+ astar project

1 files changed, 73 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Core/AI/LocalSpaceRichAI.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Core/AI/LocalSpaceRichAI.cs
new file mode 100644
index 0000000..076f8a4
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Core/AI/LocalSpaceRichAI.cs
@@ -0,0 +1,73 @@
+using UnityEngine;
+namespace Pathfinding.Examples {
+	using Pathfinding.Util;
+
+	/// <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/localspacerichai.html")]
+	public class LocalSpaceRichAI : RichAI {
+		/// <summary>Root of the object we are moving on</summary>
+		public LocalSpaceGraph graph;
+
+		protected override Vector3 ClampPositionToGraph (Vector3 newPosition) {
+			RefreshTransform();
+			// Clamp the new position to the navmesh
+			// First we need to transform the position to the same space that the graph is in though.
+			var nearest = AstarPath.active != null? AstarPath.active.GetNearest(graph.transformation.InverseTransform(newPosition)) : new NNInfo();
+			float elevation;
+
+			movementPlane.ToPlane(newPosition, out elevation);
+			return movementPlane.ToWorld(movementPlane.ToPlane(nearest.node != null ? graph.transformation.Transform(nearest.position) : newPosition), elevation);
+		}
+
+		void RefreshTransform () {
+			graph.Refresh();
+			richPath.transform = graph.transformation;
+			movementPlane = graph.transformation.ToSimpleMovementPlane();
+		}
+
+		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);
+		}
+
+		protected override void OnUpdate (float dt) {
+			RefreshTransform();
+			base.OnUpdate(dt);
+		}
+	}
+}