unity的自动寻路之 ------ wayPoint寻路的实现方式

最新推荐文章于 2024-06-20 10:59:39 发布

u010019717

最新推荐文章于 2024-06-20 10:59:39 发布

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分类专栏： unity3d Editor私人定制文章标签： unity unity3d Unity5.1

本文链接：https://blog.csdn.net/u010019717/article/details/46674495

版权

本文介绍了在Unity中实现wayPoint寻路的方法，参考了Unity官方案例，并详细讲解了WaypointProgressTracker.cs和WaypointCircuit.cs两个关键组件的用途。通过学习，可以理解如何在Unity5.1版本中应用此技术来实现AI角色的自动寻路功能。

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孙广东 2015.6.28

看了看 Unity的官方案例，就顺便看了 wayPoint相关。

效果：

WaypointProgressTracker.cs 【固定】

WaypointCircuit.cs 【固定】

using System;
using System.Collections;
using UnityEngine;
#if UNITY_EDITOR
using UnityEditor;

#endif

namespace UnityStandardAssets.Utility
{
    public class WaypointCircuit : MonoBehaviour
    {
        public WaypointList waypointList = new WaypointList();
        [SerializeField] private bool smoothRoute = true;
        private int numPoints;
        private Vector3[] points;
        private float[] distances;

        public float editorVisualisationSubsteps = 100;
        public float Length { get; private set; }

        public Transform[] Waypoints
        {
            get { return waypointList.items; }
        }

        // 这是在这里会保存 GC 分配
        private int p0n;
        private int p1n;
        private int p2n;
        private int p3n;

        private float i;
        private Vector3 P0;
        private Vector3 P1;
        private Vector3 P2;
        private Vector3 P3;

        // Use this for initialization
        private void Awake()
        {
            if (Waypoints.Length > 1)
            {
                CachePositionsAndDistances();
            }
            numPoints = Waypoints.Length;
        }


        public RoutePoint GetRoutePoint(float dist)
        {
            // 位置和方向
            Vector3 p1 = GetRoutePosition(dist);
            Vector3 p2 = GetRoutePosition(dist + 0.1f);
            Vector3 delta = p2 - p1;
            return new RoutePoint(p1, delta.normalized);
        }


        public Vector3 GetRoutePosition(float dist)
        {
            int point = 0;

            if (Length == 0)
            {
                Length = distances[distances.Length - 1];
            }

            dist = Mathf.Repeat(dist, Length);

            while (distances[point] < dist)
            {
                ++point;
            }


            // get nearest two points, ensuring points wrap-around start & end of circuit
			// 得到最近的两个点，确保点环绕电路的开始与结束
            p1n = ((point - 1) + numPoints)%numPoints;
            p2n = point;

            // found point numbers, now find interpolation value between the two middle points
			// 发现点的数目，现在找到中间两点之间内的一个插值
            i = Mathf.InverseLerp(distances[p1n], distances[p2n], dist);

            if (smoothRoute)
            {
                // 有关两点之间的光滑catmull-rom计算。


                // 获取周围的 2 点的指数，因为catmull-rom 函数要求四个点
                p0n = ((point - 2) + numPoints)%numPoints;
                p3n = (point + 1)%numPoints;

                // 第二个点可能已经是最后的 'last' 点了 - a dupe of the first,
                // (to give a value of max track distance instead of zero)
                // but now it must be wrapped back to zero if that was the case.
                p2n = p2n%numPoints;

                P0 = points[p0n];
                P1 = points[p1n];
                P2 = points[p2n];
                P3 = points[p3n];

                return CatmullRom(P0, P1, P2, P3, i);
            }
            else
            {
                // 两个点之间的简单线性插值:

                p1n = ((point - 1) + numPoints)%numPoints;
                p2n = point;

                return Vector3.Lerp(points[p1n], points[p2n], i);
            }
        }


        private Vector3 CatmullRom(Vector3 p0, Vector3 p1, Vector3 p2, Vector3 p3, float i)
        {
            // 这是 catmull-rom 方程
            // Un-magic this, lord vector!
            return 0.5f*
                   ((2*p1) + (-p0 + p2)*i + (2*p0 - 5*p1 + 4*p2 - p3)*i*i &