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，让我们创建相应的C＃组件进行2D路由计算:

1. Create the components folder in the data directory of your project: right-click in the Asset Browser and select Create Folder.在项目的data目录中创建components文件夹：在资源浏览器中右键单击并选择Create Folder。

2. In the created folder, create a new component: right-click and select Create Code -> C# Component and specify a name for the component.在创建的文件夹中，创建一个新组件：右键单击并选择Create Code -> C# Component并为组件指定一个名称。

   

3. Open the component in IDE to implement pathfinding logic.在IDE中打开组件实现寻路逻辑。

1. Declare component parameters:声明组件参数:

   • 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#)

   public class Route2D : Component
   {
   
   	// a node that will serve as a start point
   	public Node startPoint = null;
   	// a node that will serve as a destination point
   	public Node finishPoint = null;
   
   	// route color 
   	[ParameterColor]
   	public vec4 routeColor = vec4.ZERO;
   
   	// ...
   
   }

2. 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#)

   // a route
   private PathRoute route = null;
   
   private void Init()
   {
   	// check if the start and destination nodes are correctly specified via the component interface
   	if (startPoint && finishPoint)
   	{
   		// create a new route
   		route = new PathRoute();
   
   		// set a radius and height for the point which will move along the route
   		route.Radius = 0.1f;
   		route.Height = 0.1f;
   
   	}
   }

3. 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。 在Init()函数中增加如下逻辑:

   源代码 (C#)

   // enable the onscreen console messages to display info on route calculation
   Unigine.Console.Onscreen = true;
   // enable visualization of the calculated route
   Visualizer.Enabled = true;

4. In the Update() function, calculate the route from the start to destination node:在Update()函数中，计算从起始节点到目的节点的路由:

   源代码 (C#)

   private void Update()
   {
   	// check if the start and destination nodes are correctly specified via the component interface
   	if (startPoint && finishPoint)
   	{
   		// calculate the path from the start to destination point
   		// a destination point of the route is reached
   		route.Create2D(startPoint.WorldPosition, finishPoint.WorldPosition);
   		if (route.IsReached)
   		{
   			// if the destination point is reached, render the root in a specified color
   			route.RenderVisualizer(routeColor);
   		}
   		else
   			Log.Message($"{node.Name} 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。

5. Implement the Shutdown() function to disable the visualizer and onscreen console messages:实现Shutdown()函数来禁用可视化器和屏幕上的控制台消息:

   源代码 (C#)

   private void Shutdown()
   {
   	Unigine.Console.Onscreen = false;
   	Visualizer.Enabled = false;
   }

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

using System.Collections;
using System.Collections.Generic;
using Unigine;

[Component(PropertyGuid = "AUTOGENERATED_GUID")] // <-- this line is generated automatically for a new component
public class Route2D : Component
{
	// a node that will serve as a start point
	public Node startPoint = null;
	// a node that will serve as a destination point
	public Node finishPoint = null;

	// route color 
	[ParameterColor]
	public vec4 routeColor = vec4.ZERO;
	// a route
	private PathRoute route = null;

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

			// set a radius and height for the point which will move along the route
			route.Radius = 0.1f;
			route.Height = 0.1f;
			// enable the onscreen console messages to display info on route calculation
			Unigine.Console.Onscreen = true;
			// enable visualization of the calculated route
			Visualizer.Enabled = true;
		}
	}
	private void Update()
	{
		// check if the start and destination nodes are correctly specified via the component interface
		if (startPoint && finishPoint)
		{
			// calculate the path from the start to destination point
			// a destination point of the route is reached
			route.Create2D(startPoint.WorldPosition, finishPoint.WorldPosition);
			if (route.IsReached)
			{
				// if the destination point is reached, render the root in a specified color
				route.RenderVisualizer(routeColor);
			}
			else
				Log.Message($"{node.Name} PathRoute not reached yet\n");
		}
	}
	private void Shutdown()
	{
		Unigine.Console.Onscreen = false;
		Visualizer.Enabled = false;
	}
}

When the component logic is implemented, you should assign it to a node.当实现组件逻辑时，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.cs component to it in the Parameters window.选择虚拟节点并在Parameters窗口中将Route2D.cs组件分配给它。

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. In the components folder, create the NodeRotator component.在components文件夹中，创建NodeRotator组件。

2. Implement rotation logic:实现旋转逻辑:

   源代码 (C#)

   public class NodeRotator : Component
   {
   	// parameter that sets an angular velocity of the node
   	public vec3 angularVelocity = vec3.ZERO;
   
   	private void Update()
   	{
   		// calculate the delta of rotation
   		vec3 delta = angularVelocity * Game.IFps;
   		// update node rotation
   		node.SetRotation(node.GetRotation() * new quat(delta.x, delta.y, delta.z));
   	}
   }

3. 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。

4. 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. In the components folder, create the AreaVisualizer component.在components文件夹中，创建AreaVisualizer组件。

2. Implement the logic:实现逻辑:

   源代码 (C#)

   public class AreaVisualizer : Component
   {
   	private NavigationSector navigationSector = null;
   
   	private void Init()
   	{
   		// get the navigation sector to which the component is assigned
   		navigationSector = node as NavigationSector;
   		
   		// enable rendering of the visualizer
   		if (navigationSector)
   			Visualizer.Enabled = true;
   	}
   
   	private void Update()
   	{
   		// display the navigation area gizmo
   		if (navigationSector)
   			navigationSector.RenderVisualizer();
   	}
   
   	private void Shutdown()
   	{
   		// disable rendering of the visualizer
   		Visualizer.Enabled = false;
   	}
   }

3. Assign the component to the navigation sector.将组件分配给导航扇区。

Click Run to run the component logic and check the result.单击Run以运行组件逻辑并检查结果。