+ astar project

1 files changed, 245 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Navmesh/NavmeshAdd.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Navmesh/NavmeshAdd.cs
new file mode 100644
index 0000000..ac75af8
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Navmesh/NavmeshAdd.cs
@@ -0,0 +1,245 @@
+using UnityEngine;
+
+namespace Pathfinding {
+	using Pathfinding.Drawing;
+	using Pathfinding.Graphs.Util;
+
+	/// <summary>
+	/// Adds new geometry to a recast graph.
+	///
+	/// This component will add new geometry to a recast graph similar
+	/// to how a NavmeshCut component removes it.
+	///
+	/// There are quite a few limitations to this component though.
+	/// This navmesh geometry will not be connected to the rest of the navmesh
+	/// in the same tile unless very exactly positioned so that the
+	/// triangles line up exactly.
+	/// It will be connected to neighbouring tiles if positioned so that
+	/// it lines up with the tile border.
+	///
+	/// This component has a few very specific use-cases.
+	/// For example if you have a tiled recast graph
+	/// this component could be used to add bridges
+	/// in that world.
+	/// You would create a NavmeshCut object cutting out a hole for the bridge.
+	/// then add a NavmeshAdd object which fills that space.
+	/// Make sure NavmeshCut.CutsAddedGeom is disabled on the NavmeshCut, otherwise it will
+	/// cut away the NavmeshAdd object.
+	/// Then you can add links between the added geometry and the rest of the world, preferably using NodeLink3.
+	/// </summary>
+	[HelpURL("https://arongranberg.com/astar/documentation/stable/navmeshadd.html")]
+	public class NavmeshAdd : NavmeshClipper {
+		public enum MeshType {
+			Rectangle,
+			CustomMesh
+		}
+
+		public MeshType type;
+
+		/// <summary>
+		/// Custom mesh to use.
+		/// The contour(s) of the mesh will be extracted.
+		/// If you get the "max perturbations" error when cutting with this, check the normals on the mesh.
+		/// They should all point in the same direction. Try flipping them if that does not help.
+		/// </summary>
+		public Mesh mesh;
+
+		/// <summary>Cached vertices</summary>
+		Vector3[] verts;
+
+		/// <summary>Cached triangles</summary>
+		int[] tris;
+
+		/// <summary>Size of the rectangle</summary>
+		public Vector2 rectangleSize = new Vector2(1, 1);
+
+		public float meshScale = 1;
+
+		public Vector3 center;
+
+		/// <summary>
+		/// Includes rotation and scale in calculations.
+		/// This is slower since a lot more matrix multiplications are needed but gives more flexibility.
+		/// </summary>
+		[UnityEngine.Serialization.FormerlySerializedAsAttribute("useRotation")]
+		public bool useRotationAndScale;
+
+		/// <summary>
+		/// Distance between positions to require an update of the navmesh.
+		/// A smaller distance gives better accuracy, but requires more updates when moving the object over time,
+		/// so it is often slower.
+		/// </summary>
+		[Tooltip("Distance between positions to require an update of the navmesh\nA smaller distance gives better accuracy, but requires more updates when moving the object over time, so it is often slower.")]
+		public float updateDistance = 0.4f;
+
+		/// <summary>
+		/// How many degrees rotation that is required for an update to the navmesh.
+		/// Should be between 0 and 180.
+		/// </summary>
+		[Tooltip("How many degrees rotation that is required for an update to the navmesh. Should be between 0 and 180.")]
+		public float updateRotationDistance = 10;
+
+		/// <summary>cached transform component</summary>
+		protected Transform tr;
+
+		/// <summary>
+		/// Returns true if this object has moved so much that it requires an update.
+		/// When an update to the navmesh has been done, call NotifyUpdated to be able to get
+		/// relavant output from this method again.
+		/// </summary>
+		public override bool RequiresUpdate (GridLookup<NavmeshClipper>.Root previousState) {
+			return (tr.position-previousState.previousPosition).sqrMagnitude > updateDistance*updateDistance || (useRotationAndScale && (Quaternion.Angle(previousState.previousRotation, tr.rotation) > updateRotationDistance));
+		}
+
+		/// <summary>
+		/// Forces this navmesh add to update the navmesh.
+		///
+		/// This update is not instant, it is done the next time it is checked if it needs updating.
