在有障碍物的导航区域内创建2D路线

The created navigation sector only provides the area within which routes are calculated. The routes themselves must be created from the code. So, let's create the corresponding C++ component for 2D route calculation.创建的导航扇区仅提供计算路线的区域。 路由本身必须从代码创建。 因此，让我们为2D路由计算创建相应的C++组件。

Add a new Route2D class inherited from the ComponentBase class (the *.h and *.cpp files) to the project. The class name will be used as the property name.将从ComponentBase类（*.h和*.cpp文件）继承的新Route2D类添加到项目中。 类名将用作属性名。

1. In the Route2D.h file, declare a component class, parameters and a route:在Route2D.h文件中，声明一个组件类、参数和一个路由:

   • Two parameters that will accept nodes between which a route should be calculated.两个参数将接受应该计算路由的节点
   • Route color.路线颜色
   源代码 (C++)

   #include <UnigineComponentSystem.h>
   #include <UniginePathFinding.h>
   
   using namespace Unigine;
   using namespace Math;
   
   // derive the component from the ComponentBase class
   class Route2D : public ComponentBase
   {
   public:
   
   	// declare constructor and destructor and define a property name. The Route2D.prop file containing all parameters listed below will be saved in your project's data folder
   	COMPONENT_DEFINE(Route2D, ComponentBase);
   	// declare methods to be called at the corresponding stages of the execution sequence
   	COMPONENT_INIT(init);
   	COMPONENT_UPDATE(update);
   	COMPONENT_SHUTDOWN(shutdown);
   
   	// declare parameters of the component
   	PROP_PARAM(Node, startPoint, NULL);
   	PROP_PARAM(Node, finishPoint, NULL);
   	PROP_PARAM(Color, routeColor, vec4_zero);
   
   	void init();
   	void update();
   	void shutdown();
   
   private:
   	// declare a route
   	PathRoutePtr route;
   };

2. In the Route2D.cpp file, register the component.在Route2D.cpp文件中，注册组件。

   源代码 (C++)

   #include "Route2D.h"
   
   REGISTER_COMPONENT(Route2D);

3. Create a route and set the radius and height for the point which will move along the route in the init() method. Before creation, check if the nodes to be used as the start and finish points are specified.在init()方法中创建一条路线并设置将沿着路线移动的点的半径和高度。 在创建之前，检查是否指定了要用作起点和终点的节点。

   源代码 (C++)

   #include "Route2D.h"
   #include <UnigineNode.h>
   #include <UnigineConsole.h>
   #include <UnigineVisualizer.h>
   #include <UnigineLog.h>
   
   REGISTER_COMPONENT(Route2D);
   
   void Route2D::init() {
   	// check if the start and destination nodes are correctly specified via the component interface
   	if (startPoint && finishPoint)
   	{
   		// create a new route
   		route = PathRoute::create();
   
   		// set a radius and height for the point which will move along the route
   		route->setRadius(0.1f);
   		route->setHeight(0.1f);
   	}
   }

4. To enable displaying the calculated route at run time, turn on the Visualizer. Additionally, you can output console messages to the application screen. Add the following logic to the init() function:要启用在运行时显示计算的路由，请打开Visualizer。 此外，您还可以将控制台消息输出到应用程序屏幕。 将以下逻辑添加到init()函数中:

   源代码 (C++)

   Console::setOnscreen(true);
   Visualizer::setEnabled(true);

5. In the update() function, calculate the route from the start to destination node:在update()函数中，计算从开始到目的节点的路由:

   源代码 (C++)

   void Route2D::update() {
   
   	if (startPoint && finishPoint)
   	{
   		route->create2D(startPoint->getWorldPosition(), finishPoint->getWorldPosition());
   		if (route->isReached())
   		{
   			// if the destination point is reached, render the root in a specified color
   			route->renderVisualizer(routeColor);
   		}
   		else
   			Log::message("PathRoute not reached yet\n");
   	}
   }

   注意

   Here the route is recalculated each frame. However, it is not optimal for application performance. Instead, you can calculate the route once per several frames: pass a delay to the create2D() function as the third argument.这里每帧重新计算路由。然而，这并不是应用程序性能的最佳选择。相反，您可以每几帧计算一次路由:将延迟传递给Create2D()函数作为第三个参数。

6. Implement the shutdown() function to disable the Visualizer and onscreen console messages:实现shutdown()函数以禁用Visualizer和屏幕上的控制台消息:

   源代码 (C++)

   void Route2D::shutdown() {
   
   	Console::setOnscreen(false);
   	Visualizer::setEnabled(false);
   }

7. The component is registered automatically by the Component System upon its initialization. However, you should add the following to the AppSystemLogic::init() method:组件在初始化时由组件系统自动注册。 但是，您应该将以下内容添加到AppSystemLogic::init()方法中:

   源代码 (C++)

   #include <UnigineComponentSystem.h>
   
   int AppSystemLogic::init() {
   	// initialize ComponentSystem and register components
   	Unigine::ComponentSystem::get()->initialize();
   
   	return 1;
   }

8. Build the project and run it once to generate the property for the Route2D component. It will be located in the data/ComponentSystem folder.构建项目并运行一次以生成Route2D组件的属性。 它将位于data/ComponentSystem文件夹中。

Here is the full code of the component:下面是组件的完整代码:

#pragma once

#include <UnigineComponentSystem.h>
#include <UniginePathFinding.h>

using namespace Unigine;
using namespace Math;

// derive the component from the ComponentBase class
class Route2D : public ComponentBase
{
public:

