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add option to calculate full nav mesh path in map window

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This commit is contained in:
in0finite 2022-03-27 03:43:24 +02:00
parent 277003708f
commit d5a84e0c7f
2 changed files with 58 additions and 8 deletions
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32
Assets/Scripts/Behaviours/PathfindingManager.cs
View file

@ -360,5 +360,37 @@ namespace SanAndreasUnity.Behaviours
if (!sortedSet.Remove(element))
throw new InvalidOperationException("Failed to remove element from SortedSet");
}
public static List<Vector3> CalculateFullNavMeshPath(
Vector3 source, Vector3 dest, int areaMask)
{
var allCorners = new List<Vector3>();
var path = new NavMeshPath();
Vector3 nextSource = source;
int i = 0;
while (true)
{
if (!NavMesh.CalculatePath(nextSource, dest, areaMask, path))
break;
Vector3[] pathCorners = path.corners;
allCorners.AddRange(pathCorners);
if (path.status == NavMeshPathStatus.PathComplete)
break;
if (pathCorners.Length <= 1) // partial path that leads nowhere ?
break;
nextSource = pathCorners.Last();
i++;
if (i >= 50)
break;
}
return allCorners;
}
}
}

32
Assets/Scripts/UI/MapWindow.cs
View file

@ -32,11 +32,12 @@ namespace SanAndreasUnity.UI {
private Vector3[] m_navMeshPathToWaypoint = null;
private enum PathType
{
NavMeshFull,
NavMesh,
Ped,
}
private PathType m_pathType = PathType.NavMesh;
private static readonly string[] s_pathTypeTexts = new string[] { "NavMesh", "Ped" };
private PathType m_pathType = PathType.NavMeshFull;
private static readonly string[] s_pathTypeTexts = new string[] { "NavMeshFull", "NavMesh", "Ped" };
private int m_selectedPathType = 0;
private Vector2 m_lastMousePosition = Vector2.zero;
@ -290,6 +291,17 @@ namespace SanAndreasUnity.UI {
sourcePos,
targetPos,
OnPathToWaypointFound);
}
else if (m_pathType == PathType.NavMeshFull)
{
var sw = System.Diagnostics.Stopwatch.StartNew();
if (NavMesh.SamplePosition(targetPos, out var hit, 300f, -1))
targetPos = hit.position;
m_navMeshPathToWaypoint = PathfindingManager.CalculateFullNavMeshPath(sourcePos, targetPos, -1).ToArray();
LogPathCalculationInfo(m_navMeshPathToWaypoint, null, sw.Elapsed.TotalMilliseconds);
}
else if (m_pathType == PathType.NavMesh)
{
@ -302,11 +314,7 @@ namespace SanAndreasUnity.UI {
if (NavMesh.CalculatePath(sourcePos, targetPos, -1, path))
m_navMeshPathToWaypoint = path.corners;
Debug.Log($"Nav mesh path calculation done - " +
$"status {path.status}, " +
$"num corners {m_navMeshPathToWaypoint?.Length ?? 0}, " +
$"total distance {m_navMeshPathToWaypoint?.Skip(1).Select((corner, i) => Vector3.Distance(corner, m_navMeshPathToWaypoint[i])).Sum()}, " +
$"time {sw.Elapsed.TotalMilliseconds} ms");
LogPathCalculationInfo(m_navMeshPathToWaypoint, path.status, sw.Elapsed.TotalMilliseconds);
}
}
@ -323,6 +331,16 @@ namespace SanAndreasUnity.UI {
m_pathToWaypoint = null;
}
private static void LogPathCalculationInfo(
Vector3[] corners, NavMeshPathStatus? pathStatus, double timeElapsedMs)
{
Debug.Log($"Nav mesh path calculation done - " +
(pathStatus.HasValue ? $"status {pathStatus.Value}, " : "") +
$"num corners {corners?.Length ?? 0}, " +
$"total distance {corners?.Skip(1).Select((corner, i) => Vector3.Distance(corner, corners[i])).Sum()}, " +
$"time {timeElapsedMs} ms");
}
void Update() {