358 lines
13 KiB
C#
358 lines
13 KiB
C#
using System;
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using System.Runtime.InteropServices;
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using UnityEngine;
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namespace ET
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{
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/// <summary>
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/// 用Apoca\recastnavigation-master\RecastDemo\Projects\vs2019\recastnavigation.sln工程编译
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/// recastDll.dll，是Release版x64平台编译的结果
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/// Aug.28.2020. Liu gang
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/// </summary>
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public class RecastInterface
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{
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private const string RecastDLL = "RecastNavDll";
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern bool recast_init();
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void recast_fini();
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern bool recast_loadmap(int id, char[] path);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern bool recast_freemap(int id);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern int recast_findpath(int id, float[] spos, float[] epos);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern bool recast_smooth(int id, float step_size, float slop);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern int recast_raycast(int id, float[] spos, float[] epos);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern int recast_getcountpoly(int id);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern int recast_getcountsmooth(int id);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern IntPtr recast_getpathpoly(int id);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern IntPtr recast_getpathsmooth(int id);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern IntPtr recast_getfixposition(int id, float[] pos);
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[DllImport(RecastDLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern IntPtr recast_gethitposition(int id);
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/// <summary>
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/// 初始化Recast引擎
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/// </summary>
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/// <returns></returns>
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public static bool Init()
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{
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return recast_init();
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}
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/// <summary>
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/// 结束化Recast引擎
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/// </summary>
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public static void Fini()
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{
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recast_fini();
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}
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/// <summary>
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/// 加载地图数据，支持同时加载多张地图
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/// </summary>
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/// <param name="id">地图Id</param>
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/// <param name="path">地图文件名（包含路径）</param>
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/// <returns></returns>
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public static bool LoadMap(int id, char[] path)
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{
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if (path == null || path.Length == 0)
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return false;
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return recast_loadmap(id, path);
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}
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/// <summary>
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/// 释放地图数据
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/// </summary>
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/// <param name="id">地图Id</param>
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/// <returns></returns>
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public static bool FreeMap(int id)
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{
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return recast_freemap(id);
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}
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public static Vector3 SPos = new Vector3();
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public static Vector3 EPos = new Vector3();
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/// <summary>
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/// 寻路
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/// </summary>
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/// <param name="id">地图Id</param>
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/// <param name="spos">起点三维坐标</param>
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/// <param name="epos">终点三维坐标</param>
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/// <returns></returns>
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public static bool FindPath(int id, Vector3 spos, Vector3 epos)
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{
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{
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float[] fixPos = fixposition(id, spos);
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if (fixPos != null)
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{
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spos.y = fixPos[1];
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}
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else
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{
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Console.WriteLine(string.Concat("错误:", ($"Recast寻路 FindPath Error：- 起点非法 - spos:{spos} - MapId:{id}")));
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}
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SPos = spos;
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}
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{
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float[] fixPos = fixposition(id, epos);
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if (fixPos != null)
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{
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epos.y = fixPos[1];
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}
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else
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{
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Console.WriteLine(string.Concat("错误:",($"Recast寻路 FindPath Error：- 终点非法 - epos:{epos} - MapId:{id}")));
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}
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EPos = epos;
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}
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dtStatus status = (dtStatus) recast_findpath(id, new[] { -spos.x, spos.y, spos.z }, new[] { -epos.x, epos.y, epos.z });
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if (dtStatusFailed(status))
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{
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dtStatus statusDetail = status & dtStatus.DT_STATUS_DETAIL_MASK;
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string _strLastError = $"Recast寻路 FindPath Error：寻路失败！错误码<" + statusDetail + $"> - MapId:{id}";
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if (statusDetail == dtStatus.DT_COORD_INVALID)
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{
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_strLastError += " - 坐标非法！From<" + spos + "> To<" + epos + $"> - MapId:{id}";
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}
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Console.WriteLine(string.Concat("错误:",_strLastError));
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return false;
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}
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else if (dtStatusInProgress(status))
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{
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string _strLastError = $"Recast寻路 Error：寻路尚未结束!- MapId:{id}";
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Console.WriteLine(string.Concat("错误:",_strLastError));
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return false;
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}
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return true;
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}
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/// <summary>
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/// 寻路以后，需要调用本函数，得到真实路径，这条路径可以是很平滑的路径
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/// BUG FIX：如果Smooth函数的第一个参数设置为5，则可能找到的路线非常长（节点达到2048）
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/// </summary>
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/// <param name="id">地图Id</param>
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/// <param name="step_size">平滑系数，数值越小，越平滑；如果给0，则自动变为0.5</param>
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/// <param name="slop">用途不明（但肯定不影响平滑），如果给0，则自动变为0.01</param>
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/// <returns></returns>
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public static bool Smooth(int id, float step_size, float slop)
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{
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return recast_smooth(id, step_size, slop);
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}
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/// <summary>
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/// 射线检测
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/// </summary>
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/// <param name="id">地图Id</param>
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/// <param name="spos">起点三维坐标</param>
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/// <param name="epos">终点三维坐标</param>
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/// <returns></returns>
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public static bool Raycast(int id, Vector3 spos, Vector3 epos)
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{
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dtStatus status = (dtStatus) recast_raycast(id, new float[] { -spos.x, spos.y, spos.z }, new float[] { -epos.x, epos.y, epos.z });
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if (dtStatusFailed(status))
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{
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dtStatus statusDetail = status & dtStatus.DT_STATUS_DETAIL_MASK;
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string _strLastError = "Recast寻路 Raycast Error：寻路失败！错误码<" + statusDetail + $"> - MapId:{id}";
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if (statusDetail == dtStatus.DT_COORD_INVALID)
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{
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_strLastError += " - 坐标非法！From<" + spos + "> To<" + epos + $"> - MapId:{id}";
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}
