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创建路由

UNIGINE has a built-in pathfinding system that includes navigation areas, obstacles and functions of the PathRoute class that are used to calculate the optimal routes among obstacles within navigation areas.UNIGINE有一个内置的寻路系统,包括导航区域障碍物PathRoute类的函数,用于计算导航区域内障碍物之间的最佳路线。

警告
3D navigation feature is experimental and not recommended for production use.3D导航功能是实验性的,不建议在最终应用程序中使用。

Via UnigineEditor, you can only add a navigation area (a sector or a mesh) to the scene and place obstacles. The 2D or 3D route that is calculated within the navigation area should be created from the code.通过UnigineEditor,您只能在场景中添加导航区域(扇区或网格)并放置障碍物。 应从代码创建在导航区域内计算的2D或3D路线。

Creating a Route within Navigation Area
在导航区域内创建路线#

To create a route within a navigation area, in which no obstacles are placed, you can use the following:要在不放置障碍物的导航区域内创建路线,可以使用以下方法:

源代码 (C++)
// declare points between which a route should be calculated
Unigine::Math::Vec3 p0 = Unigine::Math::Vec3(-60.0f, -60.0f, 5.0f);
Unigine::Math::Vec3 p1 = Unigine::Math::Vec3(60.0f, 60.0f, 5.0f);
源代码 (C++)
// create a new route
route = PathRoute::create();
// set a radius for the point which will move along the route
route->setRadius(1.2f);
源代码 (C++)
// create a 3D route
route->create3D(p0,p1);
注意
You can create a 2D route the same way by calling the create2D() function.您可以通过调用create2D()函数以相同的方式创建2D路由。

To visualize the calculated route, call the renderVisualizer() function of the PathRoute class:要可视化计算的路由,请调用PathRoute类的renderVisualizer()函数:

源代码 (C++)
route->renderVisualizer(vec4(1.0f));

To visualize the navigation area, call the renderVisualizer() functions of the Node class:要可视化导航区域,请调用Node类的renderVisualizer()函数:

源代码 (C++)
sector->renderVisualizer();
注意
You should enable the engine visualizer by calling Visualizer::setEnabled(1);您应该通过调用Visualizer::setEnabled(1);来启用引擎可视化工具

You can affect route calculation via UnigineEditor by adjusting parameters of the navigation sector or mesh.您可以通过UnigineEditor通过调整导航扇区或网格的参数来影响路线计算。

Creating a Route within Navigation Area with Obstacles
在有障碍物的导航区域内创建路线#

Creating the route within a navigation area with obstacles is similar to creating the route within an empty navigation area. Moreover, the route will be recalculated if the obstacle changes its transformation.在具有障碍的导航区域内创建路线类似于在空导航区域内创建路线。 此外,如果障碍物改变其变换,则会重新计算路线。

If the obstacle is connected with a dynamically changing node that should be bypassed, this node should be set as a parent node for the obstacle. This will enable simultaneous changing transformation of the node and the obstacle. For example:如果障碍物与应绕过的动态变化节点连接,则应将此节点设置为障碍物的父节点。 这将实现节点和障碍物的同时变化变换。 例如:

源代码 (C++)
#ifndef __APP_WORLD_LOGIC_H__
#define __APP_WORLD_LOGIC_H__

#include <UnigineLogic.h>
#include <UnigineStreams.h>
#include <UnigineObjects.h>
#include <UniginePathFinding.h>

class AppWorldLogic : public Unigine::WorldLogic
{

public:
	AppWorldLogic();
	virtual ~AppWorldLogic();

	int init() override;

	int update() override;
	int postUpdate() override;
	int updatePhysics() override;

	int shutdown() override;

	int save(const Unigine::StreamPtr &stream) override;
	int restore(const Unigine::StreamPtr &stream) override;

private:

	// declare the required variables
	Unigine::ObstacleBoxPtr box_obstacle;
	Unigine::ObjectMeshStaticPtr box;
	Unigine::PathRoutePtr route;

	// declare points between which a route should be calculated
	Unigine::Math::Vec3 p0 = Unigine::Math::Vec3(-60.0f, -60.0f, 5.0f);
	Unigine::Math::Vec3 p1 = Unigine::Math::Vec3(60.0f, 60.0f, 5.0f);

};

#endif // __APP_WORLD_LOGIC_H__
源代码 (C++)
#include "AppWorldLogic.h"
#include <UnigineEditor.h>
#include <UnigineGame.h>
#include <UnigineVisualizer.h>
#include <UnigineLog.h>

using namespace Unigine;
using namespace Math;

// World logic, it takes effect only when the world is loaded.
// These methods are called right after corresponding world script's (UnigineScript) methods.

