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using UnityEngine;
|
||||
using System.Collections.Generic;
|
||||
using Game.Plugins.App.Sync;
|
||||
using Pathfinding.RVO;
|
||||
using Pathfinding.RVO.Sampled;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>
|
||||
/// RVO Example Scene Unit Controller.
|
||||
/// Controls AIs and camera in the RVO example scene.
|
||||
/// </summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_group_controller.php")]
|
||||
public class GroupController : JNGSyncFrameDefault {
|
||||
public GUIStyle selectionBox;
|
||||
public bool adjustCamera = true;
|
||||
|
||||
Vector2 start, end;
|
||||
bool wasDown = false;
|
||||
|
||||
|
||||
List<RVOExampleAgent> selection = new List<RVOExampleAgent>();
|
||||
|
||||
Simulator sim;
|
||||
|
||||
Camera cam;
|
||||
|
||||
public void Start () {
|
||||
cam = Camera.main;
|
||||
var simu = RVOSimulator.active;
|
||||
if (simu == null) {
|
||||
this.enabled = false;
|
||||
throw new System.Exception("No RVOSimulator in the scene. Please add one");
|
||||
}
|
||||
|
||||
sim = simu.GetSimulator();
|
||||
}
|
||||
|
||||
public override void OnSyncUpdate(int dt, JNFrameInfo frame, Object input)
|
||||
{
|
||||
base.OnSyncUpdate(dt, frame, input);
|
||||
if (adjustCamera) {
|
||||
//Adjust camera
|
||||
List<Agent> agents = sim.GetAgents();
|
||||
|
||||
float max = 0;
|
||||
for (int i = 0; i < agents.Count; i++) {
|
||||
float d = Mathf.Max(Mathf.Abs(agents[i].Position.x), Mathf.Abs(agents[i].Position.y));
|
||||
if (d > max) {
|
||||
max = d;
|
||||
}
|
||||
}
|
||||
|
||||
float hh = max / Mathf.Tan((cam.fieldOfView*Mathf.Deg2Rad/2.0f));
|
||||
float hv = max / Mathf.Tan(Mathf.Atan(Mathf.Tan(cam.fieldOfView*Mathf.Deg2Rad/2.0f)*cam.aspect));
|
||||
|
||||
var yCoord = Mathf.Max(hh, hv)*1.1f;
|
||||
yCoord = Mathf.Max(yCoord, 20);
|
||||
yCoord = Mathf.Min(yCoord, cam.farClipPlane - 1f);
|
||||
cam.transform.position = Vector3.Lerp(cam.transform.position, new Vector3(0, yCoord, 0), GetSync().Time.smoothDeltaTime*2);
|
||||
}
|
||||
|
||||
if (Input.GetKey(KeyCode.A) && Input.GetKeyDown(KeyCode.Mouse0)) {
|
||||
Order();
|
||||
}
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void OnGUI () {
|
||||
if (Event.current.type == EventType.MouseUp && Event.current.button == 0 && !Input.GetKey(KeyCode.A)) {
|
||||
Select(start, end);
|
||||
wasDown = false;
|
||||
}
|
||||
|
||||
if (Event.current.type == EventType.MouseDrag && Event.current.button == 0) {
|
||||
end = Event.current.mousePosition;
|
||||
|
||||
if (!wasDown) { start = end; wasDown = true; }
|
||||
}
|
||||
|
||||
if (Input.GetKey(KeyCode.A)) wasDown = false;
|
||||
if (wasDown) {
|
||||
Rect r = Rect.MinMaxRect(Mathf.Min(start.x, end.x), Mathf.Min(start.y, end.y), Mathf.Max(start.x, end.x), Mathf.Max(start.y, end.y));
|
||||
if (r.width > 4 && r.height > 4)
|
||||
GUI.Box(r, "", selectionBox);
|
||||
}
|
||||
}
|
||||
|
||||
public void Order () {
|
||||
Ray ray = cam.ScreenPointToRay(Input.mousePosition);
|
||||
RaycastHit hit;
|
||||
|
||||
if (Physics.Raycast(ray, out hit)) {
|
||||
float radsum = 0;
|
||||
for (int i = 0; i < selection.Count; i++) radsum += selection[i].GetComponent<RVOController>().radius;
|
||||
|
||||
float radius = radsum / (Mathf.PI);
|
||||
radius *= 2f;
|
||||
|
||||
for (int i = 0; i < selection.Count; i++) {
|
||||
float deg = 2*Mathf.PI*i/selection.Count;
|
||||
Vector3 p = hit.point + new Vector3(Mathf.Cos(deg), 0, Mathf.Sin(deg))*radius;
|
||||
//Debug.DrawRay (p,Vector3.up*4,Color.cyan);
|
||||
//Debug.Break();
|
||||
selection[i].SetTarget(p);
|
||||
selection[i].SetColor(GetColor(deg));
|
||||
selection[i].RecalculatePath();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Select (Vector2 _start, Vector2 _end) {
|
||||
_start.y = Screen.height - _start.y;
|
||||
_end.y = Screen.height - _end.y;
|
||||
|
||||
Vector2 start = Vector2.Min(_start, _end);
|
||||
Vector2 end = Vector2.Max(_start, _end);
|
||||
|
||||
if ((end-start).sqrMagnitude < 4*4) return;
|
||||
|
||||
selection.Clear();
|
||||
|
||||
RVOExampleAgent[] rvo = FindObjectsOfType(typeof(RVOExampleAgent)) as RVOExampleAgent[];
|
||||
for (int i = 0; i < rvo.Length; i++) {
|
||||
Vector2 sp = cam.WorldToScreenPoint(rvo[i].transform.position);
|
||||
if (sp.x > start.x && sp.y > start.y && sp.x < end.x && sp.y < end.y) {
|
||||
selection.Add(rvo[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>Radians to degrees constant</summary>
|
||||
const float rad2Deg = 360.0f/ ((float)System.Math.PI*2);
|
||||
|
||||
/// <summary>Color from an angle</summary>
|
||||
public Color GetColor (float angle) {
|
||||
return AstarMath.HSVToRGB(angle * rad2Deg, 0.8f, 0.6f);
|
||||
}
|
||||
}
|
||||
}
|
||||
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MonoImporter:
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serializedVersion: 2
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defaultReferences: []
|
||||
executionOrder: 0
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icon: {instanceID: 0}
|
||||
@@ -0,0 +1,319 @@
|
||||
using UnityEngine;
|
||||
using System.Collections.Generic;
|
||||
using Pathfinding.RVO;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
[RequireComponent(typeof(MeshFilter))]
|
||||
/// <summary>
|
||||
/// Lightweight RVO Circle Example.