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Console.WriteLine(string.Concat("错误:",_strLastError));
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return false;
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}
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else if (dtStatusInProgress(status))
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{
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string _strLastError = $"Recast寻路 Error：寻路尚未结束! - MapId:{id}";
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Console.WriteLine(string.Concat("错误:",_strLastError));
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return false;
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}
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return true;
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}
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/// <summary>
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/// 获取射线检测的碰撞点
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/// <param name="id">地图Id</param>
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/// <returns></returns>
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public static float[] getHitPosition(int id)
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{
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unsafe
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{
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try
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{
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IntPtr hitPos = recast_gethitposition(id);
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float[] arrHitPos = new float[3];
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if (hitPos.ToPointer() != null)
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{
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Marshal.Copy(hitPos, arrHitPos, 0, 3);
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arrHitPos[0] = -arrHitPos[0];
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return arrHitPos;
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}
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else
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{
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return null;
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}
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}
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catch (Exception e)
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{
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Console.WriteLine(string.Concat("错误:",($"RecstInterface getHitPosition Exception! - {e}")));
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return null;
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}
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}
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}
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/// <summary>
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/// 在mesh中修正坐标高度
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/// 如果你给的Y坐标太低了，则可能会落到附近其他更低的地方
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/// <param name="id">地图Id</param>
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/// <returns></returns>
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public static float[] fixposition(int id, Vector3 pos)
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{
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unsafe
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{
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try
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{
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IntPtr fixPos = recast_getfixposition(id, new float[] { -pos.x, pos.y, pos.z }); // （pos.y+1）抬高一点计算
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float[] arrFixPos = new float[3];
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if (fixPos.ToPointer() != null)
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{
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Marshal.Copy(fixPos, arrFixPos, 0, 3);
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arrFixPos[0] = -arrFixPos[0];
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return arrFixPos;
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}
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else
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{
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return null;
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}
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}
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catch (Exception e)
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{
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Console.WriteLine(string.Concat("错误:",($"RecstInterface fixposition Exception! - {e}")));
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return null;
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}
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}
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}
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public static int[] GetPathPoly(int id, out int polyCount)
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{
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unsafe
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{
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try
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{
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// https://bbs.csdn.net/topics/392618929?list=676344
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polyCount = recast_getcountpoly(id);
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IntPtr polys = recast_getpathpoly(id);
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if (polys.ToPointer() != null)
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{
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int[] arrPolys = new int[polyCount];
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Marshal.Copy(polys, arrPolys, 0, polyCount);
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return arrPolys;
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}
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return null;
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}
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catch (Exception e)
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{
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polyCount = 0;
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Console.WriteLine(string.Concat("错误:",($"RecstInterface fixposition Exception! - {e}")));
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return null;
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}
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}
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}
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public static float[] GetPathSmooth(int id, out int smoothCount)
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{
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unsafe
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{
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try
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{
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int polyCount = recast_getcountpoly(id);
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smoothCount = recast_getcountsmooth(id);
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IntPtr smooths = recast_getpathsmooth(id);
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float[] arrSmooths = new float[smoothCount * 3];
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Marshal.Copy(smooths, arrSmooths, 0, smoothCount * 3);
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for (int i = 0; i < smoothCount; ++i)
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{
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arrSmooths[i * 3] = -arrSmooths[i * 3];
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}
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return arrSmooths;
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}
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catch (Exception e)
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{
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smoothCount = 0;
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Console.WriteLine(string.Concat("错误:",($"RecstInterface fixposition Exception! - {e}")));
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return null;
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}
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}
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}
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[Flags]
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public enum dtStatus
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{
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DT_FAILURE = 1 << 31,
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DT_SUCCESS = 1 << 30,
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DT_IN_PROGRESS = 1 << 29,
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DT_STATUS_DETAIL_MASK = 0x0ffffff,
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DT_WRONG_MAGIC = 1 << 0,
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DT_WRONG_VERSION = 1 << 1,
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DT_OUT_OF_MEMORY = 1 << 2,
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DT_INVALID_PARAM = 1 << 3,
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DT_BUFFER_TOO_SMALL = 1 << 4,
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DT_OUT_OF_NODES = 1 << 5,
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DT_PARTIAL_RESULT = 1 << 6,
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DT_ALREADY_OCCUPIED = 1 << 7,
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DT_COORD_INVALID = 1 << 13,
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}
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// Returns true of status is success.
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public static bool dtStatusSucceed(dtStatus status)
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{
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return (status & dtStatus.DT_SUCCESS) != 0;
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}
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// Returns true of status is failure.
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public static bool dtStatusFailed(dtStatus status)
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{
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return (status & dtStatus.DT_FAILURE) != 0;
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}
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// Returns true of status is in progress.
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public static bool dtStatusInProgress(dtStatus status)
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{
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return (status & dtStatus.DT_IN_PROGRESS) != 0;
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}
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// Returns true if specific detail is set.
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public static bool dtStatusDetail(dtStatus status, uint detail)
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{
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return ((uint) status & detail) != 0;
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}
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}
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} |