狼的路径规划使用网格限制

Assets/BowArrow/Scenes/GameChallengeScene/GameChallenge.unity

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Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfActGrid.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Newtonsoft.Json;
+
+/**
+狼的行动区域，为了避免狼的行动目的坐标重合的问题。 
+*/
+public class WolfActGrid : MonoBehaviour
+{
+    [SerializeField] TextAsset jsonText;
+    JsonConfig config;
+    [System.NonSerialized] public AreaMatrix areaMatrix = new AreaMatrix();
+    [SerializeField] Material[] sphereMaterials;
+
+    public static WolfActGrid ins;
+
+    //调试绘制模式-手动开关
+    bool debugDrawing = false;
+
+    void Awake()
+    {
+        ins = this;
+        areaMatrix.wolfActGrid = this;
+        config = JsonConfig.Load(jsonText.text);
+
+        loadAreaMatrix();
+        // createAreaMatrix();
+    }
+
+    //从配置中加载地域矩阵（前提是有保存在json配置文件内）
+    void loadAreaMatrix() {
+        List<List<Vector3>> posMatrix = areaMatrix.posMatrix = config.GetPosMatrix();
+        config.SetPosMatrixNull();
+        for (int r = 0; r < posMatrix.Count; r++) {
+            for (int c = 0; c < posMatrix[r].Count; c++) {
+                Vector3 pos = posMatrix[r][c];
+                DebugDrawSphere(pos, r, c);
+            }
+        }
+    }
+
+    //动态创建地域矩阵
+    void createAreaMatrix() {
+        float circleRadius = 0.6f;
+        Vector3 standardPosition = transform.position;
+        Vector3 standardPointer = transform.forward;
+        float minAngleY = -20f;
+        float maxAngleY = 23f;
+        for (float distance = 8.5f; distance <= 50f; distance += circleRadius * 2) {
+            List<Vector3> posList = new List<Vector3>();
+            areaMatrix.posMatrix.Add(posList);
+            float sinValue = circleRadius / distance;
+            float deltaAngle = 2f * Mathf.Asin(sinValue) / Mathf.PI * 180f;
+            for (int col = 0; ; col++) {
+                float angleY = minAngleY + deltaAngle * col;
+                if (angleY > maxAngleY) break;
+                Vector3 pointer = Quaternion.AngleAxis(angleY, Vector3.up) * standardPointer; 
+                Vector3 pointerWithLen = pointer * distance;
+                Vector3 newPos =  standardPosition + pointerWithLen;
+                #region 射线检测是否被树遮挡 
+                    float checkRayDistance = 60f;
+                    Vector3 rayPos = newPos;
+                    Vector3 rayDir = Quaternion.AngleAxis(180, Vector3.up) * pointer; 
+                    if (Physics.Raycast(rayPos, rayDir, checkRayDistance, LayerMask.GetMask("Test"))) {
+                        continue;
+                    }
+                    Vector3 pointerWithLen1 = Quaternion.AngleAxis(-deltaAngle / 3f, Vector3.up) * pointerWithLen;
+                    Vector3 rayPos1 = standardPosition + pointerWithLen1;
+                    Vector3 rayDir1 = Quaternion.AngleAxis(180, Vector3.up) * pointerWithLen1; 
+                    if (Physics.Raycast(rayPos1, rayDir1, checkRayDistance, LayerMask.GetMask("Test"))) {
+                        continue;
+                    }
+                    Vector3 pointerWithLen2 = Quaternion.AngleAxis(deltaAngle / 3f, Vector3.up) * pointerWithLen;
+                    Vector3 rayPos2 = standardPosition + pointerWithLen2;
+                    Vector3 rayDir2 = Quaternion.AngleAxis(180, Vector3.up) * pointerWithLen2; 
+                    if (Physics.Raycast(rayPos2, rayDir2, checkRayDistance, LayerMask.GetMask("Test"))) {
+                        continue;
+                    }
+                #endregion
+                posList.Add(newPos);
+                DebugDrawSphere(newPos, areaMatrix.posMatrix.Count - 1, posList.Count - 1);
+            }
+        }
+    }
+
+    void DebugDrawSphere(Vector3 pos, int r, int c) {
+        if (!debugDrawing) return;
+        GameObject sphere = transform.Find("Sphere").gameObject;
+        GameObject o = GameObject.Instantiate(sphere, pos, Quaternion.identity, transform);
+        o.name = r + "_" + c;
+        o.SetActive(true);
+    }
+
