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提交RVO寻路

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PC-20230316NUNE\Administrator
2024-02-22 19:25:13 +08:00
parent 2b467e56ad
commit 8f2fb1010c
100 changed files with 34628 additions and 30888 deletions
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2
JNFrame/Assets/Game/Plugins/App/App.cs
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@@ -8,7 +8,7 @@ namespace Game.Plugins.App
public static readonly JNGSocket Socket = new JNGSocket();
public static readonly JNGSyncFrame Sync = new JNGSyncFrame();
public static readonly JAPI Api = new(new JAPIConfig(){BaseURL = "http://192.168.0.126:8080"});
public static readonly JAPI Api = new(new JAPIConfig(){BaseURL = "http://192.168.0.123:8080"});
public static readonly EventDispatcher Event = EventDispatcher.Event;
public static SystemBase[] System()

3
JNFrame/Assets/Game/Plugins/App/Game/RVO2.meta Normal file
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@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 137b1b51468447048d60cf74f154783e
timeCreated: 1708511241

87
JNFrame/Assets/Game/Plugins/App/Game/RVO2/JNGRVO2Agent.cs Normal file
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@@ -0,0 +1,87 @@
using System;
using Game.Plugins.App.Sync;
using Plugins.JNGame.Sync.Frame.AStar.RVO2;
using RVO;
using UnityEngine;
using Object = UnityEngine.Object;
using Vector2 = RVO.Vector2;
namespace Game.Plugins.App.Game.RVO2
{
public class JNGRVO2Agent : JNGSyncFrameDefault
{
private JNRVO2Simulator Simulator => GetComponentInParent<JNGRVO2Manager>().Simulator;
public float maxSpeed = 20;
public float radius = 0.5f;
[HideInInspector] public int sid = -1;
private Vector2 target;
public override void OnSyncLoad()
{
base.OnSyncLoad();
var position = this.transform.position;
//设置Agent的默认属性
float neighborDist = 15.0f;//检测与邻居避障的最大距离（要关心的范围），越大纳入思考的数据量越大，越小越不安全
int maxNeighbors = 10;//检测与邻居避障的最大个数（要关心的其他单位），越大纳入思考的数据量越大，越小越不安全
float timeHorizon = 5.0f; //预测提前规避时间, 提前得越多，速度变化越频繁
float timeHorizonObst = 5.0f; //预测提前规避时间(针对固定障碍), 提前得越多，速度变化越频繁
float radius = this.radius;//阻挡半径
float maxSpeed = this.maxSpeed;//所能达到得最大速度
Vector2 velocity = new Vector2(0.0f, 0.0f);//初始的 2元线性速度，影响出生单位时排挤其他的速度
sid = Simulator.addAgent(new Vector2(position.x, position.z), neighborDist, maxNeighbors, timeHorizon,
timeHorizonObst, radius, maxSpeed,velocity);
}
//设置目标点
public void SetTarget(Vector2 targetPoint)
{
this.target = targetPoint;
}
public void SetTarget(Vector3 targetPoint)
{
this.target = new Vector2(targetPoint.x,targetPoint.z);
}
public override void OnSyncUpdate(int dt, JNFrameInfo frame, Object input)
{
base.OnSyncUpdate(dt, frame, input);
if (sid >= 0)
{
Vector2 pos = Simulator.getAgentPosition(sid);
Vector2 vel = Simulator.getAgentPrefVelocity(sid);
transform.position = new Vector3(pos.x(), transform.position.y , pos.y());
if (Math.Abs(vel.x()) > 0.01f && Math.Abs(vel.y()) > 0.01f)
//以Y轴为移动朝向
transform.forward = new Vector3(vel.x(), 0, vel.y()).normalized;
}
// if (!Input.GetMouseButton(1))//如果没有按下右键的话, 就不给予速度向量
// {
// Simulator.Instance.setAgentPrefVelocity(sid, new Vector2(0, 0));
// return;
// }
Vector2 goalVector = new Vector2(target.x(),target.y()) - Simulator.getAgentPosition(sid);
if (RVOMath.absSq(goalVector) > 1.0f)
{
goalVector = RVOMath.normalize(goalVector);
}
Simulator.setAgentPrefVelocity(sid, goalVector);
/* Perturb a little to avoid deadlocks due to perfect symmetry. */
/* 因为完美对称，所以需要加入些许抖动用来避免死锁
* 这里的完美对称，测试出是指两个完全一样的单位，不抖动=中心点一样=无法把其他排斥出去
*/
float angle = (float)GetSync().nRandomFloat(0,1) * 2.0f * (float)Math.PI;
float dist = (float)GetSync().nRandomFloat(0,1) * 0.0001f;
Simulator.setAgentPrefVelocity(sid, Simulator.getAgentPrefVelocity(sid) +
dist *
new Vector2((float)Math.Cos(angle), (float)Math.Sin(angle)));
}
}
}