|
||||
/// Lightweight script for simulating agents in a circle trying to reach their antipodal positions.
|
||||
/// This script, compared to using lots of RVOAgents shows the real power of the RVO simulator when
|
||||
/// little other overhead (e.g GameObjects) is present.
|
||||
///
|
||||
/// For example with this script, I can simulate 5000 agents at around 50 fps on my laptop (with desired simulation fps = 10 and interpolation, 2 threads)
|
||||
/// however when using prefabs, only instantiating the 5000 agents takes 10 seconds and it runs at around 5 fps.
|
||||
///
|
||||
/// This script will render the agents by generating a square for each agent combined into a single mesh with appropriate UV.
|
||||
///
|
||||
/// A few GUI buttons will be drawn by this script with which the user can change the number of agents.
|
||||
/// [Open online documentation to see images]
|
||||
/// </summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_lightweight_r_v_o.php")]
|
||||
public class LightweightRVO : MonoBehaviour {
|
||||
/// <summary>Number of agents created at start</summary>
|
||||
public int agentCount = 100;
|
||||
|
||||
/// <summary>
|
||||
/// How large is the area where agents are placed.
|
||||
/// For e.g the circle example, it corresponds
|
||||
/// </summary>
|
||||
public float exampleScale = 100;
|
||||
|
||||
|
||||
public enum RVOExampleType {
|
||||
Circle,
|
||||
Line,
|
||||
Point,
|
||||
RandomStreams,
|
||||
Crossing
|
||||
}
|
||||
|
||||
public RVOExampleType type = RVOExampleType.Circle;
|
||||
|
||||
/// <summary>Agent radius</summary>
|
||||
public float radius = 3;
|
||||
|
||||
/// <summary>Max speed for an agent</summary>
|
||||
public float maxSpeed = 2;
|
||||
|
||||
/// <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;
|
||||
|
||||
/// <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;
|
||||
|
||||
/// <summary>Enable the debug flag for all agents</summary>
|
||||
public bool debug = false;
|
||||
|
||||
/// <summary>Mesh for rendering</summary>
|
||||
Mesh mesh;
|
||||
|
||||
/// <summary>Reference to the simulator in the scene</summary>
|
||||
Pathfinding.RVO.Simulator sim;
|
||||
|
||||
/// <summary>All agents handled by this script</summary>
|
||||
List<IAgent> agents;
|
||||
|
||||
/// <summary>Goals for each agent</summary>
|
||||
List<Vector3> goals;
|
||||
|
||||
/// <summary>Color for each agent</summary>
|
||||
List<Color> colors;
|
||||
|
||||
Vector3[] verts;
|
||||
Vector2[] uv;
|
||||
int[] tris;
|
||||
Color[] meshColors;
|
||||
Vector2[] interpolatedVelocities;
|
||||
Vector2[] interpolatedRotations;
|
||||
|
||||
public void Start () {
|
||||
mesh = new Mesh();
|
||||
RVOSimulator rvoSim = FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
|
||||
if (rvoSim == null) {
|
||||
Debug.LogError("No RVOSimulator could be found in the scene. Please add a RVOSimulator component to any GameObject");
|
||||
return;
|
||||
}
|
||||
sim = rvoSim.GetSimulator();
|
||||
GetComponent<MeshFilter>().mesh = mesh;
|
||||
|
||||
CreateAgents(agentCount);
|
||||
}
|
||||
|
||||
public void OnGUI () {
|
||||
if (GUILayout.Button("2")) CreateAgents(2);
|
||||
if (GUILayout.Button("10")) CreateAgents(10);
|
||||
if (GUILayout.Button("100")) CreateAgents(100);
|
||||
if (GUILayout.Button("500")) CreateAgents(500);
|
||||
if (GUILayout.Button("1000")) CreateAgents(1000);
|
||||
if (GUILayout.Button("5000")) CreateAgents(5000);
|
||||
|
||||
GUILayout.Space(5);
|
||||
|
||||
if (GUILayout.Button("Random Streams")) {
|
||||
type = RVOExampleType.RandomStreams;
|
||||
CreateAgents(agents != null ? agents.Count : 100);
|
||||
}
|
||||
|
||||
if (GUILayout.Button("Line")) {
|
||||
type = RVOExampleType.Line;
|
||||
CreateAgents(agents != null ? Mathf.Min(agents.Count, 100) : 10);
|
||||
}
|
||||
|
||||
if (GUILayout.Button("Circle")) {
|
||||
type = RVOExampleType.Circle;
|
||||
CreateAgents(agents != null ? agents.Count : 100);
|
||||
}
|
||||
|
||||
if (GUILayout.Button("Point")) {
|
||||
type = RVOExampleType.Point;
|
||||
CreateAgents(agents != null ? agents.Count : 100);
|
||||
}
|
||||
|
||||
if (GUILayout.Button("Crossing")) {
|
||||
type = RVOExampleType.Crossing;
|
||||
CreateAgents(agents != null ? agents.Count : 100);
|
||||
}
|
||||
}
|
||||
|
||||
private float uniformDistance (float radius) {
|
||||
float v = Random.value + Random.value;
|
||||
|
||||
if (v > 1) return radius * (2-v);
|
||||
else return radius * v;
|
||||
}
|
||||
|
||||
/// <summary>Create a number of agents in circle and restart simulation</summary>
|
||||
public void CreateAgents (int num) {
|
||||
this.agentCount = num;
|
||||
|
||||
agents = new List<IAgent>(agentCount);
|
||||
goals = new List<Vector3>(agentCount);
|
||||
colors = new List<Color>(agentCount);
|
||||
|
||||
sim.ClearAgents();
|
||||
|
||||
if (type == RVOExampleType.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 + Random.value * 0.01f);
|
||||
