Main/Assets/Plugins/Code/UniScene/PathGrid/PathGridSystem.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO;

using PathEditor.Proxy.Plugin;
using Thousandto.Core.Base;
using SimpleAI.Navigation;
using SimpleAI.Planning;
using Thousandto.Plugins.Common.UniScene;
using UnityEngine;
using FFileReader = UnityEngine.Gonbest.MagicCube.FFileReader;

namespace Thousandto.Plugins.PathGrid
{
    //路径网格寻路系统
    public class PathGridSystem
    {
        #region//常量
        private const int PlannerRowCount = 128;
        private const int PlannerColCount = 128;
        #endregion

        #region //私有变量
        private GameObject navObj = null;
        //从文件中读取路径的网格数据
        private static PathGirdData _pathGridData = null;        
        //陆地寻路系统
        private static PathLandSystem _pathLandSystem = null;
        //动态阻挡
        public Dictionary<int, PathBlocker> dynamicBlockers = null;
        //处于的场景
        private BaseScene _owner = null;
        //上次载入的文件名，用以判断是否重新加载
        private string _frontLoadFile = string.Empty;
        #endregion

        #region //公共变量
        public PathWorld _pathWorld = null;
        public static PathPlanner _pathPlannder = new PathPlanner(PlannerRowCount * PlannerColCount, PreSearchSize);
        public const int PreSearchSize = 20 * 20;
        public static PathType PathType = PathType.Land;
        #endregion

        #region //属性
        public PathGirdData PathGridData
        {
            get
            {
                return _pathGridData;
            }
        }
        public float CellSize
        {
            get
            {
                return _pathGridData.CellSize;
            }
        }
        public BaseScene Owner
        {
            get
            {
                return _owner;
            }
        }
        public static PathGridSystem instance
        {
            get
            {
                if (PathType == PathType.Land)
                {
                    if (_pathLandSystem == null)
                    {
                        _pathLandSystem = new PathLandSystem();
                    }
                    return _pathLandSystem;
                }
                return null;
            }
        }
        #endregion

        #region//构造函数
        //私有构造函数，防止外部new
        protected PathGridSystem()
        {

        }
        #endregion


        //初始化寻路系统
        public virtual void Initialize(BaseScene scene)
        {
#if UNITY_EDITOR
            FProfiler.Begin("PathGridSystem.Navigator");
            if(navObj == null)
            {
                navObj = new GameObject("[Navigator]");
            }
            navObj.transform.parent = AppRoot.Transform;

            PathItemMonoBehaviour script = navObj.GetComponent<PathItemMonoBehaviour>();
            if (script == null)
            {
                script = navObj.AddComponent<PathItemMonoBehaviour>();
            }
            script.m_mergedPathGrid = PathGridData.MergedData;
            script.m_mergedWeightPathGrid = PathGridData.MergeWeightData;
            script.m_heightMap = PathGridData.HeightMap;
            script.m_numberOfRows = PathGridData.NumberOfRows;
            script.m_numberOfColumns = PathGridData.NumberOfColumns;
            script.m_cellSize = PathGridData.CellSize;
            FProfiler.End();
#endif
            FProfiler.Begin("PathGridSystem.Initialize");
            int nodeNum = PathGridData.NumberOfRows * PathGridData.NumberOfColumns;
            _pathWorld = new PathWorld(PathGridData);
            _pathWorld.Awake();

            _pathPlannder.Awake();
            _pathPlannder.Start(_pathWorld);

            if(dynamicBlockers == null)
            {
                dynamicBlockers = new Dictionary<int, PathBlocker>();
            }
            _owner = scene;
            FProfiler.End();
        }

        //卸载寻路系统
        public virtual void Uninitialize()
        {  
            _pathGridData = null;
            if (dynamicBlockers != null)
            {
                dynamicBlockers.Clear();
                dynamicBlockers = null;
            }
        }

        //从地图路径网格文件中读出数据
        public void LoadPathGridData(String fileName)
        {
            var filePath = FileUtils.MapInfoDirPath + '/' + fileName;
            if(_pathGridData == null || filePath != _frontLoadFile)
            {
                _frontLoadFile = filePath;
                if (_pathGridData == null)
                {
                    _pathGridData = new PathGirdData();
                }
                FFileReader.ReadBytesAsync(filePath,x=> {
                    if (x != null)
                    {
                        _pathGridData.Load(x);
                    }
                });
                