+		/// See: <see cref="NavmeshUpdates.updateInterval"/>
+		/// See: <see cref="NavmeshUpdates.ForceUpdate"/>
+		/// </summary>
+		public override void ForceUpdate () {
+			AstarPath.active.navmeshUpdates.ForceUpdateAround(this);
+		}
+
+		protected override void Awake () {
+			base.Awake();
+			tr = transform;
+		}
+
+		/// <summary>Internal method to notify the NavmeshAdd that it has just been used to update the navmesh</summary>
+		internal override void NotifyUpdated (GridLookup<NavmeshClipper>.Root previousState) {
+			previousState.previousPosition = tr.position;
+
+			if (useRotationAndScale) {
+				previousState.previousRotation = tr.rotation;
+			}
+		}
+
+		public Vector3 Center {
+			get {
+				return tr.position + (useRotationAndScale ? tr.TransformPoint(center) : center);
+			}
+		}
+
+		[ContextMenu("Rebuild Mesh")]
+		public void RebuildMesh () {
+			if (type == MeshType.CustomMesh) {
+				if (mesh == null) {
+					verts = null;
+					tris = null;
+				} else {
+					verts = mesh.vertices;
+					tris = mesh.triangles;
+				}
+			} else { // Rectangle
+				if (verts == null || verts.Length != 4 || tris == null || tris.Length != 6) {
+					verts = new Vector3[4];
+					tris = new int[6];
+				}
+
+				tris[0] = 0;
+				tris[1] = 1;
+				tris[2] = 2;
+				tris[3] = 0;
+				tris[4] = 2;
+				tris[5] = 3;
+
+				verts[0] =  new Vector3(-rectangleSize.x*0.5f, 0, -rectangleSize.y*0.5f);
+				verts[1] =  new Vector3(rectangleSize.x*0.5f, 0, -rectangleSize.y*0.5f);
+				verts[2] =  new Vector3(rectangleSize.x*0.5f, 0,  rectangleSize.y*0.5f);
+				verts[3] =  new Vector3(-rectangleSize.x*0.5f, 0,  rectangleSize.y*0.5f);
+			}
+		}
+
+		/// <summary>
+		/// Bounds in XZ space after transforming using the *inverse* transform of the inverseTransform parameter.
+		/// The transformation will typically transform the vertices to graph space and this is used to
+		/// figure out which tiles the add intersects.
+		/// </summary>
+		public override Rect GetBounds (Pathfinding.Util.GraphTransform inverseTransform, float radiusMargin) {
+			if (this.verts == null) RebuildMesh();
+			var verts = Pathfinding.Util.ArrayPool<Int3>.Claim(this.verts != null? this.verts.Length : 0);
+			int[] tris;
+			GetMesh(ref verts, out tris, inverseTransform);
+
+			Rect r = new Rect();
+			for (int i = 0; i < tris.Length; i++) {
+				var p = (Vector3)verts[tris[i]];
+				if (i == 0) {
+					r = new Rect(p.x, p.z, 0, 0);
+				} else {
+					r.xMax = System.Math.Max(r.xMax, p.x);
+					r.yMax = System.Math.Max(r.yMax, p.z);
+					r.xMin = System.Math.Min(r.xMin, p.x);
+					r.yMin = System.Math.Min(r.yMin, p.z);
+				}
+			}
+
+			Pathfinding.Util.ArrayPool<Int3>.Release(ref verts);
+			return r;
+		}
+
+		/// <summary>Copy the mesh to the vertex and triangle buffers after the vertices have been transformed using the inverse of the inverseTransform parameter.</summary>
+		/// <param name="vbuffer">Assumed to be either null or an array which has a length of zero or a power of two. If this mesh has more
+		///  vertices than can fit in the buffer then the buffer will be pooled using Pathfinding.Util.ArrayPool.Release and
+		///  a new sufficiently large buffer will be taken from the pool.</param>
+		/// <param name="tbuffer">This will be set to the internal triangle buffer. You must not modify this array.</param>
+		/// <param name="inverseTransform">All vertices will be transformed using the #Pathfinding.GraphTransform.InverseTransform method.
+		///  This is typically used to transform from world space to graph space.</param>
+		public void GetMesh (ref Int3[] vbuffer, out int[] tbuffer, Pathfinding.Util.GraphTransform inverseTransform = null) {
+			if (verts == null) RebuildMesh();
+
+			if (verts == null) {
+				tbuffer = Util.ArrayPool<int>.Claim(0);
+				return;
+			}
+
+			if (vbuffer == null || vbuffer.Length < verts.Length) {
+				if (vbuffer != null) Util.ArrayPool<Int3>.Release(ref vbuffer);
+				vbuffer = Util.ArrayPool<Int3>.Claim(verts.Length);
+			}
+			tbuffer = tris;
+
+			if (useRotationAndScale) {
+				Matrix4x4 m = Matrix4x4.TRS(tr.position + center, tr.rotation, tr.localScale * meshScale);
+
+				for (int i = 0; i < verts.Length; i++) {
+					var v = m.MultiplyPoint3x4(verts[i]);
+					if (inverseTransform != null) v = inverseTransform.InverseTransform(v);
+					vbuffer[i] = (Int3)v;
+				}
+			} else {
+				Vector3 voffset = tr.position + center;
+				for (int i = 0; i < verts.Length; i++) {
+					var v = voffset + verts[i]*meshScale;
+					if (inverseTransform != null) v = inverseTransform.InverseTransform(v);
+					vbuffer[i] = (Int3)v;
+				}
+			}
+		}
+
+		public static readonly Color GizmoColor = new Color(154.0f/255, 35.0f/255, 239.0f/255);
+
+#if UNITY_EDITOR
+		public static Int3[] gizmoBuffer;
+
+		public override void DrawGizmos () {
+			if (tr == null) tr = transform;
+
+			int[] tbuffer;
+			GetMesh(ref gizmoBuffer, out tbuffer);
+
+			for (int i = 0; i < tbuffer.Length; i += 3) {
+				var v1 = (Vector3)gizmoBuffer[tbuffer[i+0]];
+				var v2 = (Vector3)gizmoBuffer[tbuffer[i+1]];
+				var v3 = (Vector3)gizmoBuffer[tbuffer[i+2]];
+
+				Draw.Line(v1, v2, GizmoColor);
+				Draw.Line(v2, v3, GizmoColor);
+				Draw.Line(v3, v1, GizmoColor);
+			}
+		}
+#endif
+	}
+}