IAgent agent = sim.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 == RVOExampleType.Line) {
|
||||
for (int i = 0; i < agentCount; i++) {
|
||||
Vector3 pos = new Vector3((i % 2 == 0 ? 1 : -1) * exampleScale, 0, (i / 2) * radius * 2.5f);
|
||||
IAgent agent = sim.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 == RVOExampleType.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;
|
||||
IAgent agent = sim.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 == RVOExampleType.RandomStreams) {
|
||||
float circleRad = Mathf.Sqrt(agentCount * radius * radius * 4 / Mathf.PI) * exampleScale * 0.05f;
|
||||
|
||||
for (int i = 0; i < agentCount; i++) {
|
||||
float angle = Random.value * Mathf.PI * 2.0f;
|
||||
float targetAngle = Random.value * Mathf.PI * 2.0f;
|
||||
Vector3 pos = new Vector3(Mathf.Cos(angle), 0, Mathf.Sin(angle)) * uniformDistance(circleRad);
|
||||
IAgent agent = sim.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 == RVOExampleType.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*Random.value);
|
||||
Vector3 pos = new Vector3(Mathf.Cos(angle), 0, Mathf.Sin(angle)) * dist;
|
||||
IAgent agent = sim.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++) {
|
||||
IAgent agent = agents[i];
|
||||
agent.Radius = radius;
|
||||
agent.AgentTimeHorizon = agentTimeHorizon;
|
||||
agent.ObstacleTimeHorizon = obstacleTimeHorizon;
|
||||
agent.MaxNeighbours = maxNeighbours;
|
||||
agent.DebugDraw = i == 0 && debug;
|
||||
}
|
||||
}
|
||||
|
||||
public void Update () {
|
||||
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++) {
|
||||
IAgent 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 * 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 * 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];
|
||||
|
||||
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|
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|
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|
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|
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|
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|
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|
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}
|
||||
|
||||
//Update the mesh
|
||||
mesh.Clear();
|
||||
mesh.vertices = verts;
|
||||
mesh.uv = uv;
|
||||
mesh.colors = meshColors;
|
||||
mesh.triangles = tris;
|
||||
mesh.RecalculateNormals();
|
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}
|
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}
|
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using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>
|
||||
/// Places ROV agents in circles.
|
||||
/// Used in a example scene
|
||||
/// </summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_r_v_o_agent_placer.php")]
|
||||
public class RVOAgentPlacer : MonoBehaviour {
|
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public int agents = 100;
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public float ringSize = 100;
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public LayerMask mask;
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public GameObject prefab;
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public Vector3 goalOffset;
|
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public float repathRate = 1;
|
||||
|
||||
// Use this for initialization
|
||||
IEnumerator Start () {
|
||||
yield return null;
|
||||
|
||||
for (int i = 0; i < agents; i++) {
|
||||
float angle = ((float)i / agents)*(float)System.Math.PI*2;
|
||||
|
||||
Vector3 pos = new Vector3((float)System.Math.Cos(angle), 0, (float)System.Math.Sin(angle))*ringSize;
|
||||
Vector3 antipodal = -pos + goalOffset;
|
||||
|
||||
GameObject go = GameObject.Instantiate(prefab, Vector3.zero, Quaternion.Euler(0, angle+180, 0)) as GameObject;
|
||||
RVOExampleAgent ag = go.GetComponent<RVOExampleAgent>();
|
||||
|
||||
if (ag == null) {
|
||||
Debug.LogError("Prefab does not have an RVOExampleAgent component attached");
|
||||
yield break;
|
||||
}
|
||||
|
||||
//ag.radius = radius;
|
||||
go.transform.parent = transform;
|
||||
go.transform.position = pos;
|
||||
|
||||
ag.repathRate = repathRate;
|
||||
ag.SetTarget(antipodal);
|
||||
|
||||
ag.SetColor(GetColor(angle));
|
||||
}
|
||||
}
|
||||
|
||||
const float rad2Deg = 360.0f/ ((float)System.Math.PI*2);
|
||||
|
||||
public Color GetColor (float angle) {
|
||||
return AstarMath.HSVToRGB(angle * rad2Deg, 0.8f, 0.6f);
|
||||
}
|
||||
}
|
||||
}
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@@ -0,0 +1,196 @@
|
||||
using UnityEngine;
|
||||
using System.Collections.Generic;
|
||||
using Pathfinding.RVO;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>
|
||||
/// Example movement script for using RVO.
|
||||
///
|
||||
/// Primarily intended for the example scenes.
|
||||
/// You can use the AIPath or RichAI movement scripts in your own projects.