	// declare constructor and destructor and define a property name. The Route2D.prop file containing all parameters listed below will be saved in your project's data folder
	COMPONENT_DEFINE(Route2D, ComponentBase);
	// declare methods to be called at the corresponding stages of the execution sequence
	COMPONENT_INIT(init);
	COMPONENT_UPDATE(update);
	COMPONENT_SHUTDOWN(shutdown);

	// declare parameters of the component
	PROP_PARAM(Node, startPoint, NULL);
	PROP_PARAM(Node, finishPoint, NULL);
	PROP_PARAM(Color, routeColor, vec4_zero);

	void init();
	void update();
	void shutdown();

private:
	// a route
	PathRoutePtr route;
};

#include "Route2D.h"
#include <UnigineNode.h>
#include <UnigineConsole.h>
#include <UnigineVisualizer.h>
#include <UnigineLog.h>

REGISTER_COMPONENT(Route2D);

void Route2D::init() {
	// check if the start and destination nodes are correctly specified via the component interface
	if (startPoint && finishPoint)
	{
		// create a new route
		route = PathRoute::create();

		// set a radius and height for the point which will move along the route
		route->setRadius(0.1f);
		route->setHeight(0.1f);

		Console::setOnscreen(true);
		Visualizer::setEnabled(true);
	}
}

void Route2D::update() {

	if (startPoint && finishPoint)
	{
		route->create2D(startPoint->getWorldPosition(), finishPoint->getWorldPosition());
		if (route->isReached())
		{
			// if the destination point is reached, render the root in a specified color
			route->renderVisualizer(routeColor);
		}
		else
			Log::message("PathRoute not reached yet\n");
	}
}

void Route2D::shutdown() {
	
	Console::setOnscreen(false);
	Visualizer::setEnabled(false);
}

When the component logic is implemented and the property is generated, you should assign it to a node.当实现组件逻辑并生成属性时，您应该将其分配给一个节点。

1. In UnigineEditor, select Create -> Node -> Dummy and place it in the navigation area.在UnigineEditor中，选择Create -> Node -> Dummy并将其放置在导航区域中。
2. Select the dummy node and assign the Route2D property to it in the Parameters window.选择虚拟节点并在Parameters窗口中为其分配Route2D属性。

3. In the component parameters, specify the start and finish static meshes in the Start Point and Finish Point fields.在组件参数中，在Start Point和Finish Point字段中指定start和finish静态网格体。

   

4. Change the Route Color, if necessary.如有必要，请更改Route Color。

1. Add a new NodeRotator class inherited from the ComponentBase class (the *.h and *.cpp files) to the project.将从ComponentBase类（*.h和*.cpp文件）继承的新NodeRotator类添加到项目中。

2. Implement rotation logic:实现旋转逻辑:

   源代码 (C++)

   #include <UnigineComponentSystem.h>
   
   using namespace Unigine;
   using namespace Math;
   
   class NodeRotator : public ComponentBase
   {
   
   public:
   	COMPONENT_DEFINE(NodeRotator, ComponentBase);
   	COMPONENT_UPDATE(update);
   
   	// declare a parameter of the component
   	PROP_PARAM(Vec3, angularVelocity, vec3_zero);
   
   	void update();
   };

   源代码 (C++)

   #include "NodeRotator.h"
   
   #include <UnigineGame.h>
   
   REGISTER_COMPONENT(NodeRotator);
   
   void NodeRotator::update()
   {
   	// calculate the delta of rotation
   	vec3 delta = angularVelocity * Game::getIFps();
   	// update node rotation
   	node->setRotation(node->getRotation() * quat(delta.x, delta.y, delta.z));
   }

3. Build the project and run it once again to generate the property for the NodeRotator component.构建项目并再次运行它以生成NodeRotator组件的属性。

4. Assign the component to the capsule primitive that should rotate and specify the Angular Velocity:将组件分配给应旋转的capsule基元并指定Angular Velocity:

   

   The obstacle will rotate as well.障碍物也会旋转。

5. Group the sphere primitives and assign the component to the parent dummy node. It will make the spheres rotate around this parent node (as in the case of a sphere, rotation around its own axis won't affect the route calculation).对sphere基元进行分组，并将组件分配给父虚节点。 它将使球体围绕此父节点旋转（就像球体的情况一样，围绕其自己的轴旋转不会影响路线计算）。

   

1. Add a new AreaVisualizer class inherited from the ComponentBase class (the *.h and *.cpp files) to the project.将从ComponentBase类（*.h和*.cpp文件）继承的新AreaVisualizer类添加到项目中。

2. Implement the logic:实现逻辑:

   源代码 (C++)

   #pragma once
   #include <UnigineComponentSystem.h>
   #include <UniginePathFinding.h>
   
   using namespace Unigine;
   
   class AreaVisualizer : public ComponentBase
   {
   public:
   	COMPONENT_DEFINE(AreaVisualizer, ComponentBase);
   	COMPONENT_UPDATE(update);
   
   	void update();
   };

   源代码 (C++)

   #include "AreaVisualizer.h"
   
   #include <UnigineVisualizer.h>
   
   REGISTER_COMPONENT(AreaVisualizer);
   
   void AreaVisualizer::update()
   {
   	// display the navigation area gizmo
   	node->renderVisualizer();
   }

3. Build the project and run it once again to generate the property for the AreaVisualizer component.构建项目并再次运行它以生成AreaVisualizer组件的属性。
4. Assign the component to the navigation sector.将组件分配给导航扇区。

Launch the application to check the result.启动应用程序以检查结果。