309 lines
11 KiB
C#
309 lines
11 KiB
C#
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using UnityEngine;
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using System.Collections.Generic;
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namespace Pathfinding {
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using Pathfinding.Util;
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/// <summary>
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/// Connects two nodes via two intermediate point nodes.
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/// In contrast to the NodeLink component, this link type will not connect the nodes directly
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/// instead it will create two point nodes at the start and end position of this link and connect
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/// through those nodes.
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///
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/// If the closest node to this object is called A and the closest node to the end transform is called
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/// D, then it will create one point node at this object's position (call it B) and one point node at
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/// the position of the end transform (call it C), it will then connect A to B, B to C and C to D.
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///
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/// This link type is possible to detect while following since it has these special point nodes in the middle.
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/// The link corresponding to one of those intermediate nodes can be retrieved using the <see cref="GetNodeLink"/> method
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/// which can be of great use if you want to, for example, play a link specific animation when reaching the link.
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///
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/// See: The example scene RecastExample2 contains a few links which you can take a look at to see how they are used.
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/// </summary>
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[AddComponentMenu("Pathfinding/Link2")]
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[HelpURL("http://arongranberg.com/astar/docs/class_pathfinding_1_1_node_link2.php")]
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public class NodeLink2 : GraphModifier {
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protected static Dictionary<GraphNode, NodeLink2> reference = new Dictionary<GraphNode, NodeLink2>();
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public static NodeLink2 GetNodeLink (GraphNode node) {
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NodeLink2 v;
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reference.TryGetValue(node, out v);
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return v;
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}
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/// <summary>End position of the link</summary>
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public Transform end;
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/// <summary>
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/// The connection will be this times harder/slower to traverse.
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/// Note that values lower than 1 will not always make the pathfinder choose this path instead of another path even though this one should
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/// lead to a lower total cost unless you also adjust the Heuristic Scale in A* Inspector -> Settings -> Pathfinding or disable the heuristic altogether.
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/// </summary>
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public float costFactor = 1.0f;
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/// <summary>Make a one-way connection</summary>
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public bool oneWay = false;
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public Transform StartTransform {
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get { return transform; }
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}
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public Transform EndTransform {
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get { return end; }
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}
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public PointNode startNode { get; private set; }
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public PointNode endNode { get; private set; }
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GraphNode connectedNode1, connectedNode2;
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Vector3 clamped1, clamped2;
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bool postScanCalled = false;
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[System.Obsolete("Use startNode instead (lowercase s)")]
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public GraphNode StartNode {
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get { return startNode; }
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}
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[System.Obsolete("Use endNode instead (lowercase e)")]
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public GraphNode EndNode {
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get { return endNode; }
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}
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public override void OnPostScan () {
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InternalOnPostScan();
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}
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public void InternalOnPostScan () {
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if (EndTransform == null || StartTransform == null) return;
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#if ASTAR_NO_POINT_GRAPH
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throw new System.Exception("Point graph is not included. Check your A* optimization settings.");
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#else
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if (AstarPath.active.data.pointGraph == null) {
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var graph = AstarPath.active.data.AddGraph(typeof(PointGraph)) as PointGraph;
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graph.name = "PointGraph (used for node links)";
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}
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if (startNode != null && startNode.Destroyed) {
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reference.Remove(startNode);
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startNode = null;
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}
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if (endNode != null && endNode.Destroyed) {
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reference.Remove(endNode);
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endNode = null;
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}
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// Create new nodes on the point graph
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if (startNode == null) startNode = AstarPath.active.data.pointGraph.AddNode((Int3)StartTransform.position);
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if (endNode == null) endNode = AstarPath.active.data.pointGraph.AddNode((Int3)EndTransform.position);
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connectedNode1 = null;