|
||||
///
|
||||
/// See: <see cref="Pathfinding.AIPath"/>
|
||||
/// See: <see cref="Pathfinding.RichAI"/>
|
||||
/// See: <see cref="Pathfinding.RVO.RVOController"/>
|
||||
/// </summary>
|
||||
[RequireComponent(typeof(RVOController))]
|
||||
[RequireComponent(typeof(Seeker))]
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_r_v_o_example_agent.php")]
|
||||
public class RVOExampleAgent : MonoBehaviour {
|
||||
public float repathRate = 1;
|
||||
|
||||
private float nextRepath = 0;
|
||||
|
||||
private Vector3 target;
|
||||
private bool canSearchAgain = true;
|
||||
|
||||
private RVOController controller;
|
||||
public float maxSpeed = 10;
|
||||
|
||||
Path path = null;
|
||||
|
||||
List<Vector3> vectorPath;
|
||||
int wp;
|
||||
|
||||
public float moveNextDist = 1;
|
||||
public float slowdownDistance = 1;
|
||||
public LayerMask groundMask;
|
||||
|
||||
Seeker seeker;
|
||||
|
||||
MeshRenderer[] rends;
|
||||
|
||||
public void Awake () {
|
||||
seeker = GetComponent<Seeker>();
|
||||
controller = GetComponent<RVOController>();
|
||||
}
|
||||
|
||||
/// <summary>Set the point to move to</summary>
|
||||
public void SetTarget (Vector3 target) {
|
||||
this.target = target;
|
||||
RecalculatePath();
|
||||
}
|
||||
|
||||
/// <summary>Animate the change of color</summary>
|
||||
public void SetColor (Color color) {
|
||||
if (rends == null) rends = GetComponentsInChildren<MeshRenderer>();
|
||||
foreach (MeshRenderer rend in rends) {
|
||||
Color current = rend.material.GetColor("_TintColor");
|
||||
AnimationCurve curveR = AnimationCurve.Linear(0, current.r, 1, color.r);
|
||||
AnimationCurve curveG = AnimationCurve.Linear(0, current.g, 1, color.g);
|
||||
AnimationCurve curveB = AnimationCurve.Linear(0, current.b, 1, color.b);
|
||||
|
||||
AnimationClip clip = new AnimationClip();
|
||||
#if !(UNITY_4_3 || UNITY_4_5 || UNITY_4_6 || UNITY_4_7 || UNITY_4_8)
|
||||
// Needed to make Unity5 happy
|
||||
clip.legacy = true;
|
||||
#endif
|
||||
clip.SetCurve("", typeof(Material), "_TintColor.r", curveR);
|
||||
clip.SetCurve("", typeof(Material), "_TintColor.g", curveG);
|
||||
clip.SetCurve("", typeof(Material), "_TintColor.b", curveB);
|
||||
|
||||
Animation anim = rend.gameObject.GetComponent<Animation>();
|
||||
if (anim == null) {
|
||||
anim = rend.gameObject.AddComponent<Animation>();
|
||||
}
|
||||
clip.wrapMode = WrapMode.Once;
|
||||
anim.AddClip(clip, "ColorAnim");
|
||||
anim.Play("ColorAnim");
|
||||
}
|
||||
}
|
||||
|
||||
public void RecalculatePath () {
|
||||
canSearchAgain = false;
|
||||
nextRepath = Time.time+repathRate*(Random.value+0.5f);
|
||||
seeker.StartPath(transform.position, target, OnPathComplete);
|
||||
}
|
||||
|
||||
public void OnPathComplete (Path _p) {
|
||||
ABPath p = _p as ABPath;
|
||||
|
||||
canSearchAgain = true;
|
||||
|
||||
if (path != null) path.Release(this);
|
||||
path = p;
|
||||
p.Claim(this);
|
||||
|
||||
if (p.error) {
|
||||
wp = 0;
|
||||
vectorPath = null;
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
Vector3 p1 = p.originalStartPoint;
|
||||
Vector3 p2 = transform.position;
|
||||
p1.y = p2.y;
|
||||
float d = (p2-p1).magnitude;
|
||||
wp = 0;
|
||||
|
||||
vectorPath = p.vectorPath;
|
||||
Vector3 waypoint;
|
||||
|
||||
if (moveNextDist > 0) {
|
||||
for (float t = 0; t <= d; t += moveNextDist*0.6f) {
|
||||
wp--;
|
||||
Vector3 pos = p1 + (p2-p1)*t;
|
||||
|
||||
do {
|
||||
wp++;
|
||||
waypoint = vectorPath[wp];
|
||||
} while (controller.To2D(pos - waypoint).sqrMagnitude < moveNextDist*moveNextDist && wp != vectorPath.Count-1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Update () {
|
||||
if (Time.time >= nextRepath && canSearchAgain) {
|
||||
RecalculatePath();
|
||||
}
|
||||
|
||||
Vector3 pos = transform.position;
|
||||
|
||||
if (vectorPath != null && vectorPath.Count != 0) {
|
||||
while ((controller.To2D(pos - vectorPath[wp]).sqrMagnitude < moveNextDist*moveNextDist && wp != vectorPath.Count-1) || wp == 0) {
|
||||
wp++;
|
||||
}
|
||||
|
||||
// Current path segment goes from vectorPath[wp-1] to vectorPath[wp]
|
||||
// We want to find the point on that segment that is 'moveNextDist' from our current position.
|
||||
// This can be visualized as finding the intersection of a circle with radius 'moveNextDist'
|
||||
// centered at our current position with that segment.
|
||||
var p1 = vectorPath[wp-1];
|
||||
var p2 = vectorPath[wp];
|
||||
|
||||
// Calculate the intersection with the circle. This involves some math.
|
||||
var t = VectorMath.LineCircleIntersectionFactor(controller.To2D(transform.position), controller.To2D(p1), controller.To2D(p2), moveNextDist);
|
||||
// Clamp to a point on the segment
|
||||
t = Mathf.Clamp01(t);
|
||||
Vector3 waypoint = Vector3.Lerp(p1, p2, t);
|
||||
|
||||
// Calculate distance to the end of the path
|
||||
float remainingDistance = controller.To2D(waypoint - pos).magnitude + controller.To2D(waypoint - p2).magnitude;
|
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for (int i = wp; i < vectorPath.Count - 1; i++) remainingDistance += controller.To2D(vectorPath[i+1] - vectorPath[i]).magnitude;
|
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|
||||
// Set the target to a point in the direction of the current waypoint at a distance
|
||||
// equal to the remaining distance along the path. Since the rvo agent assumes that
|
||||
// it should stop when it reaches the target point, this will produce good avoidance
|
||||
// behavior near the end of the path. When not close to the end point it will act just
|
||||
// as being commanded to move in a particular direction, not toward a particular point
|
||||
var rvoTarget = (waypoint - pos).normalized * remainingDistance + pos;
|
||||
// When within [slowdownDistance] units from the target, use a progressively lower speed
|
||||
var desiredSpeed = Mathf.Clamp01(remainingDistance / slowdownDistance) * maxSpeed;
|
||||
Debug.DrawLine(transform.position, waypoint, Color.red);
|
||||
controller.SetTarget(rvoTarget, desiredSpeed, maxSpeed);
|
||||
} else {
|
||||
// Stand still
|
||||
controller.SetTarget(pos, maxSpeed, maxSpeed);
|
||||
}
|
||||
|
||||
// Get a processed movement delta from the rvo controller and move the character.
|
||||
// This is based on information from earlier frames.
