+				const int AgentsPerDistance = 10;
+				for (int i = 0; i < agentCount; i++) {
+					float angle = ((i % directions)/(float)directions) * Mathf.PI * 2.0f;
+					var dist = distanceBetweenGroups * ((i/(directions*AgentsPerDistance) + 1) + 0.3f*JNRandom.value);
+					Vector3 pos = new Vector3(Mathf.Cos(angle), 0, Mathf.Sin(angle)) * dist;
+					JNIAgent agent = Simulator.AddAgent(new Vector2(pos.x, pos.z), pos.y);
+					agent.Priority = (i % directions) == 0 ? 1 : 0.01f;
+					agents.Add(agent);
+					goals.Add(-pos.normalized * distanceBetweenGroups * 3);
+					colors.Add(AstarMath.HSVToRGB(angle * Mathf.Rad2Deg, 0.8f, 0.6f));
+				}
+			}
+
+			SetAgentSettings();
+
+			verts = new Vector3[4*agents.Count];
+			uv = new Vector2[verts.Length];
+			tris = new int[agents.Count*2*3];
+			meshColors = new Color[verts.Length];
+		}
+		
+		void SetAgentSettings () {
+			for (int i = 0; i < agents.Count; i++) {
+				JNIAgent agent = agents[i];
+				agent.Radius = radius;
+				agent.AgentTimeHorizon = agentTimeHorizon;
+				agent.ObstacleTimeHorizon = obstacleTimeHorizon;
+				agent.MaxNeighbours = maxNeighbours;
+				// agent.DebugDraw = i == 0 && debug;
+			}
+		}
+    
+		private float uniformDistance (float radius) {
+			float v = JNRandom.value + JNRandom.value;
+
+			if (v > 1) return radius * (2-v);
+			else return radius * v;
+		}
+    
+		
+		public override void OnSyncUpdate(int dt, JNFrameInfo frame, Object input)
+		{
+			base.OnSyncUpdate(dt, frame, input);
+			if (agents == null || mesh == null) return;
+
+			if (agents.Count != goals.Count) {
+				Debug.LogError("Agent count does not match goal count");
+				return;
+			}
+
+			SetAgentSettings();
+
+			// Make sure the array is large enough
+			if (interpolatedVelocities == null || interpolatedVelocities.Length < agents.Count) {
+				var velocities = new Vector2[agents.Count];
+				var directions = new Vector2[agents.Count];
+				// Copy over the old velocities
+				if (interpolatedVelocities != null) for (int i = 0; i < interpolatedVelocities.Length; i++) velocities[i] = interpolatedVelocities[i];
+				if (interpolatedRotations != null) for (int i = 0; i < interpolatedRotations.Length; i++) directions[i] = interpolatedRotations[i];
+				interpolatedVelocities = velocities;
+				interpolatedRotations = directions;
+			}
+
+			for (int i = 0; i < agents.Count; i++) {
+				JNIAgent agent = agents[i];
+
+				// Move agent
+				// This is the responsibility of this script, not the RVO system
+				Vector2 pos = agent.Position;
+				var deltaPosition = Vector2.ClampMagnitude(agent.CalculatedTargetPoint - pos, agent.CalculatedSpeed * GetSync().Time.deltaTime);
+				pos += deltaPosition;
+				agent.Position = pos;
+
+				// All agents are on the same plane
+				agent.ElevationCoordinate = 0;
+
+				// Set the desired velocity for all agents
+				var target = new Vector2(goals[i].x, goals[i].z);
+				var dist = (target - pos).magnitude;
+				agent.SetTarget(target, Mathf.Min(dist, maxSpeed), maxSpeed*1.1f);
+
+				interpolatedVelocities[i] += deltaPosition;
+				if (interpolatedVelocities[i].magnitude > maxSpeed*0.1f) {
+					interpolatedVelocities[i] = Vector2.ClampMagnitude(interpolatedVelocities[i], maxSpeed*0.1f);
+					interpolatedRotations[i] = Vector2.Lerp(interpolatedRotations[i], interpolatedVelocities[i], agent.CalculatedSpeed * GetSync().Time.deltaTime*4f);
+				}
+
+				//Debug.DrawRay(new Vector3(pos.x, 0, pos.y), new Vector3(interpolatedVelocities[i].x, 0, interpolatedVelocities[i].y) * 10);
+				// Create a square with the "forward" direction along the agent's velocity
+				Vector3 forward = new Vector3(interpolatedRotations[i].x, 0, interpolatedRotations[i].y).normalized * agent.Radius;
+				if (forward == Vector3.zero) forward = new Vector3(0, 0, agent.Radius);
+				Vector3 right = Vector3.Cross(Vector3.up, forward);
+				Vector3 orig = new Vector3(agent.Position.x, agent.ElevationCoordinate, agent.Position.y) + renderingOffset;
+
+
+				int vc = 4*i;
+				int tc = 2*3*i;
+				verts[vc+0] = (orig + forward - right);
+				verts[vc+1] = (orig + forward + right);
+				verts[vc+2] = (orig - forward + right);
+				verts[vc+3] = (orig - forward - right);
+
+				uv[vc+0] = (new Vector2(0, 1));
+				uv[vc+1] = (new Vector2(1, 1));
+				uv[vc+2] = (new Vector2(1, 0));
+				uv[vc+3] = (new Vector2(0, 0));
+
+				meshColors[vc+0] = colors[i];
+				meshColors[vc+1] = colors[i];
+				meshColors[vc+2] = colors[i];
+				meshColors[vc+3] = colors[i];
+
+				tris[tc+0] = (vc + 0);
+				tris[tc+1] = (vc + 1);
+				tris[tc+2] = (vc + 2);
+
+				tris[tc+3] = (vc + 0);
+				tris[tc+4] = (vc + 2);
+				tris[tc+5] = (vc + 3);
+			}
+
+			//Update the mesh
+			mesh.Clear();
+			mesh.vertices = verts;
+			mesh.uv = uv;
+			mesh.colors = meshColors;
+			mesh.triangles = tris;
+			mesh.RecalculateNormals();
+		}
+    
+	}
+}

JNFrame/Assets/Game/Script/battle/mode/Example11_RVO/GRVO01WorldMode.cs.meta

@@ -0,0 +1,11 @@
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+  defaultReferences: []
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JNFrame/Assets/Game/Script/battle/mode/GWorldSync01ModeScript/GWorldSync01UI.cs

@@ -83,7 +83,7 @@ public class GWorldSync01UI : MonoBehaviour
 
     private void Update()
     {
-        if(this.Cam != null)
-            this.Cam.enabled = !App.Sync.IsLoop;
+        // if(this.Cam != null)
+        //     this.Cam.enabled = !App.Sync.IsLoop;
     }
 }

JNFrame/Assets/Game/Script/battle/mode/GWorldSync01ModeScript/PlayerBot.cs

@@ -56,16 +56,5 @@ namespace Game.Script.battle.mode.GWorldSync01ModeScript
             
         }
 
-
-        //这里直接每帧调用更新位置 理论上 下面这些代码是写在UI上的 现在为了方便直接调了
-        private void Update()
-        {
-            UpdateTargetPosition();
-        }
-        
-        public void UpdateTargetPosition () {
-            
-        }
-    
     }
 }