            }
        }
        
        //获取路径网格的长和宽
        public Vector2 Get2DSize()
        {
            Vector2 size = new Vector2(0.0f, 0.0f);
            if (PathGridData != null)
            {
                size.x = PathGridData.NumberOfColumns * PathGridData.CellSize;
                size.y = PathGridData.NumberOfRows * PathGridData.CellSize;
            }
            return size;
        }

        //移除动态阻挡
        public bool RemoveBlocker(ref int id)
        {
            PathBlocker blocker = null;
            if (dynamicBlockers.TryGetValue(id, out blocker))
            {
                if (dynamicBlockers.Remove(id))
                {
                    blocker.Disable();
                    id = 0;
                }
                return true;
            }
            return false;
        }

        //开启指定动态阻挡
        public bool EnableBlocker(int id)
        {
            PathBlocker blocker = null;
            if (dynamicBlockers != null && dynamicBlockers.TryGetValue(id, out blocker))
            {
                return blocker.Enable();
            }
            return false;
        }

        //关闭指定动态阻挡
        public bool DisableBlocker(int id)
        {
            PathBlocker blocker = null;
            if (dynamicBlockers != null && dynamicBlockers.TryGetValue(id, out blocker))
            {
                return blocker.Disable();
            }
            return false;
        }

        //增加动态圆圈阻挡
        public int AddCircleBlocker(ref Vector2 center, float radius, int instId = 0)
        {
            var blocker = PathBlocker.CreateCircle(PathGridData, ref center, radius, instId);
            if (!dynamicBlockers.ContainsKey(blocker.instId))
            {
                dynamicBlockers.Add(blocker.instId, blocker);
                return blocker.instId;
            }
            return 0;
        }

        //增加四个方格的阻挡
        public int AddAABBBlocker(ref Vector2 center, ref Vector2 size, int instId = 0)
        {
            var blocker = PathBlocker.CreateAABB(PathGridData, ref center, ref size, instId);
            if (!dynamicBlockers.ContainsKey(blocker.instId))
            {
                dynamicBlockers.Add(blocker.instId, blocker);
                return blocker.instId;
            }
            return 0;
        }
        
        //增加指定方向上的阻挡
        public int AddOBBBlocker(ref Vector2 center, ref Vector2 size, ref Vector2 dir, int instId = 0)
        {
            var blocker = PathBlocker.CreateOBB(PathGridData, ref center, ref size, ref dir, instId);
            if (!dynamicBlockers.ContainsKey(blocker.instId))
            {
                dynamicBlockers.Add(blocker.instId, blocker);
                return blocker.instId;
            }
            return 0;
        }

        //判断两点之间是否有阻挡单元,有的话,找到离玩家最近的那个阻挡点
        public bool Raycast2d(Vector2 start, Vector2 end, out Vector2 hit)
        {
            return PathGridData.Raycast2d(start, end, out hit);
        }

        //判断两点之间是否有安全单元,有的话,找到离玩家最近的那个阻挡点
        public bool Raycast2dSafe(Vector2 start, Vector2 end, out Vector2 hit)
        {
            return PathGridData.Raycast2dSafe(start, end, out hit);
        }

        public bool RayCastJumpBlock(Vector2 start, Vector2 end, out Vector2 hit)
        {
            return PathGridData.Raycast2dJumpBlock(start, end,out hit);
        }

        public bool RaycastEx2d(Vector2 start, Vector2 end, out Vector2 hit, Func<int, int, bool, bool> func)
        {
            return PathGridData.RaycastEx2d(start, end, out hit, func);
        }

        //判断两点之间是否有跳跃单元,有的话,找到离玩家最近的跳跃点
        public bool Raycast2dJump(Vector2 start, Vector2 end, out Vector2 hit)
        {
            return PathGridData.Raycast2dJump(start, end, out hit);
        }

        //判断一个位置到另一个位置是否可以直走
        public bool CanGoDirect(Vector2 startPos, Vector2 endPos)
        {
            Vector2 hit;
            return !PathGridData.Raycast2d(startPos, endPos, out hit);
        }