|
||||
var movementDelta = controller.CalculateMovementDelta(Time.deltaTime);
|
||||
pos += movementDelta;
|
||||
|
||||
// Rotate the character if the velocity is not extremely small
|
||||
if (Time.deltaTime > 0 && movementDelta.magnitude / Time.deltaTime > 0.01f) {
|
||||
var rot = transform.rotation;
|
||||
var targetRot = Quaternion.LookRotation(movementDelta, controller.To3D(Vector2.zero, 1));
|
||||
const float RotationSpeed = 5;
|
||||
if (controller.movementPlane == MovementPlane.XY) {
|
||||
targetRot = targetRot * Quaternion.Euler(-90, 180, 0);
|
||||
}
|
||||
transform.rotation = Quaternion.Slerp(rot, targetRot, Time.deltaTime * RotationSpeed);
|
||||
}
|
||||
|
||||
if (controller.movementPlane == MovementPlane.XZ) {
|
||||
RaycastHit hit;
|
||||
if (Physics.Raycast(pos + Vector3.up, Vector3.down, out hit, 2, groundMask)) {
|
||||
pos.y = hit.point.y;
|
||||
}
|
||||
}
|
||||
|
||||
transform.position = pos;
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}
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}
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}
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using UnityEngine;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>Example script for generating an infinite procedural world</summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_procedural_world.php")]
|
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public class ProceduralWorld : MonoBehaviour {
|
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public Transform target;
|
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|
||||
public ProceduralPrefab[] prefabs;
|
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|
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/// <summary>How far away to generate tiles</summary>
|
||||
public int range = 1;
|
||||
|
||||
public int disableAsyncLoadWithinRange = 1;
|
||||
|
||||
/// <summary>World size of tiles</summary>
|
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public float tileSize = 100;
|
||||
public int subTiles = 20;
|
||||
|
||||
/// <summary>
|
||||
/// Enable static batching on generated tiles.
|
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/// Will improve overall FPS, but might cause FPS drops on
|
||||
/// some frames when static batching is done
|
||||
/// </summary>
|
||||
public bool staticBatching = false;
|
||||
|
||||
Queue<IEnumerator> tileGenerationQueue = new Queue<IEnumerator>();
|
||||
|
||||
public enum RotationRandomness {
|
||||
AllAxes,
|
||||
Y
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class ProceduralPrefab {
|
||||
/// <summary>Prefab to use</summary>
|
||||
public GameObject prefab;
|
||||
|
||||
/// <summary>Number of objects per square world unit</summary>
|
||||
public float density = 0;
|
||||
|
||||
/// <summary>
|
||||
/// Multiply by [perlin noise].
|
||||
/// Value from 0 to 1 indicating weight.
|
||||
/// </summary>
|
||||
public float perlin = 0;
|
||||
|
||||
/// <summary>
|
||||
/// Perlin will be raised to this power.
|
||||
/// A higher value gives more distinct edges
|
||||
/// </summary>
|
||||
public float perlinPower = 1;
|
||||
|
||||
/// <summary>Some offset to avoid identical density maps</summary>
|
||||
public Vector2 perlinOffset = Vector2.zero;
|
||||
|
||||
/// <summary>
|
||||
/// Perlin noise scale.
|
||||
/// A higher value spreads out the maximums and minimums of the density.
|
||||
/// </summary>
|
||||
public float perlinScale = 1;
|
||||
|
||||
/// <summary>
|
||||
/// Multiply by [random].
|
||||
/// Value from 0 to 1 indicating weight.
|
||||
/// </summary>
|
||||
public float random = 1;
|
||||
|
||||
public RotationRandomness randomRotation = RotationRandomness.AllAxes;
|
||||
|
||||
/// <summary>If checked, a single object will be created in the center of each tile</summary>
|
||||
public bool singleFixed = false;
|
||||
}
|
||||
|
||||
/// <summary>All tiles</summary>
|
||||
Dictionary<Int2, ProceduralTile> tiles = new Dictionary<Int2, ProceduralTile>();
|
||||
|
||||
// Use this for initialization
|
||||
void Start () {
|
||||
// Calculate the closest tiles
|
||||
// and then recalculate the graph
|
||||
Update();
|
||||
AstarPath.active.Scan();
|
||||
|
||||
StartCoroutine(GenerateTiles());
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update () {
|
||||
// Calculate the tile the target is standing on
|
||||
Int2 p = new Int2(Mathf.RoundToInt((target.position.x - tileSize*0.5f) / tileSize), Mathf.RoundToInt((target.position.z - tileSize*0.5f) / tileSize));
|
||||
|
||||
// Clamp range
|
||||
range = range < 1 ? 1 : range;
|
||||
|
||||
// Remove tiles which are out of range
|
||||
bool changed = true;
|
||||
while (changed) {
|
||||
changed = false;
|
||||
foreach (KeyValuePair<Int2, ProceduralTile> pair in tiles) {
|
||||
if (Mathf.Abs(pair.Key.x-p.x) > range || Mathf.Abs(pair.Key.y-p.y) > range) {
|
||||
pair.Value.Destroy();
|
||||
tiles.Remove(pair.Key);
|
||||
changed = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Add tiles which have come in range
|
||||
// and start calculating them
|
||||
for (int x = p.x-range; x <= p.x+range; x++) {
|
||||
for (int z = p.y-range; z <= p.y+range; z++) {
|
||||
if (!tiles.ContainsKey(new Int2(x, z))) {
|
||||
ProceduralTile tile = new ProceduralTile(this, x, z);
|
||||
var generator = tile.Generate();
|
||||
// Tick it one step forward
|
||||
generator.MoveNext();
|
||||
// Calculate the rest later
|
||||
tileGenerationQueue.Enqueue(generator);
|
||||
tiles.Add(new Int2(x, z), tile);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// The ones directly adjacent to the current one
|
||||
// should always be completely calculated
|
||||