+    public void DebugOccupySphere(string name, bool occupy) {
+        if (!debugDrawing) return;
+        transform.Find(name).GetComponent<MeshRenderer>().material = occupy ? sphereMaterials[1] : sphereMaterials[0]; 
+    }
+
+    public class AreaMatrix {
+        public List<List<Vector3>> posMatrix = new List<List<Vector3>>();
+        //格式："行_列"
+        public Dictionary<object, string> occupyDC = new Dictionary<object, string>();
+
+        public WolfActGrid wolfActGrid;
+
+        //计算水平距离
+        float calDis(Vector3 p1, Vector3 p2) {
+            return Mathf.Sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.z - p2.z) * (p1.z - p2.z));  
+        }
+
+        // 占用距离最近的格子，如果最近的被占用则广度优先寻找附近较近的格子
+        public bool occupyPos(Vector3 p, object obj) {
+            float minDis = float.MaxValue;
+            int bestR = 0;
+            int bestC = 0;
+            for (int r = 0; r < posMatrix.Count; r++) {
+                for (int c = 0; c < posMatrix[r].Count; c++) {
+                    Vector3 pos = posMatrix[r][c];
+                    float dis = calDis(pos, p);
+                    if (dis < minDis) {
+                        minDis = dis;
+                        bestR = r;
+                        bestC = c;
+                    }
+                }
+            }
+            object cur_occupy_obj = checkOccupy(bestR, bestC);
+            //如果目标格子被其它对象占用，则过渡优先寻找附近的格子，因为矩阵是扇形，目前的fbs有偏差，但无妨
+            if (cur_occupy_obj != null && !obj.Equals(cur_occupy_obj)) {
+                int sr = bestR;
+                int sc = bestC;
+                List<string> openList = new List<string>(); 
+                openList.Add(sr + "_" + sc);
+                int scanIndex = 1;
+                bool breakBFS = false;
+                while (true) {
+                    int i = 0;
+                    while (i < 8) {
+                        i++;
+                        if (i == 1) { sc++; }
+                        if (i == 2) { sr--; }
+                        if (i == 3) { sc--; }
+                        if (i == 4) { sc--; }
+                        if (i == 5) { sr++; }
+                        if (i == 6) { sr++; }
+                        if (i == 7) { sc++; }
+                        if (i == 8) { sc++; }
+                        if (sr >= 0 && sr < posMatrix.Count && sc >= 0 && sc < posMatrix[sr].Count) {
+                            string keyName = sr + "_" + sc;
+                            if (!openList.Contains(keyName)) {
+                                object now_occupy_obj = checkOccupy(sr, sc);
+                                if (now_occupy_obj == null || obj.Equals(now_occupy_obj)) {
+                                    bestR = sr;
+                                    bestC = sc;
+                                    breakBFS = true;
+                                    break;
+                                }
+                                //加入
+                                openList.Add(keyName);
+                            }
+                        }
+                    }
+                    if (breakBFS) break;
+                    if (scanIndex < openList.Count) {
+                        string[] str = openList[scanIndex].Split('_');
+                        scanIndex++;
+                        sr = int.Parse(str[0]);
+                        sc = int.Parse(str[1]);
+                    } else {
+                        return false;
+                    }
+                }
+            }
+            //找到最佳的格子
+            Vector3 bestPoint = posMatrix[bestR][bestC];
+            p.x = bestPoint.x;
+            p.z = bestPoint.z;
+            //释放自己以前占用的格子
+            releaseOccupy(obj);
+            //占用目标格子
+            Occupy(bestR, bestC, obj);
+            return true;
+        }
+
+        public object checkOccupy(int r, int c) {
+            string keyName = r + "_" + c;
+            foreach (var item in occupyDC)
+            {
+                if (item.Value.Equals(keyName)) return item.Key;   
+            }