3
JNFrame/Assets/Game/Plugins/App/Game/RVO2/JNGRVO2Agent.cs.meta Normal file
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@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 0ba4af5643174f63918b15ca9c43c791
timeCreated: 1708511254

47
JNFrame/Assets/Game/Plugins/App/Game/RVO2/JNGRVO2Manager.cs Normal file
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@@ -0,0 +1,47 @@
using Game.Plugins.App.Sync;
using Plugins.JNGame.Sync.Frame.AStar.RVO2;
using UnityEngine;
using Vector2 = RVO.Vector2;
namespace Game.Plugins.App.Game.RVO2
{
public class JNGRVO2Manager : JNGSyncFrameDefault
{
public readonly JNRVO2Simulator Simulator = new JNRVO2Simulator();
public override void OnSyncLoad()
{
base.OnSyncLoad();
Simulator.setTimeStep(0.25f);
// Simulator.setAgentDefaults(15.0f, 10, 5.0f, 5.0f, 2.0f, 2.0f, new Vector2(0.0f, 0.0f));
Simulator.processObstacles();
// //设置Agent的默认属性
float neighborDist = 15.0f;//检测与邻居避障的最大距离（要关心的范围），越大纳入思考的数据量越大，越小越不安全
int maxNeighbors = 10;//检测与邻居避障的最大个数（要关心的其他单位），越大纳入思考的数据量越大，越小越不安全
float timeHorizon = 5.0f; //预测提前规避时间, 提前得越多，速度变化越频繁
float timeHorizonObst = 5.0f; //预测提前规避时间(针对固定障碍), 提前得越多，速度变化越频繁
float radius = .25f;//阻挡半径
float maxSpeed = 20f;//所能达到得最大速度
Vector2 velocity = new Vector2(0.0f, 0.0f);//初始的 2元线性速度，影响出生单位时排挤其他的速度
Simulator.setAgentDefaults(neighborDist, maxNeighbors, timeHorizon, timeHorizonObst,
radius, maxSpeed, velocity);
}
public override void OnSyncUpdate(int dt, JNFrameInfo frame, Object input)
{
base.OnSyncUpdate(dt, frame, input);
// Simulator.doStep();
// if (frame.Index > 0)
// {
// Simulator.doStep();
// }
Simulator.doStep();
}
}
}

3
JNFrame/Assets/Game/Plugins/App/Game/RVO2/JNGRVO2Manager.cs.meta Normal file
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@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 19fc411c2057411598f3006923e2767a
timeCreated: 1708511299

41
JNFrame/Assets/Game/Plugins/App/Game/RVO2/JNGRVO2Obstacle.cs Normal file
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@@ -0,0 +1,41 @@
using System.Collections.Generic;
using Game.Plugins.App.Sync;
using Plugins.JNGame.Sync.Frame.AStar.RVO2;
using UnityEngine;
using Vector2 = RVO.Vector2;
namespace Game.Plugins.App.Game.RVO2
{
public class JNGRVO2Obstacle : JNGSyncFrameDefault
{
private JNRVO2Simulator Simulator => GetComponentInParent<JNGRVO2Manager>().Simulator;
public override void OnSyncLoad()
{
base.OnSyncLoad();
CreateObstacles();
}
public void CreateObstacles()
{
var boxCollider = this.GetComponent<BoxCollider>();
float minX = boxCollider.transform.position.x -
boxCollider.size.x*boxCollider.transform.lossyScale.x*0.5f;
float minZ = boxCollider.transform.position.z -
boxCollider.size.z*boxCollider.transform.lossyScale.z*0.5f;
float maxX = boxCollider.transform.position.x +
boxCollider.size.x*boxCollider.transform.lossyScale.x*0.5f;
float maxZ = boxCollider.transform.position.z +
boxCollider.size.z*boxCollider.transform.lossyScale.z*0.5f;
IList<Vector2> obstacle = new List<Vector2>();
obstacle.Add(new Vector2(maxX, maxZ));
obstacle.Add(new Vector2(minX, maxZ));
obstacle.Add(new Vector2(minX, minZ));
obstacle.Add(new Vector2(maxX, minZ));
Simulator.addObstacle(obstacle);
Simulator.processObstacles();
}
}
}

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JNFrame/Assets/Game/Plugins/App/Game/RVO2/JNGRVO2Obstacle.cs.meta Normal file
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@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 1285797067a24053bd74d9c6acdec716
timeCreated: 1708568245

2
JNFrame/Assets/Game/Plugins/App/JNGSocket.cs
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@@ -8,7 +8,7 @@ namespace Game.Plugins.App
protected override async UniTask<string> GetUrl()
{
await UniTask.NextFrame();
return "ws://192.168.0.126:8080/websocket";
return "ws://192.168.0.123:8080/websocket";
}
}
}