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connectedNode2 = null;
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if (startNode == null || endNode == null) {
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startNode = null;
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endNode = null;
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return;
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}
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postScanCalled = true;
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reference[startNode] = this;
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reference[endNode] = this;
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Apply(true);
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#endif
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}
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public override void OnGraphsPostUpdate () {
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// Don't bother running it now since OnPostScan will be called later anyway
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if (AstarPath.active.isScanning)
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return;
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if (connectedNode1 != null && connectedNode1.Destroyed) {
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connectedNode1 = null;
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}
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if (connectedNode2 != null && connectedNode2.Destroyed) {
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connectedNode2 = null;
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}
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if (!postScanCalled) {
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OnPostScan();
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} else {
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Apply(false);
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}
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}
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protected override void OnEnable () {
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base.OnEnable();
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#if !ASTAR_NO_POINT_GRAPH
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if (Application.isPlaying && AstarPath.active != null && AstarPath.active.data != null && AstarPath.active.data.pointGraph != null && !AstarPath.active.isScanning) {
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// Call OnGraphsPostUpdate as soon as possible when it is safe to update the graphs
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AstarPath.active.AddWorkItem(OnGraphsPostUpdate);
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}
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#endif
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}
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protected override void OnDisable () {
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base.OnDisable();
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postScanCalled = false;
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if (startNode != null) reference.Remove(startNode);
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if (endNode != null) reference.Remove(endNode);
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if (startNode != null && endNode != null) {
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startNode.RemoveConnection(endNode);
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endNode.RemoveConnection(startNode);
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if (connectedNode1 != null && connectedNode2 != null) {
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startNode.RemoveConnection(connectedNode1);
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connectedNode1.RemoveConnection(startNode);
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endNode.RemoveConnection(connectedNode2);
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connectedNode2.RemoveConnection(endNode);
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}
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}
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}
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void RemoveConnections (GraphNode node) {
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//TODO, might be better to replace connection
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node.ClearConnections(true);
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}
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[ContextMenu("Recalculate neighbours")]
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void ContextApplyForce () {
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if (Application.isPlaying) {
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Apply(true);
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}
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}
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public void Apply (bool forceNewCheck) {
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//TODO
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//This function assumes that connections from the n1,n2 nodes never need to be removed in the future (e.g because the nodes move or something)
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NNConstraint nn = NNConstraint.None;
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int graph = (int)startNode.GraphIndex;
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//Search all graphs but the one which start and end nodes are on
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nn.graphMask = ~(1 << graph);
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startNode.SetPosition((Int3)StartTransform.position);
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endNode.SetPosition((Int3)EndTransform.position);
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RemoveConnections(startNode);
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RemoveConnections(endNode);
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uint cost = (uint)Mathf.RoundToInt(((Int3)(StartTransform.position-EndTransform.position)).costMagnitude*costFactor);
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startNode.AddConnection(endNode, cost);
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endNode.AddConnection(startNode, cost);
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if (connectedNode1 == null || forceNewCheck) {
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var info = AstarPath.active.GetNearest(StartTransform.position, nn);
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connectedNode1 = info.node;
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clamped1 = info.position;
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}
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if (connectedNode2 == null || forceNewCheck) {
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var info = AstarPath.active.GetNearest(EndTransform.position, nn);
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connectedNode2 = info.node;
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clamped2 = info.position;
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}
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if (connectedNode2 == null || connectedNode1 == null) return;
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//Add connections between nodes, or replace old connections if existing
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connectedNode1.AddConnection(startNode, (uint)Mathf.RoundToInt(((Int3)(clamped1 - StartTransform.position)).costMagnitude*costFactor));
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if (!oneWay) connectedNode2.AddConnection(endNode, (uint)Mathf.RoundToInt(((Int3)(clamped2 - EndTransform.position)).costMagnitude*costFactor));