// make sure they are
|
||||
for (int x = p.x-disableAsyncLoadWithinRange; x <= p.x+disableAsyncLoadWithinRange; x++) {
|
||||
for (int z = p.y-disableAsyncLoadWithinRange; z <= p.y+disableAsyncLoadWithinRange; z++) {
|
||||
tiles[new Int2(x, z)].ForceFinish();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
IEnumerator GenerateTiles () {
|
||||
while (true) {
|
||||
if (tileGenerationQueue.Count > 0) {
|
||||
var generator = tileGenerationQueue.Dequeue();
|
||||
yield return StartCoroutine(generator);
|
||||
}
|
||||
yield return null;
|
||||
}
|
||||
}
|
||||
|
||||
class ProceduralTile {
|
||||
int x, z;
|
||||
System.Random rnd;
|
||||
|
||||
ProceduralWorld world;
|
||||
|
||||
public bool destroyed { get; private set; }
|
||||
|
||||
public ProceduralTile (ProceduralWorld world, int x, int z) {
|
||||
this.x = x;
|
||||
this.z = z;
|
||||
this.world = world;
|
||||
rnd = new System.Random((x * 10007) ^ (z*36007));
|
||||
}
|
||||
|
||||
Transform root;
|
||||
IEnumerator ie;
|
||||
|
||||
public IEnumerator Generate () {
|
||||
ie = InternalGenerate();
|
||||
GameObject rt = new GameObject("Tile " + x + " " + z);
|
||||
root = rt.transform;
|
||||
while (ie != null && root != null && ie.MoveNext()) yield return ie.Current;
|
||||
ie = null;
|
||||
}
|
||||
|
||||
public void ForceFinish () {
|
||||
while (ie != null && root != null && ie.MoveNext()) {}
|
||||
ie = null;
|
||||
}
|
||||
|
||||
Vector3 RandomInside () {
|
||||
Vector3 v = new Vector3();
|
||||
|
||||
v.x = (x + (float)rnd.NextDouble())*world.tileSize;
|
||||
v.z = (z + (float)rnd.NextDouble())*world.tileSize;
|
||||
return v;
|
||||
}
|
||||
|
||||
Vector3 RandomInside (float px, float pz) {
|
||||
Vector3 v = new Vector3();
|
||||
|
||||
v.x = (px + (float)rnd.NextDouble()/world.subTiles)*world.tileSize;
|
||||
v.z = (pz + (float)rnd.NextDouble()/world.subTiles)*world.tileSize;
|
||||
return v;
|
||||
}
|
||||
|
||||
Quaternion RandomYRot (ProceduralPrefab prefab) {
|
||||
return prefab.randomRotation == RotationRandomness.AllAxes ? Quaternion.Euler(360*(float)rnd.NextDouble(), 360*(float)rnd.NextDouble(), 360*(float)rnd.NextDouble()) : Quaternion.Euler(0, 360 * (float)rnd.NextDouble(), 0);
|
||||
}
|
||||
|
||||
IEnumerator InternalGenerate () {
|
||||
Debug.Log("Generating tile " + x + ", " + z);
|
||||
int counter = 0;
|
||||
|
||||
float[, ] ditherMap = new float[world.subTiles+2, world.subTiles+2];
|
||||
|
||||
//List<GameObject> objs = new List<GameObject>();
|
||||
|
||||
for (int i = 0; i < world.prefabs.Length; i++) {
|
||||
ProceduralPrefab pref = world.prefabs[i];
|
||||
|
||||
if (pref.singleFixed) {
|
||||
Vector3 p = new Vector3((x+0.5f) * world.tileSize, 0, (z+0.5f) * world.tileSize);
|
||||
GameObject ob = GameObject.Instantiate(pref.prefab, p, Quaternion.identity) as GameObject;
|
||||
ob.transform.parent = root;
|
||||
} else {
|
||||
float subSize = world.tileSize/world.subTiles;
|
||||
|
||||
for (int sx = 0; sx < world.subTiles; sx++) {
|
||||
for (int sz = 0; sz < world.subTiles; sz++) {
|
||||
ditherMap[sx+1, sz+1] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
for (int sx = 0; sx < world.subTiles; sx++) {
|
||||
for (int sz = 0; sz < world.subTiles; sz++) {
|
||||
float px = x + sx/(float)world.subTiles;//sx / world.tileSize;
|
||||
float pz = z + sz/(float)world.subTiles;//sz / world.tileSize;
|
||||
|
||||
float perl = Mathf.Pow(Mathf.PerlinNoise((px + pref.perlinOffset.x)*pref.perlinScale, (pz + pref.perlinOffset.y)*pref.perlinScale), pref.perlinPower);
|
||||
|
||||
float density = pref.density * Mathf.Lerp(1, perl, pref.perlin) * Mathf.Lerp(1, (float)rnd.NextDouble(), pref.random);
|
||||
float fcount = subSize*subSize*density + ditherMap[sx+1, sz+1];
|
||||
int count = Mathf.RoundToInt(fcount);
|
||||
|
||||
// Apply dithering
|
||||
// See http://en.wikipedia.org/wiki/Floyd%E2%80%93Steinberg_dithering
|
||||
ditherMap[sx+1+1, sz+1+0] += (7f/16f) * (fcount - count);
|
||||
ditherMap[sx+1-1, sz+1+1] += (3f/16f) * (fcount - count);
|
||||
ditherMap[sx+1+0, sz+1+1] += (5f/16f) * (fcount - count);
|
||||
ditherMap[sx+1+1, sz+1+1] += (1f/16f) * (fcount - count);
|
||||
|
||||
// Create a number of objects
|
||||
for (int j = 0; j < count; j++) {
|
||||
// Find a random position inside the current sub-tile
|
||||
Vector3 p = RandomInside(px, pz);
|
||||
GameObject ob = GameObject.Instantiate(pref.prefab, p, RandomYRot(pref)) as GameObject;
|
||||
ob.transform.parent = root;
|
||||
//ob.SetActive ( false );
|
||||
//objs.Add ( ob );
|
||||
counter++;
|
||||
if (counter % 2 == 0)
|
||||
yield return null;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ditherMap = null;
|
||||
|
||||
yield return null;
|
||||
yield return null;
|
||||
|
||||
//Batch everything for improved performance
|
||||
if (Application.HasProLicense() && world.staticBatching) {
|
||||
StaticBatchingUtility.Combine(root.gameObject);
|
||||
}
|
||||
}
|
||||
|
||||
public void Destroy () {
|
||||
if (root != null) {
|
||||
Debug.Log("Destroying tile " + x + ", " + z);
|
||||
GameObject.Destroy(root.gameObject);
|
||||
root = null;
|
||||
}
|
||||
|
||||
// Make sure the tile generator coroutine is destroyed
|
||||
ie = null;
|
||||
}
|
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}
|
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}
|
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}
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||||
folderAsset: yes
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||||
userData:
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|
||||
using UnityEngine;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>
|
||||
/// Moves an object along a spline.