        //判断一个位置到另一个位置是否经过了安全区
        public bool CanGoDirectSafe(Vector2 startPos, Vector2 endPos)
        {
            Vector2 hit;
            return !PathGridData.Raycast2dSafe(startPos, endPos, out hit);
        }

        //获取指定单元格的类型
        public PathGridType GetCellType(Vector2 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.GetCellType(cellIndex);
        }
        
        //指定位置是否可以跳跃
        public bool IsJump(Vector2 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsJump(cellIndex);
        }

        //指定位置是否可以跳跃
        public bool IsJump(Vector3 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsJump(cellIndex);
        }

        //指定位置是否可以跳跃
        public bool IsJump(ref Vector2 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsJump(cellIndex);
        }

        //指定位置是否可以跳跃
        public bool IsJump(ref Vector3 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsJump(cellIndex);
        }

        //指定位置是否能跳指定高度
        public bool CanJump(ref Vector2 position, float height)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.CanJump(cellIndex, height);
        }

        //指定位置是否阻挡
        public bool IsBlocked(Vector2 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsBlocked(cellIndex);
        }

        //指定位置是否阻挡
        public bool IsBlocked(Vector3 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsBlocked(cellIndex);
        }

        //指定位置是否是安全区
        public bool IsSafe(Vector3 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsSafe(cellIndex);
        }

        //指定位置是否阻挡
        public bool IsBlocked(ref Vector2 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsBlocked(cellIndex);
        }

        //指定位置是否阻挡
        public bool IsBlocked(ref Vector3 position)
        {
            int cellIndex = _pathWorld.GetCellIndex(ref position);
            return _pathWorld.IsBlocked(cellIndex);
        }

        //获取指定位置的路径网格的单元格索引
        public int GetCellIndex(Vector2 position)
        {
            return _pathWorld.GetCellIndex(ref position);
        }

        public Vector2 CalculationRayCastPos2d(Vector2 start, Vector2 end)
        {
            if (start == end)
                return start;

            var dis = Vector2.Distance(end, start);
            var whileCount = (int)(dis / CellSize + 1);

            var tmpPos = Vector2.zero;
            var result = start;
            var lerpValue = 0f;
            for (int i = 0; i <= whileCount; ++i)
            {
                lerpValue = i / (float)whileCount;
                tmpPos = Vector2.Lerp(start, end, lerpValue);
                if (IsBlocked(tmpPos))
                {
                    break;
                }
                else
                {
                    result = tmpPos;
                }
            }
            return result;
        }

        //开始点到目标点是否通畅
        public bool IsNotBlockRayCast2d(Vector2 start, Vector2 end)
        {
            if (start == end)
                return true;

            var dis = Vector2.Distance(end, start);
            var whileCount = (int)(dis / CellSize + 1);

            var tmpPos = Vector2.zero;
            var result = start;
            var lerpValue = 0f;
            for (int i = 0; i <= whileCount; ++i)
            {
                lerpValue = i / (float)whileCount;
                tmpPos = Vector2.Lerp(start, end, lerpValue);
                if (IsBlocked(tmpPos))
                {
                    return false;
                }
                else
                {
                    result = tmpPos;
                }
            }
            return true;
        }
        //开始点到目标点是否通畅
        public bool IsNotBlockRayCast(Vector3 start, Vector3 end)
        {
            return IsNotBlockRayCast2d(new Vector2(start.x, start.z), new Vector2(end.x, end.z));
        }

        //玩家角色寻路
        public virtual List<Vector2> SearchPlayerPath(Vector3 startPosition, Vector3 endPosition)
        {
            return null;
        }

        //其他怪物的寻路
        public virtual List<Vector2> SearchOtherPath(Vector3 startPosition, Vector3 endPosition)
        {
            return null;
        }

        //寻路到某个物体
        public virtual List<Vector2> SearchTargetPath(Vector3 startPosition, Vector3 endPosition, float targetRadius)
        {
            return null;
        }

        //评价路径，返回-1表示无法寻路到达，返回距离表示到目标点的实际距离
        public virtual float EvaluatePath(Vector3 startPosition, Vector3 endPosition)
        {
            return -1f;
        }
    }
}