+            return null;
+        }
+
+        public void releaseOccupy(object obj) {
+            string keyName = null;
+            occupyDC.TryGetValue(obj, out keyName);
+            if (keyName == null) {
+                return;
+            }
+            occupyDC.Remove(obj);
+            wolfActGrid.DebugOccupySphere(keyName, false);
+        }
+
+        public void Occupy(int r, int c, object obj) {
+            string keyName = r + "_" + c;
+            occupyDC[obj] = keyName;
+            wolfActGrid.DebugOccupySphere(keyName, true);
+            if (!wolfActGrid.debugDrawing) return;
+            if (obj.GetType().Equals(typeof(Wolf))) {
+                Wolf wolf = (Wolf) obj;
+                WolfLineRender wolfLineRender = wolf.GetComponentInChildren<WolfLineRender>();
+                if (!wolfLineRender) {
+                    GameObject prefab = wolfActGrid.transform.Find("WolfLineRender").gameObject;
+                    GameObject o = GameObject.Instantiate(prefab, wolf.transform.position + Vector3.up * 0.8f, Quaternion.identity, wolf.transform);
+                    wolfLineRender = o.GetComponent<WolfLineRender>();
+                    o.SetActive(true);
+                }
+                wolfLineRender.SetDestination(posMatrix[r][c]);
+            }
+        }
+    }
+
+    class JsonConfig {
+        public string posMatrix = null;
+        //清空，避免占用内存
+        public void SetPosMatrixNull() {
+            posMatrix = null;
+        }
+        public List<List<Vector3>> GetPosMatrix() {
+            string[] lines = posMatrix.Split('\n');
+            List<List<Vector3>> list = new List<List<Vector3>>();
+            foreach (var line in lines)
+            {
+                if (line.Trim().Length == 0) continue;
+                string[] vectorStrs = line.Split(' ');
+                List<Vector3> childList = new List<Vector3>();
+                foreach (var vectorStr in vectorStrs)
+                {
+                    string[] valStrs = vectorStr.Split('_');
+                    Vector3 vec = new Vector3(
+                        float.Parse(valStrs[0]),
+                        float.Parse(valStrs[1]),
+                        float.Parse(valStrs[2])
+                    );
+                    childList.Add(vec);
+                }
+                list.Add(childList);
+            }
+            return list;
+        }
+        public void SetPosMatrix(List<List<Vector3>> list) {
+            posMatrix = "";
+            for (int i = 0; i < list.Count; i++) {
+                for (int j = 0; j < list[i].Count; j++) {
+                    Vector3 pos = list[i][j];
+                    posMatrix += pos.x + "_" + pos.y + "_" + pos.z;
+                    if (j < list[i].Count - 1) posMatrix += " ";
+                }
+                if (i < list.Count - 1) posMatrix += "\n";
+            };
+        }
+        public void Write() {
+            string filePath = 
+                "E:\\UnityProject\\SmartBow\\Assets\\BowArrow\\Scenes\\GameChallengeScene\\WolfActGrid.json";
+            if (!System.IO.File.Exists(filePath)) {
+                Debug.LogError("JsonConfig-File-NotExist");
+                return;
+            }
+            try
+            {
+                System.IO.StreamWriter writer = new System.IO.StreamWriter(filePath);
+                writer.Write(JsonConvert.SerializeObject(this));
+                writer.Close();
+            }
+            catch (System.Exception e)
+            {
+                Debug.LogError("JsonConfig-Write-Fail");
+                Debug.LogError(e.Message);
+            }
+        }
+        public static JsonConfig Load(string jsonText) {
+            JsonConfig jsonConfig = JsonConvert.DeserializeObject<JsonConfig>(jsonText);
+            if (jsonConfig == null) jsonConfig = new JsonConfig();
+            return jsonConfig;
+        }
+    }
+
+    [ContextMenu("SaveJsonConfig")]
+    void SaveJsonConfig() {
+        config.SetPosMatrix(areaMatrix.posMatrix);
+        config.Write();
+    }
+}

Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfActGrid.cs.meta

@@ -0,0 +1,11 @@
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Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfActGrid.json.meta

@@ -0,0 +1,7 @@
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Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfLineRender.cs

@@ -0,0 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+/**狼到终点的引导线绘制，调试用的，配合WolfActGrid */
+public class WolfLineRender : MonoBehaviour
+{
+    LineRenderer lineRenderer;
+
+    void Awake() {
+        lineRenderer = GetComponent<LineRenderer>();
+    }
+
+    void Update() {
+        Vector3 src = transform.position;
+        lineRenderer.SetPosition(0, src);
+    }
+
+    public void SetDestination(Vector3 des) {
+        lineRenderer.SetPosition(1, des);
+    }
+}

Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfLineRender.cs.meta

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Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfLineRender.mat

@@ -0,0 +1,79 @@
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+%TAG !u! tag:unity3d.com,2011:
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+  m_PrefabInstance: {fileID: 0}
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Assets/BowArrow/Scenes/GameChallengeScene/WoldActGird/WolfLineRender.mat.meta

@@ -0,0 +1,8 @@
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Assets/BowArrow/Scenes/GameChallengeScene/Wolf.cs

@@ -23,7 +23,6 @@ public class Wolf : TargetAnimal
     void Start()
     {
         initAniListener();
-        this.agent.avoidancePriority = avoidancePriority;
     }
     static int _avoidancePriority = 0;
     static int avoidancePriority {
@@ -47,6 +46,10 @@ public class Wolf : TargetAnimal
         UpdateOutline();
     }
 
+    void OnDestroy() {
+        WolfActGrid.ins.areaMatrix.releaseOccupy(this);
+    }
+
     //可选皮肤材质
     [SerializeField] Material[] materials;
     [SerializeField] Material[] outlineMaterials;
@@ -129,11 +132,17 @@ public class Wolf : TargetAnimal
     void SetDestination(Vector3 pos) {
         state.ResetActionState();
         state.moving = true;
+        this.agent.isStopped = false;
+        bool occupySuccess = WolfActGrid.ins.areaMatrix.occupyPos(pos, this);
+        if (!occupySuccess) {
+            pos = transform.position;
+        }
         this.agent.destination = pos;
     }
     //寻路结束
     void OnReachDestination() {
         if (!state.moving) return;
+        this.agent.isStopped = true;
         state.ResetActionState();
     }
     //是否已经接近目的地（寻路完成判断）
@@ -434,6 +443,7 @@ public class Wolf : TargetAnimal
     void Stay(bool correct = false) {
         if (state.moving || correct) {
             this.agent.destination = this.agent.nextPosition;
+            this.agent.isStopped = true;
         }
         state.ResetActionState();
         state.staying = true;

Assets/BowArrow/Scenes/GameChallengeScene/WolfHuntGameMode.cs

@@ -19,6 +19,7 @@ public class WolfHuntGameMode : ChallengeGameMode
 
     public override void Start() {
         UnbanBowReady();
+        GameMgr.ins.transform.Find("WolfActGrid").gameObject.SetActive(true);
         if (nextLevel != null) {
             SetLevel(int.Parse(nextLevel));
             AddHuntGameView();
@@ -76,6 +77,10 @@ public class WolfHuntGameMode : ChallengeGameMode
         animalObject.SetActive(true);
 
         Wolf wolf = animalObject.GetComponent<Wolf>();
+
+        WolfActGrid.ins.areaMatrix.occupyPos(newPos, wolf);
+        wolf.transform.position = newPos;
+
         wolf.hp = animalStyleID == 1 ? 5 : 8;
         wolf.ChangeColorByType(animalStyleID);
         wolf.RotateByWorldY(Random.value * 360);