|
||||
/// Helper script in the example scene called 'Moving'.
|
||||
/// </summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_bezier_mover.php")]
|
||||
public class BezierMover : MonoBehaviour {
|
||||
public Transform[] points;
|
||||
|
||||
public float speed = 1;
|
||||
public float tiltAmount = 1f;
|
||||
public float tiltSmoothing = 1.0f;
|
||||
|
||||
float time = 0;
|
||||
Vector3 averageCurvature;
|
||||
|
||||
Vector3 Evaluate (float t, out Vector3 derivative, out Vector3 secondDerivative, out Vector3 curvature) {
|
||||
int c = points.Length;
|
||||
int pt = (Mathf.FloorToInt(t) + c) % c;
|
||||
var p0 = points[(pt-1+c)%c].position;
|
||||
var p1 = points[pt].position;
|
||||
var p2 = points[(pt+1)%c].position;
|
||||
var p3 = points[(pt+2)%c].position;
|
||||
var tprime = t - Mathf.FloorToInt(t);
|
||||
|
||||
CatmullRomToBezier(p0, p1, p2, p3, out var c0, out var c1, out var c2, out var c3);
|
||||
derivative = AstarSplines.CubicBezierDerivative(c0, c1, c2, c3, tprime);
|
||||
secondDerivative = AstarSplines.CubicBezierSecondDerivative(c0, c1, c2, c3, tprime);
|
||||
curvature = Curvature(derivative, secondDerivative);
|
||||
return AstarSplines.CubicBezier(c0, c1, c2, c3, tprime);
|
||||
}
|
||||
|
||||
/// <summary>Converts a catmull-rom spline to bezier control points</summary>
|
||||
static void CatmullRomToBezier (Vector3 p0, Vector3 p1, Vector3 p2, Vector3 p3, out Vector3 c0, out Vector3 c1, out Vector3 c2, out Vector3 c3) {
|
||||
c0 = p1;
|
||||
c1 = (-p0 + 6*p1 + 1*p2)*(1/6.0f);
|
||||
c2 = (p1 + 6*p2 - p3)*(1/6.0f);
|
||||
c3 = p2;
|
||||
}
|
||||
|
||||
static Vector3 Curvature (Vector3 derivate, Vector3 secondDerivative) {
|
||||
var dx = derivate.magnitude;
|
||||
|
||||
if (dx < 0.000001f) return Vector3.zero;
|
||||
return Vector3.Cross(derivate, secondDerivative) / (dx*dx*dx);
|
||||
}
|
||||
|
||||
/// <summary>Update is called once per frame</summary>
|
||||
void Update () {
|
||||
// Move the agent a small distance along the path, according to its speed
|
||||
float mn = time;
|
||||
float mx = time+1;
|
||||
|
||||
while (mx - mn > 0.0001f) {
|
||||
float mid = (mn+mx)/2;
|
||||
|
||||
Vector3 p = Evaluate(mid, out var dummy1, out var dummy2, out var dummy3);
|
||||
if ((p-transform.position).sqrMagnitude > (speed*Time.deltaTime)*(speed*Time.deltaTime)) {
|
||||
mx = mid;
|
||||
} else {
|
||||
mn = mid;
|
||||
}
|
||||
}
|
||||
|
||||
time = (mn+mx)/2;
|
||||
|
||||
transform.position = Evaluate(time, out var derivative, out var dummy, out var curvature);
|
||||
|
||||
averageCurvature = Vector3.Lerp(averageCurvature, curvature, Time.deltaTime);
|
||||
|
||||
// Estimate the acceleration at the current point and use it to tilt the object inwards on the curve
|
||||
var centripetalAcceleration = -Vector3.Cross(derivative.normalized, averageCurvature);
|
||||
var up = new Vector3(0, 1/(tiltAmount + 0.00001f), 0) + centripetalAcceleration;
|
||||
transform.rotation = Quaternion.LookRotation(derivative, up);
|
||||
}
|
||||
|
||||
void OnDrawGizmos () {
|
||||
if (points.Length >= 3) {
|
||||
for (int i = 0; i < points.Length; i++) if (points[i] == null) return;
|
||||
|
||||
Gizmos.color = Color.white;
|
||||
Vector3 pp = Evaluate(0, out var derivative, out var secondDerivative, out var curvature);
|
||||
for (int pt = 0; pt < points.Length; pt++) {
|
||||
for (int i = 1; i <= 100; i++) {
|
||||
var p = Evaluate(pt + (i / 100f), out derivative, out secondDerivative, out curvature);
|
||||
Gizmos.DrawLine(pp, p);
|
||||
pp = p;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
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|
||||
using UnityEngine;
|
||||
namespace Pathfinding {
|
||||
using Pathfinding.Util;
|
||||
|
||||
/// <summary>Helper for <see cref="Pathfinding.Examples.LocalSpaceRichAI"/></summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_local_space_graph.php")]
|
||||
public class LocalSpaceGraph : VersionedMonoBehaviour {
|
||||
Matrix4x4 originalMatrix;
|
||||
public GraphTransform transformation { get; private set; }
|
||||
|
||||
void Start () {
|
||||
originalMatrix = transform.worldToLocalMatrix;
|
||||
transform.hasChanged = true;
|
||||
Refresh();
|
||||
}
|
||||
|
||||
public void Refresh () {
|
||||
// Avoid updating the GraphTransform if the object has not moved
|
||||
if (transform.hasChanged) {
|
||||
transformation = new GraphTransform(transform.localToWorldMatrix * originalMatrix);
|
||||
transform.hasChanged = false;
|
||||
}
|
||||
}
|
||||
}
|
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|
||||
using UnityEngine;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>
|
||||
/// RichAI for local space (pathfinding on moving graphs).