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if (!oneWay) startNode.AddConnection(connectedNode1, (uint)Mathf.RoundToInt(((Int3)(clamped1 - StartTransform.position)).costMagnitude*costFactor));
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endNode.AddConnection(connectedNode2, (uint)Mathf.RoundToInt(((Int3)(clamped2 - EndTransform.position)).costMagnitude*costFactor));
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}
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private readonly static Color GizmosColor = new Color(206.0f/255.0f, 136.0f/255.0f, 48.0f/255.0f, 0.5f);
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private readonly static Color GizmosColorSelected = new Color(235.0f/255.0f, 123.0f/255.0f, 32.0f/255.0f, 1.0f);
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public virtual void OnDrawGizmosSelected () {
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OnDrawGizmos(true);
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}
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public void OnDrawGizmos () {
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OnDrawGizmos(false);
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}
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public void OnDrawGizmos (bool selected) {
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Color color = selected ? GizmosColorSelected : GizmosColor;
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if (StartTransform != null) {
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Draw.Gizmos.CircleXZ(StartTransform.position, 0.4f, color);
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}
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if (EndTransform != null) {
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Draw.Gizmos.CircleXZ(EndTransform.position, 0.4f, color);
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}
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if (StartTransform != null && EndTransform != null) {
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Draw.Gizmos.Bezier(StartTransform.position, EndTransform.position, color);
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if (selected) {
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Vector3 cross = Vector3.Cross(Vector3.up, (EndTransform.position-StartTransform.position)).normalized;
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Draw.Gizmos.Bezier(StartTransform.position+cross*0.1f, EndTransform.position+cross*0.1f, color);
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Draw.Gizmos.Bezier(StartTransform.position-cross*0.1f, EndTransform.position-cross*0.1f, color);
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}
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}
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}
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internal static void SerializeReferences (Pathfinding.Serialization.GraphSerializationContext ctx) {
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var links = GetModifiersOfType<NodeLink2>();
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ctx.writer.Write(links.Count);
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foreach (var link in links) {
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ctx.writer.Write(link.uniqueID);
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ctx.SerializeNodeReference(link.startNode);
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ctx.SerializeNodeReference(link.endNode);
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ctx.SerializeNodeReference(link.connectedNode1);
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ctx.SerializeNodeReference(link.connectedNode2);
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ctx.SerializeVector3(link.clamped1);
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ctx.SerializeVector3(link.clamped2);
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ctx.writer.Write(link.postScanCalled);
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}
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}
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internal static void DeserializeReferences (Pathfinding.Serialization.GraphSerializationContext ctx) {
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int count = ctx.reader.ReadInt32();
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for (int i = 0; i < count; i++) {
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var linkID = ctx.reader.ReadUInt64();
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var startNode = ctx.DeserializeNodeReference();
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var endNode = ctx.DeserializeNodeReference();
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var connectedNode1 = ctx.DeserializeNodeReference();
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var connectedNode2 = ctx.DeserializeNodeReference();
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var clamped1 = ctx.DeserializeVector3();
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var clamped2 = ctx.DeserializeVector3();
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var postScanCalled = ctx.reader.ReadBoolean();
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GraphModifier link;
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if (usedIDs.TryGetValue(linkID, out link)) {
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var link2 = link as NodeLink2;
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if (link2 != null) {
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if (startNode != null) reference[startNode] = link2;
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if (endNode != null) reference[endNode] = link2;
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// If any nodes happened to be registered right now
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if (link2.startNode != null) reference.Remove(link2.startNode);
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if (link2.endNode != null) reference.Remove(link2.endNode);
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link2.startNode = startNode as PointNode;
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link2.endNode = endNode as PointNode;
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link2.connectedNode1 = connectedNode1;
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link2.connectedNode2 = connectedNode2;
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link2.postScanCalled = postScanCalled;
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link2.clamped1 = clamped1;
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link2.clamped2 = clamped2;
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} else {
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throw new System.Exception("Tried to deserialize a NodeLink2 reference, but the link was not of the correct type or it has been destroyed.\nIf a NodeLink2 is included in serialized graph data, the same NodeLink2 component must be present in the scene when loading the graph data.");
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}
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} else {
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throw new System.Exception("Tried to deserialize a NodeLink2 reference, but the link could not be found in the scene.\nIf a NodeLink2 is included in serialized graph data, the same NodeLink2 component must be present in the scene when loading the graph data.");
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}
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}
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}
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}
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}
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