AppWorldLogic::AppWorldLogic()
{
}

AppWorldLogic::~AppWorldLogic()
{
}

int AppWorldLogic::init()
{
	// enable the engine visualizer
	Visualizer::setEnabled(1);

	// create a navigation sector within which pathfinding will be performed
	NavigationSectorPtr navigation = NavigationSector::create(vec3(128.0f, 128.0f, 8.0f));
	navigation->setWorldTransform(translate(Vec3(1.0f, 1.0f, 5.0f)));

	// create the ObjectMeshStatic that should be bypassed
	box = ObjectMeshStatic::create("core/meshes/box.mesh");
	box->setPosition(Vec3(2.0f, 2.2f, 1.5f));
	box->setScale(vec3(2.0f, 2.0f, 2.0f));

	// create an obstacle
	box_obstacle = ObstacleBox::create(vec3(1.2f, 1.2f, 1.2f));
	box_obstacle->setPosition(Vec3(0.0f, 0.0f, 0.0f));

	// add the obstacle as the child node to the mesh in order to change their transformation simultaneously
	box->addChild(box_obstacle);

	// create a new route
	route = PathRoute::create();
	// set a radius for the point which will move along the route
	route->setRadius(1.2f);

	return 1;
}

////////////////////////////////////////////////////////////////////////////////
// start of the main loop
////////////////////////////////////////////////////////////////////////////////

int AppWorldLogic::update()
{
	// get the frame duration
	float ifps = Game::getIFps();
	// and define the angle of the object's rotation
	float angle = ifps * 90.0f;

	// change transformation of the mesh
	box->setTransform(box->getTransform() * Mat4(rotateZ(angle)));
	// render the bounding box of the obstacle
	box_obstacle->renderVisualizer();

	// recalculate the route in the current frame and render its visualizer
	route->create2D(p0, p1);
	if (route->isReached()) route->renderVisualizer(vec4(1.0f));
	else Log::message("PathRoute failed"); 
	
	return 1;
}

int AppWorldLogic::postUpdate()
{
	// The engine calls this function after updating each render frame: correct behavior after the state of the node has been updated.
	return 1;
}

int AppWorldLogic::updatePhysics()
{
	// Write here code to be called before updating each physics frame: control physics in your application and put non-rendering calculations.
	// The engine calls updatePhysics() with the fixed rate (60 times per second by default) regardless of the FPS value.
	// WARNING: do not create, delete or change transformations of nodes here, because rendering is already in progress.
	return 1;
}

////////////////////////////////////////////////////////////////////////////////
// end of the main loop
////////////////////////////////////////////////////////////////////////////////

int AppWorldLogic::shutdown()
{
	// Write here code to be called on world shutdown: delete resources that were created during world script execution to avoid memory leaks.
	return 1;
}

int AppWorldLogic::save(const Unigine::StreamPtr &stream)
{
	// Write here code to be called when the world is saving its state (i.e. state_save is called): save custom user data to a file.
	UNIGINE_UNUSED(stream);
	return 1;
}

int AppWorldLogic::restore(const Unigine::StreamPtr &stream)
{
	// Write here code to be called when the world is restoring its state (i.e. state_restore is called): restore custom user data to a file here.
	UNIGINE_UNUSED(stream);
	return 1;
}
注意
In the example above, the route is recalculated each frame. However, it is non-optimal for application performance. You can calculate the route, for example, once per 10 frames.在上面的示例中,每个帧都会重新计算路由。 但是,它对于应用程序性能来说不是最佳的。 例如,可以每10帧计算一次路由。

As a result, you will have a simple navigation sector, in which the dynamically changing obstacle box is placed.最终,您将有一个简单的导航扇区,其中放置了动态变化的障碍框。

Here the obstacle is highlighted with red在这儿,障碍用红色突出显示
最新更新: 2024-08-16
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