|
||||
///
|
||||
/// What this script does is that it fakes graph movement.
|
||||
/// It can be seen in the example scene called 'Moving' where
|
||||
/// a character is pathfinding on top of a moving ship.
|
||||
/// The graph does not actually move in that example
|
||||
/// instead there is some 'cheating' going on.
|
||||
///
|
||||
/// When requesting a path, we first transform
|
||||
/// the start and end positions of the path request
|
||||
/// into local space for the object we are moving on
|
||||
/// (e.g the ship in the example scene), then when we get the
|
||||
/// path back, they will still be in these local coordinates.
|
||||
/// When following the path, we will every frame transform
|
||||
/// the coordinates of the waypoints in the path to global
|
||||
/// coordinates so that we can follow them.
|
||||
///
|
||||
/// At the start of the game (when the graph is scanned) the
|
||||
/// object we are moving on should be at a valid position on the graph and
|
||||
/// you should attach the <see cref="Pathfinding.LocalSpaceGraph"/> component to it. The <see cref="Pathfinding.LocalSpaceGraph"/>
|
||||
/// component will store the position and orientation of the object right there are the start
|
||||
/// and then we can use that information to transform coordinates back to that region of the graph
|
||||
/// as if the object had not moved at all.
|
||||
///
|
||||
/// This functionality is only implemented for the RichAI
|
||||
/// script, however it should not be hard to
|
||||
/// use the same approach for other movement scripts.
|
||||
/// </summary>
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_local_space_rich_a_i.php")]
|
||||
public class LocalSpaceRichAI : RichAI {
|
||||
/// <summary>Root of the object we are moving on</summary>
|
||||
public LocalSpaceGraph graph;
|
||||
|
||||
void RefreshTransform () {
|
||||
graph.Refresh();
|
||||
richPath.transform = graph.transformation;
|
||||
movementPlane = graph.transformation;
|
||||
}
|
||||
|
||||
protected override void Start () {
|
||||
RefreshTransform();
|
||||
base.Start();
|
||||
}
|
||||
|
||||
protected override void CalculatePathRequestEndpoints (out Vector3 start, out Vector3 end) {
|
||||
RefreshTransform();
|
||||
base.CalculatePathRequestEndpoints(out start, out end);
|
||||
start = graph.transformation.InverseTransform(start);
|
||||
end = graph.transformation.InverseTransform(end);
|
||||
}
|
||||
|
||||
public override void OnSyncUpdate(int dt, JNFrameInfo frame, Object input)
|
||||
{
|
||||
RefreshTransform();
|
||||
base.OnSyncUpdate(dt, frame, input);
|
||||
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|
||||
|
||||
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|
||||
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using UnityEngine;
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using System.Collections;
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namespace Pathfinding.Examples {
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/// <summary>Helper script in the example scene 'Turn Based'</summary>
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[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_astar3_d_button.php")]
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public GraphNode node;
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public void OnHover (bool hover) {
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// TODO: Play animation
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}
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using UnityEngine;
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using System.Collections;
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using UnityEngine.UI;
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namespace Pathfinding.Examples {
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/// <summary>Helper script in the example scene 'Turn Based'</summary>
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[RequireComponent(typeof(Animator))]
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[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_hexagon_trigger.php")]
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public Button button;
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bool visible;
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button.interactable = false;
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anim.CrossFade("hide", 0.1f);
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using UnityEngine;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace Pathfinding.Examples {
|
||||
/// <summary>Helper script in the example scene 'Turn Based'</summary>
|
||||
[RequireComponent(typeof(Animator))]
|
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[RequireComponent(typeof(SingleNodeBlocker))]
|
||||
[HelpURL("https://arongranberg.com/astar/documentation/stable/class_pathfinding_1_1_examples_1_1_turn_based_door.php")]
|
||||
public class TurnBasedDoor : MonoBehaviour {
|
||||
Animator animator;
|
||||
SingleNodeBlocker blocker;
|
||||
|
||||
bool open;
|
||||
|
||||
void Awake () {
|
||||
animator = GetComponent<Animator>();
|
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blocker = GetComponent<SingleNodeBlocker>();
|
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}
|
||||
|
||||
void Start () {
|
||||
// Make sure the door starts out blocked
|
||||
blocker.BlockAtCurrentPosition();
|
||||
animator.CrossFade("close", 0.2f);
|
||||
}
|
||||
|
||||
public void Close () {
|
||||
StartCoroutine(WaitAndClose());
|
||||
}
|
||||
|
||||
IEnumerator WaitAndClose () {
|
||||
var selector = new List<SingleNodeBlocker>() { blocker };
|
||||
var node = AstarPath.active.GetNearest(transform.position).node;
|
||||
|
||||
// Wait while there is another SingleNodeBlocker occupying the same node as the door
|
||||
// this is likely another unit which is standing on the door node, and then we cannot
|
||||
// close the door
|
||||
if (blocker.manager.NodeContainsAnyExcept(node, selector)) {
|
||||
// Door is blocked
|
||||
animator.CrossFade("blocked", 0.2f);
|
||||
}
|
||||
|
||||
while (blocker.manager.NodeContainsAnyExcept(node, selector)) {
|
||||
yield return null;
|
||||
}
|
||||
|
||||
open = false;
|
||||
animator.CrossFade("close", 0.2f);
|
||||
blocker.BlockAtCurrentPosition();
|
||||
}
|
||||
|
||||
public void Open () {
|
||||
// Stop WaitAndClose if it is running
|
||||
StopAllCoroutines();
|
||||
|
||||
// Play the open door animation
|
||||
animator.CrossFade("open", 0.2f);
|
||||
open = true;
|
||||
|
||||
// Unblock the door node so that units can traverse it again
|
||||
blocker.Unblock();
|
||||
}
|
||||
|
||||
public void Toggle () {
|
||||
if (open) {
|
||||
Close();
|
||||
} else {
|
||||
Open();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user